4-57
The topside computer then processes the data using the Discover Bathymetric software to send
amplitude, angle, and range data to the 3rd party software for logging and post-processing. This process
is explained in further detail in the following section. The 3rd party software and Discover Bathymetric
processors may all run on the same topside computer.
4.2.3.1
Serial Port Configuration Examples
CAUTION!
When the 6205s2 includes the OEM Integrated RTK GNSS
aided INS unit, there is no need to use the RS-232 or LAN ports to
receive data from peripheral GNSS/Heading/Motion sensors.
depicts a sensor interfacing to the 6205s2 sonar interface that provides time and
1PPS, navigation (latitude/longitude), heading, roll, pitch, and heave data over one serial connection—
such as a NovaTel ProPak 6 or Applanix POS-MV or SBG Systems (RS-232 data output, not Ethernet data
the sensor is connected to COM1.
Example 2 shows the most common interfacing scenario, a GNSS that provides navigation and heading
and time data, accompanied by a separate motion sensor for heave/roll/pitch measurements.
The COM ports should be assigned as such:
•
COM1 = MRU (Roll, Pitch, Heave)
•
COM2 = GNSS (Navigation and Heading and Time)
•
1PPS = 1PPS TTL from the GNSS unit
These assignments may be interchanged between COM1 and COM2 because both ports have been
configured for high speed and accuracy. COM3 should not be used in this scenario.
Example 3 portrays a situation where the GNSS does not provide heading data. In this case, three sensors
are required: a GNSS for navigation (latitude/longitude/height and time), a gyrocompass for heading, and
a motion sensor for roll, pitch, and heave measurements.
Therefore, all three COM ports should be used and assigned as follows:
•
COM1 = MRU (Roll, Pitch, Heave)
•
COM2 = Gyrocompass (Heading)
•
COM3 = GNSS (latitude/longitude/time)
•
1PPS = 1PPS TTL from the GNSS unit
The sensors allocated to COM1 and COM2 may be interchanged for the same reason stated in the second
example. GNSS data, or latitude and longitude and height data, must be allotted to COM3 because
position messages include a valid timestamp. In contrast, attitude and heading messages accepted by
6205s2 do not have a valid time tag.
Summary of Contents for 6205S2
Page 32: ...2 32 Figure 2 2 6205s2 Sonar Head with Adaptor Flange ICD...
Page 33: ...2 33 Figure 2 3 6205s2 Side Scan Transducer...
Page 34: ...2 34 Figure 2 4 6205s2 Side Scan Transducer Details...
Page 35: ...2 35 Figure 2 5 6205s2 Deck Cable Wiring Diagram...
Page 36: ...2 36 Figure 2 6 6205s2 GNSS INS Deck Cable Wiring Diagram...
Page 37: ...2 37 2 6 2 6205s2 Topside Figure 2 7 6205s2 Rack Mounted Topside...
Page 38: ...2 38 Figure 2 8 6205s2 Rack Mount in Case...
Page 41: ...3 41 3 1 2 2 Sonar Processor Endcap and Pinout Drawings Figure 3 5 6205S2 Forward End Cap...
Page 42: ...3 42 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_A Figure 3 6 6205s2 Aft End Cap...
Page 46: ...3 46 Figure 3 11 6205s2 Acoustic Center Location X Y Z and Bolt Pattern...
Page 47: ...3 47 Figure 3 12 6205s2 with Adaptor Flange Acoustic Center Location X Y Z and Bolt Pattern...
