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1-27

1.4.4

GNSS/INS Unit Deck Cable

A GNSS/INS deck cable is required for the 6205s2 OEM Integrated GNSS/INS

unit option. EdgeTech’s GNSS/INS cable is a 20-meter (65 ft) underwater,

high-speed network data and power cable that links the processing module

to the IMU. The cable is a double-screened RS422/485 data cable with

three twisted pairs and three power conductors. It is terminated with an

eight-pin sea waterproof wet mate connector on both ends and has a

breaking strength of 545 kg (1200 lbs). Refer to

IGURE

2-6

for a wiring

diagram of this cable.

CAUTION!

Do Not use this cable for towing. It should never be bearing

the weight of the sonar head.

1.4.5

GNSS/INS Antenna Cable

Two GNSS/INS antenna cables are required for the 6205s2 OEM Integrated

GNSS/INS unit option. The GNSS/INS antenna cable is typically a 10-meter (30

ft) coax signal and power cable. The antenna cable links the GNSS processing

module to each antenna. EdgeTech currently provides Times Microwave

Systems (

WWW

TIMESMICROWAVE

COM

) LMR®-240 Flexible Low Loss

Communications Coaxial Cable with TNC connector cables.

Figure 1-11: GNSS/INS Deck

Cable

Figure 1-12: GNSS/INS

Antenna Cable

Содержание 6205S2

Страница 1: ...EdgeTech 4 Little Brook Road West Wareham MA 02576 Tel 508 291 0057 Fax 508 291 2491 www EdgeTech com 6205S2 BATHYMETRY SIDE SCAN SYSTEM U S E R H A R D W A R E M A N U A L 0025262_REV_A 5 26 2022...

Страница 2: ...s of Microsoft Corporation Getac is a registered trademark of MiTAC Synnex Group HYPACK and HYSWEEP are registered trademarks of Hypack Inc SonarWiz is a registered trademark of Chesapeake Technologie...

Страница 3: ...equipment described in this manual should read and understand the warnings and cautions provided below CAUTION This equipment contains devices that are extremely sensitive to static electricity Theref...

Страница 4: ...and use the same software drivers if applicable At times however direct replacements may not exist EdgeTech will provide the necessary drivers with the replacement part when this happens EdgeTech may...

Страница 5: ...e setup and use of EdgeTech s 6205s2 Bathymetry Side Scan System Although this manual encompasses the latest operational features of the 6205s2 some features may be periodically upgraded Therefore the...

Страница 6: ...e ii The items have not been misused or abused in any manner nor have repairs been attempted thereon without the approval of EDGETECH CUSTOMER SERVICE iii Written notice of the failure within the warr...

Страница 7: ...rted directly to the customer New software releases consist of the following Software enhancements that are not on the price list Software fixes and changes Product integration Documentation updates t...

Страница 8: ...ntified on the invoice CAUTION Never attempt to ship a topside unit in its SKB case alone Although rugged these cases are not intended to be used as shipping containers and the delicate internal compo...

Страница 9: ...Therefore we encourage you to contact EdgeTech Customer Service to offer any suggestions or to request technical support NOTE Have your system Serial Number available when contacting Customer Service...

Страница 10: ...e estuarine and coastal applications for over 50 years The company has responded to the scientific Naval and offshore communities needs by providing equipment such as sub bottom profilers side scan so...

Страница 11: ...USTOMER SERVICE ix COMPANY BACKGROUND x TABLE OF CONTENTS xi LIST OF FIGURES xv LIST OF TABLES xviii 1 0 OVERVIEW 1 19 1 1 Applications 1 20 1 2 6205s2 Configuration Options 1 20 1 2 1 Frequency Optio...

Страница 12: ...TECHNICAL DESCRIPTION 3 39 3 1 The 6205s2 Sonar Head 3 39 3 1 1 Sonar Arrays 3 40 3 1 2 Sonar Head Housing 3 40 3 1 2 1 Sonar Processor 3 40 3 1 2 2 Sonar Processor Endcap and Pinout Drawings 3 41 3 1...

Страница 13: ...erface Box 5 67 6 0 CONNECT TO SONAR 6 68 6 1 Connecting to Sonar via Remote Desktop 6 68 6 1 1 Connecting with the User supplied computer 6 68 6 1 2 Connecting with the EdgeTech supplied computer 6 4...

Страница 14: ...r System Restoration 8 77 9 0 KITS 9 81 9 1 Spare Kits 9 81 9 2 Tool Kit 9 81 9 3 Adaptor Flange Installation Kit 9 81 9 4 Sensor SBG IMU and GNSS Installation Kit 9 82 A 0 Compatible SOFTWARE 9 83 A...

Страница 15: ...e ICD 2 32 Figure 2 3 6205s2 Side Scan Transducer 2 33 Figure 2 4 6205s2 Side Scan Transducer Details 2 34 Figure 2 5 6205s2 Deck Cable Wiring Diagram 2 35 Figure 2 6 6205s2 GNSS INS Deck Cable Wiring...

Страница 16: ...67 Figure 6 1 Manual Remote Desktop Credentials for Customer Supplied Computer 6 68 Figure 6 2 Sonar 192 9 0 101 Remote Desktop Connection Window 6 45 Figure 6 3 Sonar 192 9 0 101 Remote Desktop Conn...

Страница 17: ...r ini file TimeSyncSource Keyword Adjustments 8 73 Figure 8 30 Ekinox Apogee SonarSerial ini File Adjustment 8 73 Figure 8 31 UDP broadcast settings example 8 74 Figure 8 32 Data packets required set...

Страница 18: ...rements 2 29 Table 3 4 Environmental Specifications 2 29 Table 3 5 6205s2 Topside Interface Specifications 2 30 Table 3 6 6205s2 R Topside Connectors Switches and Indicator Lights 3 50 Table 9 1 6205s...

Страница 19: ...kHz or 850kHz Additionally EdgeTech s latest 2205 Electronics and Modular Arrays are utilized in the 6205s2 resulting in an extremely lightweight design required for shallow water applications and ves...

Страница 20: ...1 Frequency Options The 6205s2 is available in the following standard frequency configurations 520 850 kHz Dual Frequency Side Scan with 520 kHz Bathymetry Data 520 850 kHz Dual Frequency Side Scan wi...

Страница 21: ...e pole mounted The sonar electronics are contained inside a single housing and two dual side scan arrays are mounted on the port and starboard sides of the vehicle A sound velocity sensor is housed in...

Страница 22: ...ble The serial and Ethernet ports act as a dry connection to the sonar head for all ancillary information i e position attitude time etc and data from the sonar head to the topside computer BNC and TN...

Страница 23: ...Software EdgeTech s Discover Bathymetric Software Acquisition package provides a way to control store and display the Bathymetry and Dual Frequency Side Scan Sonar data For more information refer to t...

Страница 24: ...conductors that meet or exceed TIA 568 B and is suitable for 10Base T and 100Base T The deck cable is terminated with a 16 pin wet mate connector on both ends has a breaking strength of 545 kg 1200 l...

Страница 25: ...metric Software and all supporting software The laptop has the specifications below Windows 10 Professional Operating System Intel Core i7 8650U vPro 1 9GHz processor with Turbo Boost Technology 8 GB...

Страница 26: ...IMU and extended Kalman filter EKF The Septentrio AsterX4 Real Time Kinematics RTK and Global Navigation Satellite System GNSS provide highly rated RTK position accuracy and all in view satellite tra...

Страница 27: ...ngth of 545 kg 1200 lbs Refer to FIGURE 2 6 for a wiring diagram of this cable CAUTION Do Not use this cable for towing It should never be bearing the weight of the sonar head 1 4 5 GNSS INS Antenna C...

Страница 28: ...e Table 3 1 Physical Specifications 2 2 Acoustic Specifications SONAR HEAD MODEL 520 850 1600 KHZ SS 520 820 BATHY SIDE SCAN SONAR Center Frequency 520 850 1600 kHz Range per Side 150 75 35 m 490 245...

Страница 29: ...eight In Air Without Adaptor Flange 14 kg 32 lbs With Adaptor Flange 19 kg 40 lbs Input Voltage 48 60 VDC Power Typical Max 55W 70W Data Products Bathymetry Backscatter Side Scan Imagery and Real Time...

Страница 30: ...onstruction Aluminum Interfaces 1 Sonar Deck Lead 1 1 PPS TTL via BNC 1 Trigger TTL In via BNC 3 100 BaseT Ethernet Ports 3 Serial RS 232 Ports Optionally extra for INS unit 1 IMU Deck Lead 1 1 PPS ou...

Страница 31: ...2 6 Mechanical Drawings This section contains supporting drawings for the 6205s2 Swath Bathymetry and Dual Frequency Side Scan Sonar System 2 6 1 6205s2 Sonar Head Drawing Figure 2 1 6205s2 Sonar Head...

Страница 32: ...2 32 Figure 2 2 6205s2 Sonar Head with Adaptor Flange ICD...

Страница 33: ...2 33 Figure 2 3 6205s2 Side Scan Transducer...

Страница 34: ...2 34 Figure 2 4 6205s2 Side Scan Transducer Details...

Страница 35: ...2 35 Figure 2 5 6205s2 Deck Cable Wiring Diagram...

Страница 36: ...2 36 Figure 2 6 6205s2 GNSS INS Deck Cable Wiring Diagram...

Страница 37: ...2 37 2 6 2 6205s2 Topside Figure 2 7 6205s2 Rack Mounted Topside...

Страница 38: ...2 38 Figure 2 8 6205s2 Rack Mount in Case...

Страница 39: ...using and two dual side scan and bathymetric arrays are mounted on the port and starboard sides of the vehicle A sound velocity sensor is housed in the nose cone A deck cable connector and optional GN...

Страница 40: ...elements and two multi segment PZT strings The two multi element strings one per side scan frequency are used for the transmit function and as a full resolution side scan receiver The remaining ten el...

Страница 41: ...3 41 3 1 2 2 Sonar Processor Endcap and Pinout Drawings Figure 3 5 6205S2 Forward End Cap...

Страница 42: ...3 42 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_A Figure 3 6 6205s2 Aft End Cap...

Страница 43: ...time of 47 s a resolution of 0 001 m s and a theoretical accuracy of 0 025 m s EdgeTech recommends collecting a sound velocity profile especially in the area where you collect survey data The water b...

Страница 44: ...tion time The bolt pattern is shown in FIGURE 3 9 EdgeTech advises mounting the 6205s2 Sonar Head to the bow of a survey vessel By placing the system at the bow the sonar should be far enough away fro...

Страница 45: ...ad offsets into the third party acquisition and processing software the port and starboard array offsets sometimes referred to as Sonar Head 1 and Sonar Head 2 are identical in all dimensions Remember...

Страница 46: ...3 46 Figure 3 11 6205s2 Acoustic Center Location X Y Z and Bolt Pattern...

Страница 47: ...3 47 Figure 3 12 6205s2 with Adaptor Flange Acoustic Center Location X Y Z and Bolt Pattern...

Страница 48: ...erial ports are configured for high speed and high accuracy while the third RS232 serial port is configured for standard serial connections Typical latencies for the high speed high accuracy ports are...

Страница 49: ...rovide connections to optional OEM SBG devices and triggers The front panel power switches and indicators power topside components and give information on their status Refer to TABLE 3 6 6205S2 R TOPS...

Страница 50: ...nnector for MCIL8M IMU cable connector 1PPS Sonar In BNC BNC connection to Pulse Per Second device 1 PPS GNSS Out BNC BNC connection to the GNSS INS system EXT Trigger In BNC BNC connection to an exte...

Страница 51: ...2 3 Topside Computer Requirements Specifications The topside computer must be able to run EdgeTech s Discover Bathymetric Acquisition Software and any additional third party software To do so it must...

Страница 52: ...2_REV_A CAUTION The laptop s performance can change when running on internal battery power Therefore EdgeTech recommends ensuring the laptop is plugged into AC power when operating with the sonar and...

Страница 53: ...supported 3rd party format latitude and longitude and height minimum of 5Hz c Heading data in NMEA format or supported 3rd party format minimum of 20Hz d Attitude or roll pitch heave data in or suppor...

Страница 54: ...iXBLUE StndBinary etc Contact EdgeTech for further details of supported messages NOTE The prefix xx represents a specific manufacturer s proprietary NMEA message prefix GPGGA GPZDA etc are examples o...

Страница 55: ...et to an address similar to the above Options SBG Ekinox 192 9 0 51 Septentrio GNSS 192 9 0 50 The 6205s2 can receive data from supporting sensors via the ethernet connection utilizing UDP Refer to th...

Страница 56: ...hree possible sensor configurations that are explained below Figure 4 1 6205s2 Rack Mount Topside Interface Connections In FIGURE 4 1 the 6205s2 topside interface connects to the sonar head via deck c...

Страница 57: ...that provides navigation and heading and time data accompanied by a separate motion sensor for heave roll pitch measurements The COM ports should be assigned as such COM1 MRU Roll Pitch Heave COM2 GN...

Страница 58: ...ia the Ethernet connection utilizing UDP Refer to SECTION 8 3 4 UDP CONNECTIONS for more information on configuring 6205s2 for UDP data transfer FIGURE 4 2 depicts a sensor interface to the 6205s2 top...

Страница 59: ...tion latitude longitude heading roll pitch and heave data connection over an ethernet connection internal to topside unit When using the GNSS INS system an external cable is used to loopback the 1PPS...

Страница 60: ...pulse This signal is passed down the deck cable to the subsea electronics where the rising edge is utilized as the 1PPS time sync reference Refer to FIGURE 4 4 This configuration produces negligible...

Страница 61: ...tware is utilized it would be added to the data flow The Sonar Data Flow Chart below FIGURE 4 5 illustrates the data flow between Discover the Bathymetric Processor and any third party software Figure...

Страница 62: ...represented by a complete data package containing all sonar and auxiliary data NOTE Once the data is passed back to Discover Bathymetric data is displayed on the provided graphical displays to illustr...

Страница 63: ...against the noise fluctuations on the ground line of the subsea electronics This board isolates the sensitive subsea electronics from potentially noisy grounds provided by the trigger and serial port...

Страница 64: ...OMER SERVICE Do not install or operate any equipment that appears damaged Although the items shipped may vary depending on the customer s requirements the standard components for the 6205s2 Swath Bath...

Страница 65: ...s2 sonar head to the bow of the survey vessel An example of an over the bow deployment is depicted in the photographs in FIGURE 5 1 If help is needed with this type of installation do not hesitate to...

Страница 66: ...the images in FIGURE 5 2 If help is needed with this type of installation contact EDGETECH CUSTOMER SERVICE Figure 5 2 6205s2 Deployment Option 2 Over the Side 5 2 4 USV Deployment An alternative to...

Страница 67: ...perating the survey vessel sonar head and other supporting sensors Try and position the box out of areas of direct sunlight especially in tropical environments as heat build up can occur and viewing s...

Страница 68: ...ndow s Remote Desktop application and view the sonar application Sonar exe to check the status of the supporting data if a device is not connected properly If this is the case Discover Bathymetric wil...

Страница 69: ...screen If prompted for a password input admin Once logged on the Sonar Application will be displayed on the screen as shown in FIGURE 6 2 This window represents the main firmware running on the embed...

Страница 70: ...eable on COM1 and COM2 as long as the appropriate baud rate is set in the dropdown menu next to channel assignment in Serial Port Information Window as shown in Figure 6 4 red arrow More information o...

Страница 71: ...m Status window will appear 5 At the bottom of the window click the Config bullet then the dropdown menu item named Config Item 6 Select Serial from the list Check to make sure all sensors usage perce...

Страница 72: ...e not increase the baud rates of the sensors until these percentages drop Make sure to change the baud rate accordingly in Sonar 8 When satisfied with the incoming data press OK in the System Status w...

Страница 73: ...bserved clean the sonar head using a washcloth with mild soap and freshwater The SVS mounted onto the connector nose cap should be regularly inspected cleaned and re calibrated according to the manufa...

Страница 74: ...No Sound Velocity on Port 4 If this error persists longer than 30 seconds follow the procedure below to resolve the issue 1 Place the Sonar Head in water deep enough to submerge the SV probe immerse t...

Страница 75: ...again as in step 4 above 7 If the port reports data then proceed to normal operation If not continue to step 8 8 Closeout of Sonar exe by clicking on the X in the top right corner as shown in FIGURE...

Страница 76: ...SV sensor Type in SET STARTUP NOHEADER and press Enter Type in SET SV FORMAT 42 and press Enter Type in SET SAMPLE 1 S and press Enter Type in SET DETECT 06 and press Enter 14 Cycle the power on the...

Страница 77: ...but from different messages The following subsections describe each problem and the configuration that should be done to remedy it In the event the auxiliary sensors cannot be reprogrammed to output s...

Страница 78: ...RIC AND SIDE SCAN SONAR 0025262_REV_A 1 Open the Auxiliary Sensors control dialog box Configuration menu Auxiliary Sensors as shown in FIGURE 8 7 and FIGURE 8 8 Figure 8 7 Configuration Menu Figure 8...

Страница 79: ...essage delivers roll pitch heading and heave to the 6205s2 Sonar Head with no way for the particular sensor to turn off any of these specific fields If a sensor like this is paired with another sensor...

Страница 80: ...erial ini should be manipulated to reflect as shown in FIGURE 8 10 Figure 8 10 SonarSerial ini NOTE This new keyword disables the heading message from the OCTANS message The same can be done with an E...

Страница 81: ...of configuration only COM1 will be utilized To configure the COM ports for one sensor 1 Turn on Topside PC and connect the 6205s2 via the deck cable to the 6205s2 Topside Interface Box 2 Turn on the 6...

Страница 82: ...205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_A Figure 8 12 Finding the SonarSerial ini File Figure 8 13 SonarSerial ini File 6 Under Serial2 and Serial3 set Create 0 select File Save and close th...

Страница 83: ...ive Error 7 Close the SonarSerial ini file and restart the Sonar application by double clicking on the Sonar icon in the main Sonar Remote Desktop Screen as shown in FIGURE 8 15 Figure 8 15 Sonar Exe...

Страница 84: ...BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_A Figure 8 16 Checking Serial Port Information 11 Click File Show Status in the sonar window as shown circled in red in FIGURE 8 17 Figure 8 17 Checking Se...

Страница 85: ...tep 10 Check the Status again Otherwise the sonar will report errors 14 When satisfied with the incoming data press OK in the System Status window as shown in FIGURE 8 18 15 Finally close the Sonar 19...

Страница 86: ...te 0 select File Save and close the file as shown in FIGURE 8 20 CAUTION Do not touch anything else or the system s configuration files could be seriously compromised and functionality may suffer This...

Страница 87: ...e window as shown in FIGURE 8 16 green arrow 7 Now Check COM2 and set the correct baud rate for the other device as done before in Step 6 8 Now click on File Show Status in the sonar window as shown c...

Страница 88: ...erience a very slow computer because the Remote Desktop uses a large amount of the link capacity to stay open When finished with the configurations it is wise to close the Remote Desktop 8 3 3 Three S...

Страница 89: ...nsors Set 3 Select File Save and close the file CAUTION Do not touch anything else or the system s configuration files could be seriously compromised and functionality may suffer 4 Close the SonarSeri...

Страница 90: ...on File Show Status in the sonar window as shown in FIGURE 8 17 circled in red 10 On the right hand side of the window click on the Config bullet under the Update button and then on the dropdown menu...

Страница 91: ...8 67 Figure 8 22 Checking all COM Ports...

Страница 92: ...ble with data sent over the Ethernet connection via UDP The SonarSerial ini is utilized to configure the system to accept these messages Note that 1PPS functionality must be utilized when operating wi...

Страница 93: ...ix Follow the below steps to configure the 6205s2 and the POS MV for communication over the Ethernet interface via UDP Utilizing the Applanix POSVIEW software 1 Set the ethernet real time output data...

Страница 94: ...is not present leave as is as the command is not required Figure 8 25 POSMV UDP Configuration CAUTION Do not alter the file other than what has been specified This will deactivate COM ports 1 2 and 3...

Страница 95: ...Make sure the TimeSyncSource POSMV_BINARY or it includes it in a list Ensure there is no semicolon in front of this iteration of the keyword Figure 8 27 TimeSyncSource POSMV_BINARY Keyword 6 In the D...

Страница 96: ...l Port Information Next select COM 5 in the first dropdown ensure that data is received and the State is reported as OK Discover Bathymetry can also be used to check the correct configuration of the t...

Страница 97: ...r suggested changes in the SBG Software UI FIGURE 8 32 Required All selected outputs at the same rate The Hydro Hypack preset selection is recommended to enable the necessary data messages at a suitab...

Страница 98: ...8 74 6205s2 BATHYMETRIC AND SIDE SCAN SONAR 0025262_REV_A Figure 8 31 UDP broadcast settings example Figure 8 32 Data packets required set using the recommended SBG s Hydro Hypack...

Страница 99: ...8 75 Figure 8 33 1PPS settings example Falling Edge and 1msec duration 8 3 7 OEM Integrated SBG Ekinox Configuration Figure 8 34 SBG Systems OEM GNSS and INS units...

Страница 100: ...Primary Lever Arm Center of Rotation Level Arm X Y Z meter values should be populated These are the offsets from the IMU to the center of the vessel CAUTION Do not change any Monitoring Points values...

Страница 101: ...rate recommended 50Hz o Required EKF Euler Provides Pitch Roll Heading o Required EKF Nav for Ekinox or Apogee if you want Edgetech GGK and VTG generated o Required UTC Time o Recommended Ship Motion...

Страница 102: ...re booting a If the Topside is a rack mount Press F11 b If the Topside is a laptop Press F10 3 Under the Boot Manager Use the up down arrows to select the flash drive Corsair Voyager 3 0 4 Wait for Ma...

Страница 103: ...n Add Search Path Confirmation Buttons 7 You should now see that the restore file has been populated in the window Next click on Restore Figure 8 39 Restoration Restore Button 8 On the next window Sel...

Страница 104: ...Continue on this window Figure 8 40 Restoration Confirm Overwrite Continue Button 10 The restoring process should take 2 4 minutes to complete Once it is finished click the red button on the bottom l...

Страница 105: ...HY 0024487 ASSY TOP KIT SPARES 6502S2 ELECTRONICS 520 850 KHZ SIDESCAN 850 KHZ BATHY 0024488 ASSY TOP KIT SPARES 6502S2 ELECTRONICS 850 1600 KHZ SIDESCAN 850 KHZ BATHY Table 9 1 6205s2 Topside and Son...

Страница 106: ...ating with a liquid thread locker such as Loctite The Adaptor Flange is connected to a customer s pole mounting by threading 6 625 bolt split lock washer washer and nut assemblies Figure 9 1 6205s2 Ad...

Страница 107: ...of 3rd party software packages contact EDGETECH CUSTOMER SERVICE A 2 1 HYPACK The bathymetry and side scan data are sent in real time to the HYPACK HYSWEEP survey applications These applications disp...

Страница 108: ...rter supports EdgeTech s bathymetry and side scan data formats For more information on CARIS visit HTTP WWW CARIS COM A 2 5 EIVA NaviSuite EIVA s NaviSuite constitutes a complete advanced multipurpose...

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