Ekinox Subsea
– Hardware Manual
EKINOXSUBSEAHM.1.4
1. Introduction
Ekinox Subsea series are state of the art, MEMS based Motion
Reference Unit (Ekinox-M) and Inertial Navigation System
(Ekinox-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 Ekinox subsea will provide
accurate ship motion data (heave, surge and sway) at high rate.
Created to achieve the best accuracy for every application, Ekinox
Subsea also integrates data from various aiding equipments such
as GPS, 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. Ekinox INS Overview
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Figure 1.1: The Ekinox Subsea
Figure 1.2: Ekinox Subsea simplified block diagram
IMU
DATA FUSION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
EKF and output
@ 200 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data logger
GPS
A B C D
Aiding Equipments
»
Navigation: RTK GPS/GNSS, DVL, USBL
»
Heading: Dual Antenna GPS/GNSS, Magnetometer
»
Velocity: DVL, EM Log
