R2Sonic 2026, Operation Manual

Page: 134 / 254

Page 134 of 254
Version 6.3 Rev r012
Date 05-11-2022
Part No. 96000001
7.5.1 IMU Types
Previous to March 2021, R2Sonic provided IMU Type 42 in the I2NS package; since March 2021, IMU
Type 82 is the standard for the I2NS package. Horizontally, there is no change in the offsets
between the types; vertically, the Type 82 IMU vertical reference is higher than the Type 42 IMU
vertical reference by 12.1mm. The Type 82 IMU is easily recognised by the etched TYPE 82, along
one edge, on the IMU face with the decklead connector.
7.6 I2NS Physical Specifications
Table 15: I2NS Dimensions and Mass
Component Dimensions (L x W x H) / Mass
I2NS Sonar Interface Module (INS-
SIM)
280mm x 170mm x 126.4mm (top of cooling fins) /
4.17kg
Inertial Measurements Unit (IMU) 161mm x 140mm x 110m / 2.2kg
GNSS Antenna Ø178mm x 73mm / 0.45kg
Table 16: Electrical Specifications
Item Specification
INS (SIM, IMU & Antennas) 38.4w
INS + Sonic 2024 88.4w
INS + Sonic 2022 73.4w
Figure 161: Type 42 IMU Vertical Reference Figure 162: Type 82 IMU Vertical Reference