Apogee Subsea
– Hardware Manual
APOGEESUBSEAHM.1.1
2.2.3. Heave performance
Real Time Heave
Delayed Heave (ShipMotionHP)
Remark
Range
50 meters
50 meters
Automatic adjustment to every sea
conditions
Period
0 to 20 s
0 to 40 s
Accuracy
5 cm or 5%
2 cm or 2 %
Whichever is greater; Velocity aided heave
Mode
Real time, auto tuning
Fixed 450s delay
On board computation
2.2.4. Real time Performance monitoring
The Extended Kalman filter provides feedback about its performance. The following validity levels
thresholds are defined for the Apogee series:
Threshold
Comments
Attitude Valid
0.3° / 0.025°
AHRS / Normal INS mode
Heading Valid
0.5° / 0.08°
AHRS / Normal INS mode
Velocity Valid
0.2m/s
Total velocity error (3D)
Position Valid
1m
Total position error (3D)
Note: The thresholds are less accurate in AHRS mode, when there is no GNSS aiding available. Full
performance can be reached with GNSS aiding
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