iXBlue ROVINS, User Manual

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ROVINS – User Manual
MU–ROVINS–AN-013 Ed. A – March 2012 5
III ROVINS S
PECIFICITIES
(
INCLUDING
E
XTERNAL
S
ENSORS
)
ROVINS uses external sensor data to improve its own estimates of position, speed,
attitude and heading. The following external sensors can be connected to ROVINS:
•
GPS
•
LBL
•
USBL
•
DVL
•
Sound Velocity
•
Depth
When using a DVL, a calibration must be performed. The calibration of the RDI Workhorse
DVL is described in INS - Application Note - INS Calibration with RDI Workhorse DVL
(Ref.: MU-INSAPN-AN-001)
ROVINS can output two distinct heave measurements:
•
Real Time Heave which provides heave in real time mode.
•
Smart Heave
TM
which provides an accurate, latency-compensated, measurement of
heave with a 100s fix delay.
To avoid the effect of transient vehicle/vessel movement on heave measurement, you can
define the position of the center of gravity (COG) of the vehicle/vessel. In this case,
ROVINS will compute heave at the COG and add the heave induced by lever arms from
the COG to external monitoring points. For more details see:
•
Inertial Products – Application Note - Installation and Configuration of AHRS and INS
for Seabed Mapping Measurements (Ref.: MU-HEAVAPN-AN-001)
•
INS- Configuration and Operation with the Web-based User Interface (Ref.: MU–INSIII-
AN-002)
Your ROVINS internal clock can be synchronized with data coming from an external
reference clock (i.e., GPS clock). In this case, time is synchronized with input coming from
the selected interface with appropriate protocol. For more details see INS - Configuration
& Operation with the Web-based User Interface (Ref.: MU-INSIII-AN-002).
Available
external
sensors
DVL
Calibration
Heave
measurement
/ Center of
Gravity of the
vehicle (COG)
UTC/Time
synchro