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2.3. System Requirements

The minimum requirements to gather bathymetric data using a MBES system is as follows:

•

A platform (vessel / vehicle)

•

A MBES

•

A sound velocity (SV) sensor

•

A motion reference unit (MRU) or Inertial Measurement Unit (IMU)

•

A heading reference sensor

•

A positioning system

•

A navigation software package

•

A multibeam data acquisition software package

Things to be considered during the installation of sensors and operation of systems as a whole are discussed
in the following text.

Содержание DT101Xi

Страница 1: ...ogy Corp 209 1875 Broadway Street Port Coquitlam BC Canada V3C 4Z1 Telephone 1 604 944 8248 Fax 1 604 944 8249 info imagenex com www imagenex com DT101Xi DT102Xi Multibeam Echosounder Document Number...

Страница 2: ...nce Frame and Sensor Static Offsets 12 3 2 3 Vessel Dimensional Control Shape File 14 3 2 4 Survey Line Generation 14 3 2 5 Ping Rate and Survey Speed 16 3 2 6 Sounding Grid Size 16 3 2 7 Datum Set up...

Страница 3: ...64 APPENDIX A DT101Xi DT102Xi Spec Sheets 35 APPENDIX B DT100 SIR DT101Xi DT102Xi Sonar Cable 43 APPENDIX C DT100 SIR unit interface 44 APPENDIX D WINDOWS TCP IP Set up and TROUBLESHOOTING 60 APPENDIX...

Страница 4: ...ketch courtesy of A Godin 24 Figure 4 3 Roll lines 25 Figure 4 4 Sketch courtesy of A Godin 25 Figure 4 5 Pitch lines 26 Figure 4 6 sketch courtesy of A Godin 27 Figure 4 7 Yaw lines 28 Figure 4 8 ske...

Страница 5: ...The document covers general theory of operations best practices and recommended settings for DT101Xi and DT102Xi to enable the user to obtain the best possible results The document is targeted at use...

Страница 6: ...nertial Measurement Unit CRP Common Reference Point CoG Centre of Gravity LOS Line of Sight GPS Global Navigation System GNSS Global Navigation Satellite System RTCM Radio Technical Commission for Mar...

Страница 7: ...vided in APPENDIX A 2 2 Operational Scenarios A multibeam echosounder is a device that simultaneously acquires a multitude of depth measurements regularly spread athwart ship in a fan shape pattern Th...

Страница 8: ...hicle A MBES A sound velocity SV sensor A motion reference unit MRU or Inertial Measurement Unit IMU A heading reference sensor A positioning system A navigation software package A multibeam data acqu...

Страница 9: ...ng reference GNSS system and the computers running the navigation and MBES control software as well as external SV sensors and MRUs if required The SIR box requires 100 240 VAC or 12 36 VDC and consum...

Страница 10: ...IX C The MBES unit forward aft line should be mounted and orientated as parallel as possible to the vessels fore aft line as indicated in Figure 3 1 Orientation of the DT101Xi and Figure 3 2 Orientati...

Страница 11: ...a number of options for example source of Pulse Per Second PPS Heading source MRU SV source etc These are done by the changing of jumpers in the SIR unit see APPENDIX C The PPS pulse should be 3 5 V t...

Страница 12: ...varies with loading conditions while the pitch axis passes through the centre of floatation The ship s builder or general arrangement GA drawings should be checked for the accurate location of these t...

Страница 13: ...sible to operational vessel loaded conditions To ensure maximum accuracy vessel settlement squat or lift which is a function of the vessels speed through the water may need to be measured This is beca...

Страница 14: ...me users may not pre plan lines but observe a coverage plot within the MBES acquisition software and decide on run lines in real time This method is clearly limited to small survey areas and small ves...

Страница 15: ...ES systems are prone to anomalies and degradation Grz dziel W 2016 in all water depths As a result of amongst others environmental issues like SV and reflective considerations like beam grazing on aco...

Страница 16: ...if applicable does not experience excessive vibration Vibration of the pole if fitted is a big contributing factor to data artefacts If data is being logged during turns it should be remembered that o...

Страница 17: ...102 Note that the average is taken between the size at nadir and that at the outer beams Long track The size of the footprint in the along track direction is similar to the cross track and is describe...

Страница 18: ...ned and set up in the navigation software If a tide gauge is used to measure tide it should be set to work prior to the commencement of the operation If predicted tide is to be used the appropriate ti...

Страница 19: ...nterpolation if required and all sensors inputs are calculated and logged for the correct instant in time By convention most software vendors log each input at the times detailed in Table 3 1 Input Ev...

Страница 20: ...t SV sensors can be set to log at set depths or continuously The set depth is a better option as the profile is generally smoother Imagenex has free software to process CTD casts and collate the outpu...

Страница 21: ...acy of acquired data Before calibration it is necessary to check the installation parameters and to perform a sound velocity cast to update the conversion of two way travel time to range and calculati...

Страница 22: ...en removed and reinstalled Whenever the MRU heading reference or positioning system has been removed and reinstalled During data acquisition the Surveyor should compare the overlapping outer beams of...

Страница 23: ...e 4 1 Latency lines Lines must be run in the same direction in order to eliminate the effect of a potential pitch offset which would leak into the along track displacements With lines run in the same...

Страница 24: ...han one set of high and low speed lines are run over the feature slope selected Each set should be processed an average value derived and used The Surveyor should verify that the along track profile o...

Страница 25: ...ing the pitch correction derived in Section 4 2 2 should be applied The inconsistency in observed cross profiles angle is as a result of an error in roll alignment between MRU and MBES head During pro...

Страница 26: ...re may require an inversion of the sign and the Surveyor must be aware of this 4 2 2 Pitch A pair of reciprocal lines run over a feature slope at the same speed will be used to assess the pitch correc...

Страница 27: ...headings to the same spatial location It is recommended to repeat the exercise at a different speed for example 6 knots or at the very least define another long profile within the previously used dat...

Страница 28: ...g track profiles and represent the apparent seafloor swept by the outer beams The along track displacement da in the apparent seafloor is caused by the azimuthal offset Figure 4 8 sketch courtesy of A...

Страница 29: ...t also called a Beam Angle Test BAT be carried out prior to any survey campaign Its main purpose is an empirical and quantitative measure of system repeatability at various beam angles and for individ...

Страница 30: ...ed to a separate location or filename than the reference model Figure 4 10 Check lines 4 4 3 Processing Performance Test The post processing of these data sets is done in two steps namely Data cleanin...

Страница 31: ...should be processed All beams should be kept i e do not impose angle limits and only obvious positional and bathymetric outliers should be removed If any systematic artefacts are found in the profiles...

Страница 32: ...dir The right axis shows the depth bias and shows a similar trend Figure 4 13 Hypack example A number of other statistics and graphs e g histograms are produced by most MBES processing packages and it...

Страница 33: ...Strategy for tidal correction should be defined and executed including the possible use of external tide gauges RTK etc see Section 3 2 7 Datum Set up The setting of a sounding grid cell size should...

Страница 34: ...essing package that will apply a Z offset according to draft changes If these data is available it should be used Various devices are usually set in the processing package that indicate the data sourc...

Страница 35: ...Doc no 430 041 01 35 of 64 APPENDIX A DT101Xi DT102Xi SPEC SHEETS DT101Xi...

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Страница 43: ...G T P 2 20 Pin Green Keyed VIN VIN TX TX RX RX XMIT XMIT VIN VIN TX TX RX RX XMIT XMIT 1 8 7 6 5 4 3 2 Subcon MCIL8F F Socket View IMAGENEX TECHNOLOGY CORP Title DT100 SIR DT101 2Xi Sonar Cable Docum...

Страница 44: ...Doc no 430 041 01 44 of 64 APPENDIX C DT100 SIR UNIT INTERFACE Figure 6 2 Sensor Interface Relay Schematic...

Страница 45: ...n Keyed Cable Samtec ACPK 22 02 G T P 2 Pin Direction Relative to SIR Function Note 1 N C 2 N C 3 In RX Ethernet 4 In RX Ethernet 5 Out TX Ethernet 6 Out TX Ethernet 7 In Transmission Sync 5V Logic 8...

Страница 46: ...able Samtec ACPK 22 05 G T P 3 Pin Direction Relative to SIR Function Note 1 N C 2 N C 3 In GPS Heading RS232 4 In GPS GPGGA GPVTG GPZDA RS232 5 Out Reserved 6 Out COM Signal Common 7 In 1PPS 3 3 5 V...

Страница 47: ...o GNSS data it is possible to configure this port to accept GPS derived heading and PPS by configuration of the jumpers as indicated in the diagram below Figure 6 7 o If PPS is received via this port...

Страница 48: ...f 64 Figure 6 3 GPS cw PPS External GPS RTK cw PPS DB9 F DB9 M Blue Samtec 20 pin GPS RTK with PPS External 4 6 2 5 RX GPS blue Signal GND brown 2 5 TX GPS Signal GND TX PPS PPS COMMON Change Jumpers...

Страница 49: ...PPS External GNSS dual antenna cw PPS DB9 F DB9 M Blue Samtec 20 pin GNSS Dual Antenna with Heading PPS Internal 3 6 4 5 RX GPS blue Signal GND brown 2 5 TX GPS Signal GND 7 8 TX PPS PPS COM 7 8 7 PP...

Страница 50: ...64 Figure 6 5 GNSS with Internal PPS GNSS cw PPS DB9 F DB9 M Blue Samtec 20 pin GNSS with PPS Internal 4 6 2 5 RX GPS blue Signal GND brown 2 5 TX GPS Signal GND 7 8 TX PPS PPS COM 7 8 7 8 Signal GND...

Страница 51: ...Doc no 430 041 01 51 of 64 Figure 6 6 GNSS no heading nor internal PPS GNSS DB9 F DB9 M Blue Samtec 20 pin GNSS 4 6 2 5 RX GPS blue Signal GND brown 2 5 RX GPS Signal GND...

Страница 52: ...Doc no 430 041 01 52 of 64 Figure 6 7 Jumpers for Heading and PPS Selection...

Страница 53: ...COM Power Common Table 6 4 Power is available on Pin 18 Pin 20 12 VDC or 24 VDC option depending on jumper setting see Figure 6 8 for powering of MRU if required The MRU port receives data as a TSS1 f...

Страница 54: ...ble on Pin 1 Pin 2 12 VDC or 24 VDC option depending on jumper setting see Figure 6 8 for powering of heading sensor if required The Heading port receives sound heading data as an NMEA HEHDT format st...

Страница 55: ...receives sound velocity data as an AML format string nnnn n CR LF on pin 4 see Table 6 8 Communication parameters are set as follows in the SIR unit Item Settings Baud rate 19200 Number of bits 8 Stop...

Страница 56: ...Doc no 430 041 01 56 of 64 Figure 6 8 Power Supply Voltage Option...

Страница 57: ...nector Recommended specification is Cat 5e and wiring scheme T 568B no crossover Pin Colour 1 White Orange Transmit 2 Orange Transmit 3 White Green Receive 4 Blue 5 White Blue 6 Green Receive 7 White...

Страница 58: ...232 Clear to Send CTS line provides a 1 PPS toggle pulse with a synchronised 1PPS toggle Table 6 13 Panel DB9 M Pin Direction Relative to SIR Function Note 1 In DCD Data Carrier Connect 2 In Rx Recie...

Страница 59: ...Doc no 430 041 01 59 of 64 11 Samtec Connector Pin Outs Sonar Head GNSS GPS MRU Heading Sound Velocity 12 36 VDC Power Table 6 15...

Страница 60: ...ed for a network server 2 is reserved for the DT101Xi or DT102Xi sonar head 10 is reserved for the SIR box and 255 is reserved for broadcasting The DT100 sonar head has a statically assigned IP Addres...

Страница 61: ...ion correctly however if communication does not function properly try the suggestions listed in the troubleshooting guide below Disable any network bridges that are present A network bridge allows a s...

Страница 62: ...ed Duplex Mode and set to either Auto Mode or 10 Full Mode Disable any power saving that shuts down the Ethernet card In the Advanced tab select Link Down Power Saving and set to Disable In the Power...

Страница 63: ...14 Set IP address in control PC 195 168 0 x x unique number except 1 2 10 or 255 430 040 00 11 15 Configure internal SIR jumpers for required configuration 430 041 00 41 60 16 Update gyro latitude if...

Страница 64: ...or faster ping rate 430 040 00 12 40 Set up sector size 430 040 00 13 41 Set up number of beams 430 040 00 13 42 Set up averaging 430 040 00 13 43 Enable gain equalization 430 040 00 13 44 Enable Auto...

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