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SBG Systems Exinox Subsea Series, Руководство по оборудованию

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Ekinox Subsea

 – Hardware Manual

EKINOXSUBSEAHM.1.4

2.3.3. Heave performance

Real Time Heave

ShipMotionHP

Remark

Range

50 meters

50 meters

Automatic adjustment to every sea conditions

Period

0 to 25 s

0 to 50 s

Accuracy

5 cm or 5%

2.5 cm or 2.5 %

Whichever is greater; Velocity aided heave

Mode

Real time, auto tuning

Fixed 450s delay

On board computation

2.3.4. Real time Performance monitoring

The Extended Kalman filter provides feedback about its performance. The following thresholds are defined 
for the Ekinox series:

Threshold

Comments

Attitude Valid

0.3° / 0.07°

AHRS / Normal INS mode

Heading Valid

0.5° / 0.2°

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

12/42

Содержание Exinox Subsea Series

Страница 1: ...ea series Inertial Navigation Systems Hardware Manual intro Document EKINOXSUBSEAHM 1 4 Revision 1 4 Jun 9 2016 Support EMEA support sbg systems com 33 1 80 88 43 70 Americas support sbg systems com 1 657 549 5807 ...

Страница 2: ...er GND and data GND 1 3 May 4 2015 Raphaël Siryani EKIDOC 40 Updated accessories product codes and descriptions EKIDOC 38 Added Port A RS 232 RS 422 software selectable mode EKIDOC 30 Fixed Pinout Description in Ekinox SubSea User Manual EKIDOC 24 Changed Sync In C to Sync In D for latest SubSea hardware Updated for the new Ekinox subsea enclosure 1 Feb 24 2014 Alexis Guinamard First version of th...

Страница 3: ...l time Performance monitoring 12 3 Mechanical specifications 13 3 1 Overview 13 3 1 1 Main Specifications 13 3 1 2 Device mechanical alignment 13 3 1 3 Origin of measurements 14 3 1 4 Device label 14 3 2 EKINOX Subsea EL mechanical outline 200 m 15 3 2 1 Front view 15 3 2 2 Top view 16 3 2 3 Bottom view 17 3 3 EKINOX Subsea ED mechanical outline 6 000 m 18 3 3 1 Front view 18 3 3 2 Top view 19 3 3...

Страница 4: ...intenance 33 6 1 1 Cleaning 33 6 2 Absolute maximum ratings 33 6 3 Support 34 6 4 Warranty liability and return procedure 34 7 Appendix A Ordering codes and Accessories 35 7 1 Ekinox SubSea ordering codes 35 7 2 Transport Cases 35 7 2 1 CASE EKI 03 35 7 3 SplitBox for easy connection 36 7 3 1 SPLITBOX SUB 36 7 3 2 SPLITBOX SUB S 36 7 3 3 SPLITBOX SUB T 36 7 4 Associated Software 37 7 4 1 SW AEK SD...

Страница 5: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 7 5 3 4 Cable wiring 42 5 42 ...

Страница 6: ... Navigation System IP Internet Protocol LBL Long Baseline MAC address Media Access Control MEMS Micro Electro Mechanical Systems NED North East Down coordinate frame NA Not applicable NMEA NMEA 0183 National Marine Electronics Association standardized communication protocol PPS Pulse Per Second signal RAM Random Access Memory RMA Return Merchandize Authorization RMS Root Mean Square RTCM Radio Tec...

Страница 7: ...tegrates data from various aiding equipments such as GPS DVL etc To achieve the best performance in every project specific error models have been implemented to meet applications requirements An embedded web interface enables easy configuration and a wide connectivity as well as standard protocols output provide direct integration into existing applications 1 1 Ekinox INS Overview 7 42 Figure 1 1 ...

Страница 8: ...ariance 25 C Velocity Random Walk µg hz 18 100 Allan variance 25 C Gain ppm 300 300 Linearity of FS 0 05 0 05 Noise µg 90 450 Over 1 to 25 Hz band Bandwidth Hz 100 100 Attenuation 3 dB Resolution mg 0 1 0 6 Sampling rate kHz 5 5 Orthogonality 0 03 0 03 2 1 2 Gyroscopes The set of 3 high end tactical grade MEMS gyroscopes is sampled at 1 000 KHz An efficient FIR filter and coning integrals computat...

Страница 9: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 Orthogonality 0 03 9 42 ...

Страница 10: ...netometer is in fact considered as an aiding sensor and is not mandatory for proper operation Nevertheless in some applications this magnetometer is still a reliable and efficient way to observe heading Note Magnetometer use requires a specific in place calibration in order to compensate surrounding ferromagnetic materials and magnets Please refer to the Ekinox Iron Calibration Tools documentation...

Страница 11: ...typical 1 cm accuracy position PP Post Processed data using Inertial Explorer with at least Precise Point Positioning data 2 3 1 Common specifications Performance Remarks Measurement range 360 in all axes no mounting limitation Solid state sensors Orientation noise 0 03 RMS Static 2 3 2 Orientation and navigation All specifications are valid with dual antenna aiding for typical marine survey traje...

Страница 12: ... On board computation 2 3 4 Real time Performance monitoring The Extended Kalman filter provides feedback about its performance The following thresholds are defined for the Ekinox series Threshold Comments Attitude Valid 0 3 0 07 AHRS Normal INS mode Heading Valid 0 5 0 2 AHRS Normal INS mode Velocity Valid 0 2m s Total velocity error 3D Position Valid 1m Total position error 3D Note The threshold...

Страница 13: ...0m 6 000m Weight in air 1 55 Kg 3 4 lbs 2 34 Kg 5 2 lbs Weight in water 0 86 Kg 1 9 lbs 1 43 Kg 3 2 lbs Diameter 8 7 cm 3 4 9 2 cm 3 6 Height 13 8 cm 5 4 15 5 cm 6 1 Shocks 500 g for 0 3 ms Operating Vibrations 1g RMS 20Hz to 2 kHz as per MIL STD 810G Operating Temperature range 20 to 60 C 4 to 140 F Storage Temperature range 20 to 60 C 4 to 140 F MTBF computed 50 000 hours Calibration interval No...

Страница 14: ...s during the product lifetime such as manufacturing calibration tests and repairs In addition to a unique serial number a product code is used to define exactly the device type and options Finally the Ekinox features an Ethernet interface and a unique MAC address is required to identify the device on a network You can find on the back side of the Ekinox a laser printed label that hold all these id...

Страница 15: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 3 2 EKINOX Subsea EL mechanical outline 200 m All dimensions are in mm 3 2 1 Front view 15 42 5 120 138 85 31 35 ...

Страница 16: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 3 2 2 Top view 16 42 70 89 87 109 4 HOLES 5 50 70 89 ...

Страница 17: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 3 2 3 Bottom view 17 42 36 0 025 72 6 4 H8 2 5 4 H8 2 5 9 50 46 20 ...

Страница 18: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 3 3 EKINOX Subsea ED mechanical outline 6 000 m All dimensions are in mm 3 3 1 Front view 18 42 5 136 154 85 47 35 ...

Страница 19: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 3 3 2 Top view 19 42 75 94 75 94 4 HOLES 5 50 116 92 ...

Страница 20: ...Ekinox Subsea Hardware Manual EKINOXSUBSEAHM 1 4 3 3 3 Bottom view 20 42 36 0 025 72 6 4 H8 2 5 4 H8 2 5 9 50 46 20 ...

Страница 21: ... out Pin Name Remarks 1 Port A RS 422 Tx Port A serial output RS 422 2 Port A RS 232 RS 422 Tx Port A serial output RS 232 RS 422 3 Port B RS 232 RS 422 Rx Port B serial input RS 232 RS 422 4 Port B RS 422 Rx Port B serial input RS 422 5 Ethernet Rx White Orange RJ45 pin 3 6 Ethernet Rx Orange RJ45 pin 6 7 NC Not connected 8 Port C RS 422 Tx Port C serial output RS 422 9 Port C RS 232 RS 422 Tx Po...

Страница 22: ...rn 31 NC Not connected 32 Port E RS 232 RS 422 Rx Port E serial input RS 232 RS 422 33 Port E RS 422 Rx Port E serial input RS 422 34 Sync In E Synchronization input signal E 35 GND Data Ground return 36 Sync Out A Synchronization output signal A 37 GND Data Ground return Note Unlike the Ekinox surface version the subsea one doesn t provide Sync In C signal However please keep in mind that the syn...

Страница 23: ... Range 25 25 V Input Threshold Threshold Low 0 8 1 5 V Threshold High 1 8 2 7 V Input Hysteresis 300 mV Input Resistance 3 5 7 kΩ Maximum Sync Pulse Rate 1 kHz Port A B C D E RS 422 Receiver Receiver Data Rate 4800 921600 bps Input Resistance 7V Common Mode Voltage 12V 96 kΩ Input Current Common Mode Voltage 7V 0 075 mA Common Mode Voltage 12V 0 125 mA Input Differential Threshold 7V Common Mode V...

Страница 24: ... Input Voltage Range 25 25 V Input Threshold Threshold Low 0 8 V Threshold High 2 4 V Input Hysteresis 500 mV Input Resistance 3 5 7 kΩ PORT A B C RS 232 Transmitters Transmitter Data Rate 4800 921600 bps Transition Region Slew Rate Data Rate 230400 bps 4 30 V µs Data Rate 230400 bps 13 150 V µs Output Voltage Swing Tx loaded with 3kΩ to GND_MAIN 5 5 4 V Output Short Circuit Current Tx GND 30 60 m...

Страница 25: ... standard cable provided with the Ekinox Subsea See section Appendix A Ordering codes and Accessories for more details about this cable Note the termination resistors Usually 120 ohms that can optionally be placed on receiver side to avoid communication errors in long distance communications These resistors can be omitted in short distance communications in order to reduce power consumption 25 42 ...

Страница 26: ...riggering external devices with the sync Out Consider a camera that must take a picture when an event is provided on Event Out pin Event Out and Sync Out are open drain outputs which means a pull up resistor must be used on receiver side as shown on the diagram 26 42 Figure 4 4 Typical wiring diagram for Ekinox M U with external GNSS receiver Ekinox GND PORT B Sync PORT B Rx GPS GPS Tx PPS GND Fig...

Страница 27: ... well as ship motion sensor for several third party equipments Connections are made easy using Ethernet interface when available with external devices 27 42 Figure 4 6 Ekinox U use in advanced Marine application EKINOX U ETH PORT A SYNC IN SYNC OUT EVENT OUT PORT B SYNC B PORT C SYNC C PORT D PORT E SYNC E DISPLAY ECHO SOUNDER SUB BOTTOM PROFILER GNSS ANT ETH 0 NMEA Output Main Heave monitoring po...

Страница 28: ...bedded web interface used to configure the device and visualize output data An FTP access to download logs recorded in the internal Flash memory Five virtual serial ports Eth0 to Eth4 that support either UDP or TCP IP protocols 5 2 1 Accessing the Ekinox web page Thanks to the ZeroConf technology you can easily access the web page using the Ekinox serial number Indeed the Ekinox broadcast a web se...

Страница 29: ...dware Manual EKINOXSUBSEAHM 1 4 Browser Compatibility SBG Systems recommend using latest version of Chrome Safari or FireFox web browser Due to Internet Explorer limitations only versions 9 and above are supported 29 42 ...

Страница 30: ...mode at a baud rate from 4 800 to 921 600 bps Some ports offer special functionalities For example the Port A is the only port that accepts Ekinox Binary Protocol commands Note The Ekinox automatically limits the serial signals slew rate to minimize EMI and reduce communication error when the baud rate is below 230 400 bps 5 3 1 1 Main port A The Port A has been designed to be the main serial conn...

Страница 31: ... send and receive raw data The Ekinox implements the following modes to create a virtual serial interface Raw UDP to reduce latencies and allow high throughput TCP IP client or server to guarantee message delivery and ordering As for the physical serial interface Port A the Eth 0 virtual serial port can be used to send commands trough the Ekinox Binary Protocol Virtual serial port Eth 1 to 4 can b...

Страница 32: ...th 1 4 Binary commands GNSS 1 input GNSS 2 input DVL input Note 2 If Port A input is not used to connect any external aiding sensor it will be dedicated to sbgECom binary protocol 5 6 Internal Datalogger The Ekinox includes an internal datalogger capable of storing all data at 200Hz for 48 hours The internal datalogger is composed of a high speed memory buffer and an 8 GB flash storage To allow hi...

Страница 33: ...ve those listed under the Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only functional operation of the device at these or any other conditions above those indicated in the operational section of this specification is not implied Exposure to absolute maximum rating conditions for extended periods may affect device reliability Parameter Rating VDD GND 36...

Страница 34: ... RMA and will provide return instructions Customer shall be responsible for the packaging and the shipment of the defective product to the repair center notified by SBG Systems the cost of such shipment being borne by Customer This warranty shall not be construed as covering defects malfunctions or damages caused by improper use or inadequate maintenance of the product Under no circumstances shall...

Страница 35: ...ong term protection transport case may be required 7 2 1 CASE EKI 03 This large transport case can be used to securely ship or store An Ekinox U or M An up to 10 meters Subsea cable A SplitBox with all its accessories Up to two GNSS antennas ref ANT SEP POLANT MC The Inertial Software Development Kit USB Key Documentations and calibration report Various additional items in the open hole 35 42 EKIN...

Страница 36: ...d and easy to use connectors For example the Ekinox serial port A B C D and E are directly accessible through DB 9 connectors Two SMA connectors are also present to access the PPS output signal or to input external synchronization signal 7 3 2 SPLITBOX SUB S This S version embeds in the exact same enclosure as the SPLITBOX SUB a very high performance Septentrio L1 L2 L5 GNSS receiver It supports G...

Страница 37: ...nd examples All documentations and low level protocol specifications Unlimited free software upgrades 7 4 2 SW NOV PP GPS IMU U Post processing suite The post processing software suite is based on Novatel Inertial Explorer It provides Easy Ekinox integration into Post processing software suite Much higher accuracy than real time processing Loosely and tightly coupled GNSS INS processing Precise Po...

Страница 38: ...r supply and four cable triads for communication signals Each triad includes four shielded AWG 26 thinned copper twisted pairs The following diagrams show the cable overview and internal section for better understanding 7 5 1 2 Electrical characteristics General Minimum Insulation Resistance Rating Core to Core 900 MΩ km 500 V Core to Screen 500 MΩ km 500 V Screen to Screen 10 MΩ km 500 V 26 AWG S...

Страница 39: ...ng Triad Pair Pos Color Signal Triad n 1 Pair n 1 Green Ethernet Tx White Ethernet Tx Pair n 2 Orange Ethernet Rx White Ethernet Rx Pair n 3 Brown Port A RS 422 Tx White Port A RS 232 RS 422 Tx Pair n 4 Blue Port A RS 232 RS 422 Rx White Port A RS 422 Rx Triad n 2 Pair n 5 Green Port B RS 422 Tx White Port B RS 232 RS 422 Tx Pair n 6 Orange Port B RS 232 RS 422 Rx White Port B RS 422 Rx Pair n 7 B...

Страница 40: ... the same except the cable length 7 5 3 CA AEK SUB DPT6000 5M 5 meters wire ended sub sea cable depth rated for 6 000 meters 7 5 3 1 Cable Construction This high quality subsea cable is wire ended on one side and has a Seacon MINIM 37 22 CCP Ti connector over moulded on the other side The 37 ways Seacon connector is made of Titanium perfectly compatible with the Ekinox housing to ensure minimal de...

Страница 41: ...ly Nominal Conductor Resistance 59 30 Ω km 20 C Max Recommended Voltage 500 V 7 5 3 3 Mechanical characteristics Temperature characteristics Limits Rating Static Operating Temperature 90 C Dynamic Operating Temperature 80 C Cold Flex Temperature 40 C Mechanical characteristics Cable Length 5 meters Cable Diameter 17 3 mm 0 50 mm Depth Rating 6 000 meters Weight In Air 334 kg km Weight In Sea Water...

Страница 42: ... 6 Orange Port B RS 232 RS 422 Rx White Port B RS 422 Rx Pair n 7 Brown Port C RS 422 Tx White Port C RS 232 RS 422 Tx Pair n 8 Blue Port C RS 232 RS 422 Rx White Port C RS 422 Rx Triad n 3 Pair n 9 Green Sync Out A White GND Pair n 10 Orange Port D RS 232 RS 422 Rx White Port D RS 422 Rx Pair n 11 Brown Sync Out B White GND Pair n 12 Blue Port E RS 232 RS 422 Rx White Port E RS 422 Rx Triad n 4 P...

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