R2Sonic 2026, Operation Manual

Page: 19 / 254

Page 19 of 254
Version 6.3 Rev r012
Date 05-11-2022
Figure 163: Type 82 IMU Offsets ........................................................................................................ 136
Figure 164: I2NS SIM Drawing ............................................................................................................ 137
Figure 165: Gyrocompass Calibration method 1 ................................................................................ 143
Figure 166: Gyro Calibration Method 2 .............................................................................................. 144
Figure 167: Gyro Calibration Method 2 example ............................................................................... 145
Figure 168: Idealised concept of Gyro Calibration Method 2 ............................................................ 145
Figure 169: CTD Probe ........................................................................................................................ 148
Figure 170: Time of Flight SV probe ................................................................................................... 149
Figure 171: Deploying a sound velocity probe via a winch or A-Frame ............................................. 152
Figure 172: Rough log, kept during survey operations. ..................................................................... 157
Figure 173: Smooth log; information copied from a real-time survey log ......................................... 158
Figure 174: Vessel Horizontal and Vertical reference system ............................................................ 159
Figure 175: Sonic 2026/2024/2022 Acoustic Centre .......................................................................... 160
Figure 176: Sonic MBES axes of rotation ............................................................................................ 163
Figure 177: Latency Data collection ................................................................................................... 164
Figure 178: Roll data collection .......................................................................................................... 165
Figure 179: Roll data collections ........................................................................................................ 165
Figure 180: Pitch data collections ...................................................................................................... 166
Figure 181: Yaw data collection ......................................................................................................... 167
Figure 182: In 1822 Daniel Colloden measuring velocity in Lake Geneva .......................................... 173
Figure 183: Concept of refraction due to different sound velocities in the water column ............... 174
Figure 184: Sound velocity profile ...................................................................................................... 174
Figure 185: Refraction Error indication .............................................................................................. 175
Figure 186: Concept of Spherical Spreading ...................................................................................... 176
Figure 187: Concept of Cylindrical Spreading..................................................................................... 177
Figure 188: Single Head ROV Installation scheme A .......................................................................... 187
Figure 189: Single Head ROV Installation scheme B (Preferred) ........................................................ 187
Figure 190: Dual Head ROV Installation scheme A ............................................................................. 188
Figure 191: Dual Head ROV Installation scheme B (Preferred) .......................................................... 188
Figure 192: Sonic 2024 power supply current waveform. ................................................................. 190
Figure 193: Inrush current to 2024 head during power-up, 20 ms window. ..................................... 190
Figure 194: Inrush current to the 2024 head during power-up, 1-second window. .......................... 191
Figure 195: Power supply choke installation on 48VDC power ......................................................... 191
Figure 196: SIM Controller Board ....................................................................................................... 192
Figure 197: J6 Connector on SIM Controller board ............................................................................ 192
Figure 198: ROV installation block diagram with the SIM top-side.................................................... 193
Figure 199: ROV installation block diagram with the SIM Stack time from a top-side source. ......... 193
Figure 200: ROV installation block diagram with the SIM Stack time from vehicle time................... 193
Figure 201: GPS (ZDA or UTC formats) and PPS signals supplied by the vehicle time system ........... 194
Figure 202: SIM Board Stack ............................................................................................................... 194
Figure 203: SIM Stack height .............................................................................................................. 194