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881A/L-GS Scanning Sonar

Doc No: 430-044-00

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Содержание 881A-GS

Страница 1: ...81A L GS GYRO STABILIZED SCANNING SONAR SERIAL ETHERNET VERSION USER MANUAL Imagenex Technology Corp 209 1875 Broadway Street Port Coquitlam BC Canada V3C 4Z1 Telephone 604 944 8248 Fax 604 944 8249 info imagenex com www imagenex com ...

Страница 2: ...Revision History Number 430 044 Revision Date Description 0A 05 Apr 21 For internal review 00 23 Apr 21 For distribution ...

Страница 3: ...ce 16 2 3 1 Shortcut Buttons 17 2 3 2 File Playback 18 2 3 3 Sonar Settings 18 2 3 4 Additional Information 19 2 3 5 Acquiring Targets 20 2 3 6 Heading Range Bearing 21 2 3 7 Compass Tape Display 22 2 3 8 ROV Overlay 22 3 Software Menus 23 3 1 File 23 3 1 1 File Connect to Sonar Head 23 3 1 2 File Open File to Playback 23 3 1 3 File Plot data from UDP 23 3 1 4 File Record Start Stop Copy Start Sto...

Страница 4: ...e 24 3 2 3 View Clear Screen 24 3 2 4 View Zoom Factor 24 3 2 5 View Zoom In 25 3 2 6 View Zoom Out 25 3 2 7 View Grid 25 3 2 8 View Range Marker 25 3 2 9 View Color Indicator 25 3 2 10 View Compass Display 25 3 2 11 View ROV OverlayToggles the ROV Overlay on off see Figure 8 ROV Overlay 25 3 2 12 View Main Toolbar 25 3 2 13 View Mini Settings Bar 25 3 2 14 View Show Sonar Settings 26 3 3 Color Ta...

Страница 5: ...et 30 3 5 3 Options RealTime Play Speed 31 3 5 4 Options Enable Gyro 31 3 5 5 Options Calibrate Gyro 31 3 5 6 Options Enable Gyro Auto Bias 32 3 5 7 Options Set Heading Reference 33 3 5 8 Options Calibrate Compass 33 3 5 9 Options Calibrate Motor 34 3 5 10 Options Local Lat Compass Declination 34 3 6 Profile 34 3 6 1 Profile Off 34 3 6 2 Profile Points Only 34 3 6 3 Profile Low Mix 34 3 6 4 Profil...

Страница 6: ...8 3 7 1 GPS Enabled 38 3 7 2 GPS Track Plotter 38 3 7 3 GPS Erase GPS Tracks 38 3 7 4 GPS Zoom In 39 3 7 5 GPS Zoom Out 39 3 8 Video 39 3 8 1 Video Open Video Window 39 3 8 2 Video Record Video Frames to File 39 3 9 Help 39 3 9 1 Help Help 39 3 9 2 Help About 39 4 Additional Documentation 40 APPENDIX A Hot Keys 41 APPENDIX B Cable Diagram 881L and 881A 43 APPENDIX C Spec Sheets 46 ...

Страница 7: ... User Interface File Playback 16 Figure 3 Sonar Settings 18 Figure 4 Additional Information 19 Figure 5 Acquiring Targets 21 Figure 6 Bottom Left 21 Figure 7 Compass Tape Display 22 Figure 8 ROV Overlay 22 Figure 9 Transducer Up 28 Figure 10 Transducer Down 28 Figure 11 Zero Down 35 Figure 12 Auto Profile 38 ...

Страница 8: ... of 46 Tables Table 1 General Features 11 Table 2 Adapters 13 Table 3 External Hardware 14 Table 4 Shortcut Buttons 17 Table 5 Playback Control 18 Table 6 Reference Table 20 Table 7 Color Table 26 Table 8 Conventions 30 Table 9 Additional Document 40 ...

Страница 9: ...ecibel ES Echo Sounder GB Gigabyte GPS Global Positioning System GS Gyro Stabilized IP Internet Protocol kHz Kilohertz m s Meters per second MHz Megahertz NMEA National Marine Electronics Association PC Personal Computer RAM Random Access Memory ROV Remotely Operated Vehicle TB Terabytes UDP User Datagram Protocol USB Universal Serial Bus VDC Volts Direct Current ...

Страница 10: ...le motion in real time with accuracy and stability Gyro stabilization is very useful to ROV pilots when working in close proximity to targets Both units contain a magnetic compass and a gyro that work together to deliver a robust heading reference even in areas of high magnetic interference Both units deliver a high level of performance with the 881L GS ethernet unit able to transfer data at a hig...

Страница 11: ...selected through programmable software configurations Tunable from 280 kHz to 1 1 MHz in 5 kHz steps Transducer Imaging type fluid compensated Range Resolution 1 m 4 m 2 mm 0 08 5 m up 10 mm 0 4 Maximum Operating Depth 1000 m 3000 m available Transducer Beam Width 310 kHz 4 x 40 675 kHz 1 8 x 20 1 MHz 0 9 x 10 Minimum Detectable Range 150 mm 6 Table 1 General Features ...

Страница 12: ...ts Connect the RJ45 connector to the PC s network port or cable to the PC s Comm port 881L and 881A respectively Plug the underwater connector into the sonar Deploy to a stable flat location Power up the 881A L GS Wait for the gyro calibration process to be completed Upon power up the sonar will automatically calibrate the motor pause for 30 seconds and automatically perform a gyro calibration No ...

Страница 13: ...t Ethernet Adapter is recommended The TP LINK Model UE300 appears to work well If an 881A GS is used an available RS 485 or RS 232 depending on the type of receiver port is required If no COM port is present on the PC an RS 485 to USB adaptor or an RS 232 to USB adaptor is used The following are recommended models of such adaptors Protocol Recommended Adaptor RS 485 Model 2104 USB to RS 485 from S...

Страница 14: ...igure 1 External View A FRAGILE This area must not be obstructed Do not attach any brackets or fastenings to this area B Ensure locking sleeve is used Do not bend pins C Do not remove Represents moving transducer zero position D Use this area to mount the sonar Table 3 External Hardware ...

Страница 15: ...oftware download The installation of the software on the PC is straightforward It can be installed in its own directory and run by double clicking or you can create a shortcut from the desktop for it It is not recommended that the New Program Wizard nor any other installation program be used If present a Win881AL INI file will be read and the settings from the previous time the application was run...

Страница 16: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 16 of 46 2 3 INTERFACE Figure 2 Software User Interface File Playback Freq Gain Gyro Status Range Shortcut Buttons Playback Bar Sonar Heading ...

Страница 17: ... defined by the Sector setting Displays a Side Scan type image showing intensity of return Pauses real time or playback Changes the sweep direction Toggles clockwise counter clockwise Clears the display Restore default zoom and pan Zoom in display Zoom out display Ruler Measures distance in meters or feet depending on Options Units selection on the display Display Settings dialog box Opens a diagn...

Страница 18: ...Sonar Settings Range Set the maximum range of target detection 1 200 m Gain Set the sonar gain 0 40 dB Adjust until display optimized Sector Define the scan sector 0 360 in 3 increments Train Allows for the rotation of the sector set above around the centre 0 360 in 3 increments Speed Define the scan speed of the sonar Slow Fastest Mode Polar Sector Side Scan as described in 3 2 7 View Grid Enable...

Страница 19: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 19 of 46 2 3 4 Additional Information Figure 4 Additional Information ...

Страница 20: ...eading Up mode the circle will remain stationary at the top of the screen while the sonar image rotates In Target Steering mode the circle will transverse around the perimeter of the sonar image which remains stationary Used in conjunction with Acquire Target see 9 below 9 Gyro Stabilized Image mode selection If Target Steering Mode selected the user can Acquire Target which allows the user to sel...

Страница 21: ...ithin a sector and rotated the sector to the top of the screen The sonar will now scan the sector with the centred target Figure 5 Acquiring Targets To return select Release Target to remove the sector restrictions and train angle 2 3 6 Heading Range Bearing The following data appears bottom left of the display Figure 6 Bottom Left H Sonar heading R Range of the cursor from centre B Bearing of the...

Страница 22: ...e View Compass Display Displays the current heading as a moving tape display Figure 7 Compass Tape Display 2 3 8 ROV Overlay Displays the ROV overlay if View ROV Overlay is selected Size can be adjusted by using the Z speed key which toggles through various size options Figure 8 ROV Overlay ...

Страница 23: ... Stop Realtime only Copy Start Stop Playback only Toggles the record state on off Recording is done as per the settings below The file format for an 881A L GS is 81R 3 1 5 Set Record Directory Specify the directory in which you wish to save files If nothing is specified the program saves the copied recorded files to the directory from which the software was run 3 1 6 File Auto Save File Names Sele...

Страница 24: ...ts of the file will be whatever is set in the Sonar Elevation text box in the Auto Profile window Note that the XYZ file will always be in meters regardless of the units selected in 3 5 1 Options Units 3 1 9 File Save Screen Opens a dialog box that allows for the saving of a BMP file of the current screen 3 1 10 File Exit Writes all settings to the Win881AL INI file that is kept in the same locati...

Страница 25: ...e Marker Displays hides the range frequency and gain information on the top left of the display 3 2 9 View Color Indicator Toggles the colour bar on off 3 2 10 View Compass Display Toggles the Compass Tape on off see Figure 7 Compass Tape Display 3 2 11 View ROV OverlayToggles the ROV Overlay on off see Figure 8 ROV Overlay 3 2 12 View Main Toolbar Toggles the Main Toolbar on off 3 2 13 View Mini ...

Страница 26: ...S uses a colour table to represent echo data strength amplitude For example the Normal High intensity colour table maps the echo data amplitude to 256 colours ranging from black low strength level through blue green orange yellow white and red highest strength level The Color Table menu offers the following options Normal High Standard colour table used for mapping the echo data amplitude to 256 c...

Страница 27: ...o be configured here to read GPS information Expected format NMEA GPGGA 3 4 2 System IP Address 881L GS Only Select sonar from the 3 4 6 System Sonar Type menu Realtime only Allows for the configuration of the Internet Protocol IP address for incoming sonar data The statically assigned default for the sonar IP Address is 192 168 0 5 and unless a different IP address was selected at the time of ord...

Страница 28: ...d heading sensors will be corrected for sign conversion in both orientations Figure 9 Transducer Up Figure 10 Transducer Down The oil fill port represents the zero reference for the compass gyro sensors and pitch and roll sensors Note that the pitch roll and heading sensors although rotated through 180 are auto corrected for Transducer Up Transducer Down orientations They are not corrected for the...

Страница 29: ... Sonar Doc No 430 044 00 Page 29 of 46 Orientation Axis Convention Compass North Forward Diagram Transducer Up Pitch Rotating around axis A into the page Pitch Up Roll Rotating around Axis B into the page Starboard Down ...

Страница 30: ...tch Not applicable Roll Not applicable Table 8 Conventions 3 4 6 System Sonar Type Realtime only Various models of sonar use the same interface software Select 881A GS or 881L GS depending on model 3 5 OPTIONS 3 5 1 Options Units Meters or feet can be selected as the units used 3 5 2 Options Measure Target Measures distance in meters or feet depending on Options Units selection on the display ...

Страница 31: ...luctuations and internal drift See Section 3 5 6 Options Enable Gyro Auto Bias for enabling disabling this mode When first starting the sonar the bias adjustment will be very rapid as the temperature stabilizes While the gyro will still internally drift the sonar image will be coherent allowing the operator to continue to work Note that the absolute heading will not be exact during this time as th...

Страница 32: ...ssage disappears standard operation commences Note When using manual biasing it is ESSENTIAL that the sonar remains completely stationary and at constant temperature during gyro calibration Any movement will cause undesirable drift in the gyro 3 5 6 Options Enable Gyro Auto Bias Realtime only Puts the sonar into auto bias mode where the sonar will continuously re bias the gyro in real time Disabli...

Страница 33: ...sing OK the current magnetic heading will be used as the reference and the gyro will then provide heading input to sense any rotation of the sonar All subsequent scans will therefore be relative to magnetic north and through the application of declination see 3 5 10 Options Local Lat Compass Declination true north is calculated Image stabilization and XYZ points if generated are calculated relativ...

Страница 34: ...magnetic north west is negative east is positive Note that the Local Latitude will not take effect until a calibrate gyro process is completed The following website reports declination https www geomag nrcan gc ca calc mdcal en php for a given position 3 6 PROFILE 3 6 1 Profile Off Only image data is displayed i e no profile points 3 6 2 Profile Points Only Only generated profile points are displa...

Страница 35: ...nly be used when the sonar is mounted horizontally 3 6 8 Profile Profile Min Range Realtime only Set the minimum range 0 25 m here Useful to eliminate spurious returns that occur close to the transducer 3 6 9 Profile Auto Profile Horizontal Scan Borehole Realtime only 881A GS Profiler Only Used to generate the Z depth component of the XYZ files via an auto increment function This allows the user t...

Страница 36: ...inutes to acclimate to ambient temperature Calibrate the compass if geographical location has changed Calibrate the gyro See 3 5 5 Options Calibrate Gyro During the calibration ensure the following o Gyro Biasing Delay 30 set in the Win881AL_GS ini configuration file o The sonar has acclimated to the ambient water temperature and that it remains stationary during calibration o If the gyro is still...

Страница 37: ... the Sonar Elevation textbox is automatically updated with the most current depth Once the end of the survey has been reached the 81R file logging session should be stopped An alternative deployment procedure is detailed below The sonar is lowered to the desired depth and the payout depth entered into the Sonar Elevation textbox An 81R file logging session is started Auto Profile Enable is checked...

Страница 38: ... click OK or click Cancel Figure 12 Auto Profile 3 7 GPS 3 7 1 GPS Enabled Realtime only If a GPS receiver is connected via a comm port it may be enabled and disabled here 3 7 2 GPS Track Plotter Realtime only Displays a window showing the historical track of the sonar Only if GPS Enabled 3 7 3 GPS Erase GPS Tracks Realtime only Clears the historical track of the sonar ...

Страница 39: ... 8 1 Video Open Video Window Realtime only Allows the interfaced video camera to display in the video window 3 8 2 Video Record Video Frames to File Realtime only Enable disable the recording of video to the data files Once File Copy Start Stop see Section 3 1 4 is clicked the video data will be included in the data file recording Note that storing video can generate very large files The software ...

Страница 40: ...anning Sonar Doc No 430 044 00 Page 40 of 46 4 ADDITIONAL DOCUMENTATION Document Number Description 410 013 USB Converters and the Windows OS 430 054 881L Ethernet Troubleshooting Guide Table 9 Additional Document ...

Страница 41: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 41 of 46 APPENDIX A HOT KEYS ...

Страница 42: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 42 of 46 ...

Страница 43: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 43 of 46 APPENDIX B CABLE DIAGRAM 881L AND 881A ...

Страница 44: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 44 of 46 ...

Страница 45: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 45 of 46 ...

Страница 46: ...881A L GS Scanning Sonar Doc No 430 044 00 Page 46 of 46 APPENDIX C SPEC SHEETS ...

Страница 47: ... ocean environment from moving platforms no longer compromised by the blurring effects of host vehicle rotation An advanced low drift gyro is integrated directly into the sonar head so the sonar can now compensate for vehicle motion in real time with unprecedented accuracy stability and robustness The enhanced capabilities of the 881A GS have not compromised the performance of the 881A sonar On sh...

Страница 48: ...mm 6 MAX OPERATING DEPTH 1000 m and 3000 m available MAX CABLE LENGTH 1000 m on typical twisted shielded pair RS 485 INTERFACE RS 485 serial interface 115 2 kbps or optional RS 232 CONNECTOR Side mounted four conductor wet mateable Subconn MCBH4M AS Optional right angle or end mount connector POWER SUPPLY 20 32 VDC at less than 7 Watts DIMENSIONS for both depths 79 5 mm 3 13 diameter x 245 7 mm 9 ...

Страница 49: ...ous rotation STEP SIZES Slow 0 3 Medium 0 6 Fast 0 9 Faster 1 2 Fastest 2 4 GRID TYPES Polar and rectangular FILE FORMAT filename 81R RECOMMENDED MINIMUM COMPUTER REQUIREMENTS 2 GHz Pentium 4 256 MB RAM 20 GB Hard Disk 1024 x 768 Screen Resolution ORDERING INFORMATION 1000 m UNIT Standard 881 000 400 3000 m UNIT Standard 881 000 401 RS 232 Option 006 End mount connector Option 009 Right angle conn...

Страница 50: ...tegrated directly into the sonar head so the sonar can now compensate for vehicle motion in real time with unprecedented accuracy stability and robustness The enhanced capabilities of the 881L GS have not compromised the performance of the 881L sonar Using Ethernet communications this all in one high performance digital imaging sonar can still exceed 100 shots per second on short range at up to 2 ...

Страница 51: ...NGTH Standard 100 m on CAT5e Cable length may be increased up to 9000 m using an Ethernet extender Please enquire for more information INTERFACE Standard 10 Mbps Ethernet 10 BASE T using TCP IP Bit rate may vary if an Ethernet extender is in use CONNECTOR Side mounted eight conductor wet mateable Subconn MCBH8M AS Optional right angle or end mount connector POWER SUPPLY 20 32 VDC at less than 7 Wa...

Страница 52: ...0 9 Faster 1 2 Fastest 2 4 GRID TYPES Polar and rectangular FILE FORMAT filename 81R RECOMMENDED MINIMUM COMPUTER REQUIREMENTS 2 GHz Pentium 4 256 MB RAM 20 GB Hard Disk 1024 x 768 Screen Resolution ORDERING INFORMATION 1000 m UNIT Standard 881 000 500 3000 m UNIT Standard 881 000 501 End mount connector Option 009 Right angle connector Option 010 IP Address Option 020 Gyro Stabilization Option 04...

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