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Tritech Eclipse, Product Manual

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Eclipse 3D Imaging Sonar

Document: 0690-SOM-00001, Issue: 01

43

© Tritech International Ltd.

Glossary

ASCII

American  Standard  Code  for  Information  Interchange  -  a

character  encoding  scheme  originally  based  on  the  English

alphabet.

CPU

Central Processing Unit, the processor of a computer.

CRP

Central Reference Point

CSV

Comma Separated Value - a text file in tabular format with table

cells separated by commas, usually given the filename extension

.csv

 but this can vary depending on the application.

CUDA

Compute  Unified  Device  Architecture  -  a  parallel  computing

architecture developed by Nvidia for graphics processing.

DC

Direct Current

DE-9

A  9  pin  D  shaped  connector  commonly  used  for  serial

communications on computers.

DVI

Digital  Visual  Interface,  a  standard  connector  for  connecting

from a computer to a monitor.

Eclipse SPU

A special version of the Tritech Surface Processing Unit (SPU)

which has a high power graphics card capable of processing the

Eclipse 3D imagery and a special Ethernet card for connection

to the Eclipse.

Ethernet

A  family  of  computer  networking  technologies  for  local  area

networks (LANs).

GPU

Graphics Processing Unit, the card within the computer which is

responsible for generating visual output.

IPA

Isopropyl  Alcohol  (also  known  as  2-propanol,  isopropanol,

rubbing alcohol and iPrOH).

IT

Information Technology

JPEG or JPG

Joint Photographics Expert Group - a compression method and

file format for image files, files can be stored with either 

.jpeg

or 

.jpg

 file extensions

MHDG

Miniature  High  Density  -  a  connector  range  from  Teledyne

Impulse.

MRU

Motion Reference Unit

Summary of Contents for Eclipse

Page 1: ...Eclipse 3D Imaging Sonar Document 0690 SOM 00001 Issue 01 1 Tritech International Ltd Eclipse 3D Imaging Sonar Product Manual Document 0690 SOM 00001 Issue 01 ...

Page 2: ...ent is supplied by Tritech International Ltd on the understanding that it may not be copied used or disclosed to others except as authorised in writing by Tritech International Ltd Tritech International Ltd reserves the right to change modify and update designs and specifications as part of their ongoing product development programme All product names are trademarks of their respective companies ...

Page 3: ...ard Shortcuts 19 4 4 3D Volume Visualisation Model View 19 4 4 1 Gain 20 4 4 2 Range 20 4 4 3 Palette 21 4 4 4 Scan Step 21 4 4 5 Use Depths 22 4 4 6 Draw Points 22 4 4 7 Show Grid 23 4 4 8 Properties 23 4 4 9 Cursor 23 4 4 10 Measurements 24 4 5 2D Forward Looking 24 4 5 1 Search Mode 25 4 5 2 Palette 26 4 5 3 Invert Display Up Down 26 4 5 4 Flip Image Left Right 26 4 5 5 Draw Grid 26 4 5 6 Zoom ...

Page 4: ... 4 Tritech International Ltd 4 7 2 Sonar 33 4 7 3 Vehicle 34 4 7 4 Speed of Sound 35 4 7 5 Comm 35 4 8 Manually Restore Settings 36 5 Care Maintenance 38 5 1 Sonar Head 38 5 2 Eclipse SPU 38 6 Troubleshooting 40 A Eclipse Software String Decode 42 Glossary 43 ...

Page 5: ...ware or firmware revision numbers 3 A clear fault description 4 Details of any remedial action implemented Contamination If the product has been used in a contaminated or hazardous environment you must de contaminate the product and report any hazards prior to returning the unit for repair Under no circumstances should a product be returned that is contaminated with radioactive material The name o...

Page 6: ... the current topic Important When this is shown there is potential to cause harm to the device due to static discharge The components should not be handled without appropriate protection to prevent such a discharge occurring Caution This highlights areas where extra care is needed to ensure that certain delicate components are not damaged Warning DANGER OF INJURY TO SELF OR OTHERS Where this symbo...

Page 7: ...2 115 213 148 Acoustic Properties Operating frequency 240kHz Angular resolution 1 5 acoustic 0 5 effective Beamwidth 120 Number of beams 256 Range 120m 2D forward looking 60m 2D search 40m 3D Scan rate 100Hz at 5m 7Hz at 100m Range resolution 2 5cm Electrical and Communications Power consumption 60W Supply voltage 20 28V DC Communication protocols Ethernet 100BaseT ...

Page 8: ...m Operating temperature 10 to 35 C Storage temperature 20 to 50 C Surface Processing Unit Dimensions 480x450x180mm WxDxH Weight 14 5kg Input method USB keyboard mouse Operating system Microsoft Windows Software Tritech Eclipse Software Supply voltage 100 240VAC 50 60Hz Power consumption 170W at 240V AC Operating temperature 5 to 35 C Storage temperature 20 to 50 C ...

Page 9: ... tilt sensor The sonar data is displayed as a depth palletised 3D volume where colour represents the difference between the seabed depth and the vehicle Central Reference Point CRP Eclipse provides data stream logging and replay as well as having image and volume data snapshot capability Measurement tools provide range bearing and relative position to any acoustic target The Volume Visualisation h...

Page 10: ...e network signal cables inside the supplied cable are Shielded Twisted Pairs STP If splicing to a connector whip that is not provided with twisted pairs it is important to keep the untwisted length to a minimum no more than 20cm Long lengths might result in network losses or communication failure Pin Colour Function Diagram Photograph 1 Blue 4mm DC Ground 2 White STP 1 TX 3 Red STP 1 TX 4 Screen S...

Page 11: ...Eclipse it is possible to use the included PSU to provide both power and Ethernet connection to the Eclipse The Ethernet connector should be attached to the Eclipse SPU using the PCI card and not the motherboard connector and the Souriau connector to the Eclipse cable whip The Eclipse bench PSU is wired as follows Pin Function Diagram A Ethernet RX B Ethernet RX C Ethernet TX D not connected E not...

Page 12: ...d result in an electrical short Caution If using alcohol or IPA to clean out the connector take care that it does not come into contact with any other part of the sonar If an O ring is present it should be first removed and discarded and the new O ring only inserted after the IPA has evaporated 3 4 Positioning the Sonar The black sonar face should be pointed in the required direction Normally this...

Page 13: ... Eclipse sonar head is taken as being level with the front face at a point along the short edge closest to the connectors as shown below The offsets of the individual transducer arrays are contained within the software 3 5cm Acoustic face Reference Point Acoustic face 3 5cm 11 5cm 3 6 Mounting the Sonar The Eclipse has 9 20mm deep M6 fixing points ...

Page 14: ...are required if the sonar is to be mounted to a non aluminium frame Caution Mounting the sonar to a non aluminium frame without the use of the isolation fixings will cause corrosion of the unit and reduce its life expectancy 3 7 Surface Equipment The Eclipse is supplied with the following dry end components 19 4U rack mountable Eclipse SPU with case key and mains lead USB keyboard USB mouse RJ45 t...

Page 15: ...Power The Eclipse SPU is turned on using a button located behind the lockable front panel If this does not work it may also be necessary to turn the switch on the rear to the 1 position Rear Panel 0 1 Ensure all vents are free from obstructions DE 9 RS232 ports for ancillary sensors VGA or DVI connector for monitor Graphics card for CUDA processing do not connect monitor to this card Ethernet card...

Page 16: ...Installation Eclipse 3D Imaging Sonar Document 0690 SOM 00001 Issue 01 16 Tritech International Ltd 3 8 Software The Eclipse SPU will be supplied with all the required software already installed ...

Page 17: ... Advanced options toggled on off with the button in upper right for setup and configuration Note When the mouse is hovered over a control a tooltip will be displayed showing a description of that control and pressing F1 on the keyboard will open the online help at the relevant section A PDF copy of the manual is installed along with the Eclipse software and is accessible from the Windows Start men...

Page 18: ...ng the Factory Defaults button in the advanced options area Enter the Sonar ID of the Eclipse sonar head in the Vehicle tab in the advanced options area The Sonar ID of the first sonar that the software has found is displayed in the Sonar Controller tab To automatically use the Sonar ID of the first sonar that the software has found press the Auto button in the Vehicle tab Once the Sonar ID is set...

Page 19: ... 3 Keyboard Shortcuts A number of keyboard shortcuts are available for commonly used activities F7 Toggle Logging of data Ctrl F Capture the screen to file A Increase gain Z Decrease gain D Increase range C Decrease range 4 4 3D Volume Visualisation Model View The Model View is a 3D display that can be rotated and tilted by holding down the left mouse button and dragging the mouse around the displ...

Page 20: ...will also increase the amount of noise and interference seen by the sonar 4 4 2 Range 4 to 120m This is the maximum slant range used by the sonar The end range will determine the maximum update rate of the system A longer range value will have slower update rates due to the time taken for the sonar pulse to return from the furthest range Short ranges will have faster update rates Note The range ca...

Page 21: ... the start colour and any return deeper than the end depth will be given the end colour If depth data is available from an external depth sensor then the values entered here are absolute depths see Section 4 7 Advanced Controls If no depth data is present then anything above the centre of the Eclipse is considered to be negative and anything below it is positive so the Start should be set to a neg...

Page 22: ...of the palette also sets the bottom depth of the 3D grid When Use Depths is not enabled the Intensity Palette is used to colour points for 0 100 of intensity The Intensity Palette is also used for the Forward Looking 2D display 4 4 6 Draw Points Normally data is shown as a series of scan images with data being faded based upon the intensity of the target Targets with intensity below 5 are not disp...

Page 23: ...ound noise is present in the sonar image 4 4 7 Show Grid Toggles the display of the 3D grid The grid is drawn as far as the Range setting and also uses the bottom depth value given in the depth palette 4 4 8 Properties This pop up menu shows information about the current display view The Draw Ruler check box forces the ruler to be permanently displayed normally the ruler is only displayed while th...

Page 24: ...k with the mouse anywhere in the display area and select Measure from the pop up menu Then hold down the left mouse button above the measurement start point and drag the mouse to the measurement end point The measurement will be displayed on the ruler To finish measuring and return the 3D scan to default operation right click with the mouse anywhere in the display area and select Rotate Tilt from ...

Page 25: ...lows the ROV to be piloted using the screen 4 5 1 Search Mode Normally the Eclipse transmits a thin 1 5 by 120 beam which is useful for Measurements between vertical targets are required Only a small part of the total image is of interest Long ranges are required up to 120m depending on water conditions By enabling Search Mode Eclipse will transmit a thicker beam 40 by 120 This mode illuminates al...

Page 26: ...r The illustration above shows the button in the non flipped state 4 5 5 Draw Grid The Draw Grid button when clicked draws the range and bearing grid on the image displayed by the software The illustration above shows the button in the on state 4 5 6 Zoom The Zoom button looks like a magnifying glass When this button is clicked a zoom window opens which shows the data around the mouse pointer in m...

Page 27: ...sistence Filter This output displays the maximum of a number of scans The maximum is decayed over time The previous positions of moving targets are persistent and will generate a slowly decaying image i e snail trails When in this mode noise and other transient data will also be persistent Movement Filter This output enhances moving targets Targets that are static are faded out Moving targets rema...

Page 28: ...oint and drag the mouse to the measurement end point The range and bearing from the start point to the end point will be displayed along the line 4 6 Toolbar Functions The toolbar is at the top of the screen and gives quick access to eight common functions Online Toggles the sonar operation Record Toggles the logging of the sonar data Play Pause Toggles the replay of log files Stop Stops the repla...

Page 29: ...U disk The files will be saved to an automatically created subdirectory which is named based on the current date and to a filename which is named based on the current time The location and name of the files are displayed in the titlebar 4 6 2 Replaying Sonar Data Sonar data can be replayed by clicking on the Load button on the toolbar and selecting the log file using the dialog Once opened the log...

Page 30: ...gle recording of the current workspace view and save it as a WMV file The first time this button is pressed it will create an images subdirectory to the selected log file directory the default being C EclipseData images and then store the movie The filenames are automatically numbered in ascending sequence and given the title Eclipse i e Eclipse_0001 wmv Eclipse_0002 wmv 4 7 Advanced Controls The ...

Page 31: ...ion Normally the Eclipse system tries to fire the sonar continuously with little or no delay between pings This buttons slows the sonar ping rate to 50 of the maximum rate reducing the amount of data that is sent by the Eclipse sonar head Note If the column being visualised has been generated with very small steps it may be necessary to reduce the sonar ping rate User Defaults This loads all the s...

Page 32: ...m requires re installation Note To use the XML file as a User Default file it will have to be saved as C EclipseData Settings UserDefaults xml Units This allows the units of measurement to be selected Available options are Metric and Imperial System Information This displays the version information for the Eclipse SPU If there is ever a requirement to contact Tritech International Ltd Technical Su...

Page 33: ...een scans Normally this is set using the Scan Step control on the Model View however if desired it can be set here Points Threshold With Draw Points enabled the Model View is drawn as a points cloud Only sonar contacts with an intensity above the Points Threshold are considered to be a point this threshold is also used for the Export function Note The system will slow down if a very large number o...

Page 34: ...he vehicle The options are connectors up and connectors down as indicated by the illustrations click on the image which matches the correct orientation Changes in the orientation are reflected in the Model View with the Eclipse head changing according to which button is pressed Equipment Position It is useful to be able to configure the offset of various equipment in relation to the Central Refere...

Page 35: ...sured speed of sound values to smooth out sensor readings 4 7 5 Comm Eclipse provides for a motion sensor to be connected into the Eclipse SPU to apply heave pitch and roll compensation to the sonar position in the water Depth data can also be supplied by an external altimeter device Up to four external sensors can be fitted to the system and are configured by selecting the tabs Comm A through to ...

Page 36: ...tings file In preference the software should be run and the reset or load settings buttons should be used Advanced settings Sonar Controller Note Depending on the system setup the Eclipse data files are either stored in the C drive or the D drive please examine the system at hand and adjust the instructions accordingly i e change C EclipseData to D EclipseData where necessary The Eclipse software ...

Page 37: ...s and rename it to Eclipse xml 4 Start the Eclipse software A factory settings file is stored in the install folder normally C Program Files Tritech Eclipse Factory xml To revert completely to the factory settings file 1 Shut down the Eclipse software 2 Delete or rename the C EclipseData Settings Eclipse xml file 3 Copy the Factory xml file into the location C EclipseData Settings and rename it to...

Page 38: ...y maintenance tasks In light usage as long as the unit is washed thoroughly with clean fresh water after every use and dried before storage no further maintenance is required If the unit is in regular use or submerged routinely for extended periods it is advisable to arrange for an annual service to be carried out by Tritech International Ltd This service will enable the unit to be checked thoroug...

Page 39: ...able parts of the hardware are limited to the cooling fans in the chassis Care should be taken to keep the filters clean and the environment free from dust and moisture Failure of the chassis fans will result in elevated temperatures which will shorten the life of the product so any failures should be replaced immediately If the CPU GPU or PSU fans fail then the SPU will auto shutdown and operatio...

Page 40: ...erface on the rear of the SPU i e do not use the motherboard connector Note Ethernet connection requires Cat5e cable for the entire cable run max 80m and any lengths of untwisted cable must be kept to an absolute minimum Sonar goes offline while operating on deck The sonar head outputs heat to the body casing using it as a heatsink which is dissipated to the surrounding water during normal operati...

Page 41: ...d while browsing for the drivers CUDA Device is not recognised First try updating the graphics card drivers with the latest version available from the nVidia website If after updating the drivers the card is still not recognised open the Eclipse SPU case and make sure that both of the graphics cards are securely fitted into the PCI slots No Hardware Found or program crashes Open the Eclipse SPU an...

Page 42: ...ctansGHPR Heading Heave Pitch Roll HEHDT PHTRH OctansHPR Heave Pitch Roll PHTRH OctansPR Pitch Roll PHTRO SonDepth Depth SONDEP TSS Std 1 Heave Pitch Roll 000000 0000H 0000 0000 Octans Std 2 Heading Heave Pitch Roll 00000 0000H 0000 0000F Speed of Sound Speed of Sound 1500 0 Simard EM3000 Heading Heave Pitch Roll n a CDL Mini Tilt Pitch Roll P 0000 0R 0000 0 HMRU Heave Pitch Roll PHTRH 000000 0000...

Page 43: ...munications on computers DVI Digital Visual Interface a standard connector for connecting from a computer to a monitor Eclipse SPU A special version of the Tritech Surface Processing Unit SPU which has a high power graphics card capable of processing the Eclipse 3D imagery and a special Ethernet card for connection to the Eclipse Ethernet A family of computer networking technologies for local area...

Page 44: ...k mountable and capable of processing the data from the sonar equipment running either Windows XP Embedded or Windows 7 and Seanet Pro or Gemini software SOS Speed of Sound SPU Surface Processing Unit a more powerful specialised computer than the Tritech Surface Control Unit SCU capable of driving multiple sonar heads STP Shielded Twisted Pair cable a standard for communications cable with no cabl...

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