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ROVINS is able to calculate the heave of several external monitoring point: one primary and three secondary monitoring
points can be user-configured. The secondary lever arms are used to compute the heave for the output protocols that
provide it (see Part IV- Configuration and Operation of the ROVINS User Guide to define the secondary lever arms), the
output position being always given for the Primary lever arm..
External monitoring points are defined by their “Lever Arm” to ROVINS center of measurement P. This lever arm is the
triplet of cartesian coordinates (LV1, LV2, LV3) defining the position of external monitoring point M with respect to ROVINS
center of measurement P (defined in Figure 1) in the vessel reference frame (XV1, XV2, XV3) - see Figure 3.
Figure 3 - Definition of lever arms
For more details about the external monitoring points, refer to Part 2 of the ROVINS User Guide.
CONFIGURING THE OUTPUT STREAM
ROVINS uses external sensor data to improve its own estimates of position, speed, attitude and, heading. In order
to prevent corrupted external data to degrade the estimation of ROVINS, external sensor data passe through a
rejection filter before being incorporate into ROVINS main computation Kalman filter.
The following external sensors can be added:
•
A DVL
•
A LBL
•
An USBL (up to three beacons)
•
A CTD
•
A depth sensor
For more details about the external sensors, refer to part 4 of the ROVINS User GUIDE
ETHERNET INPUT/OUTPUT
Five Ethernet inputs/outputs are available on ROVINS.
For more details about
•
The Ethernet connector, refer to Part 2 of the ROVINS User Guide
•
The available protocols for this connectors, refer to part 5 of the ROVINS User Guide.
PULSE INPUT/OUTPUT
Four pulse inputs and two external pulse coming from the central connector are available on ROVINS.
For more details about the pulse connector pins, refer to Part 2 of the ROVINS User Guide.
EXTENDED FUNCTIONS OF THE WEB-BASED USER INTERFACE
Recording data:
you can record the data coming from the repeater port or of any of the A to E output.
For more
details
about the data recording refer to Part 4 of the ROVINS User Guide
.
Observing the input data flow coming from any input stream. For more details refer to Part 4 of ROVINS User Guide.
System Information:
to accede to the serial number and firmware version of your ROVINS unit, click on
maintenance
menu of the WEB-based User Interface.
Note: these information are useful when you contact IXSEA technical support.
CONFIGURING THE OUTPUT STREAM
