EKINOX 2 Subsea
– Hardware Manual
EKINOX2SUBSEAHM.1.2
1. Introduction
Ekinox 2 Subsea series are state of the art, MEMS based Motion
Reference Unit (Ekinox2-M) and Inertial Navigation System
(Ekinox2-U) which achieve exceptional orientation & navigation
performance in a compact subsea enclosure.
Ekinox 2 Subsea series include a cutting edge Inertial Measurement
Unit (IMU) and run an on-board enhanced Extended Kalman Filter
(EKF). In addition to vessel orientation, the Ekinox 2 subsea will
provide accurate ship motion data (heave, surge and sway) at high
rate. Created to achieve the best accuracy for every application,
Ekinox 2 Subsea also integrates data from various aiding
equipment 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.
This second generation of Ekinox Subsea remains fully compatible with previous Ekinox Subsea series.
1.1. Ekinox 2 INS Overview
6/34
Figure 1.1: The Ekinox 2 Subsea
Figure 1.2: Ekinox Subsea 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
