Apogee Subsea
– Hardware Manual
APOGEESUBSEAHM.1.1
1. Introduction
Apogee Subsea series are state of the art, MEMS based Motion
Reference Unit (Apogee-M) and Inertial Navigation System
(Apoge-U) which achieves tactical grade accuracy in a compact
subsea enclosure. It includes an Inertial Measurement Unit (IMU)
and runs an on-board enhanced Extended Kalman Filter (EKF). In
addition, to vessel orientation, the Apogee subsea will provide
accurate ship motion data (heave, surge and sway) at high rate.
Created to achieve the best accuracy for every application, Apogee
Subsea also integrates data from various aiding equipments such
as GNSS, DVL, etc.
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements. An embedded web interface enables easy configuration and a wide connectivity
as well as standard protocols output provide direct integration into existing applications.
1.1. Apogee INS Overview
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Figure 1.1: The Apogee Subsea
Figure 1.2: Apogee simplified block diagram
IMU
DATA FUSION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
EKF and output
@ 200 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data logger
GNSS
A B C D
Aiding Equipments
»
Navigation: 2x RTK GPS/GNSS
»
Heading: Dual Antenna GPS/GNSS
»
Velocity: Odometer, DVL
