Subsonus Reference Manual - Geo-matching.comSubsonus Reference Manual Page 7 of 63 Version 1.0...

Subsonus Reference Manual

Subsonus Reference ManualPage 1 of 63

Version 1.020/05/2015

Table of Contents1 Revision History.........................................................................................................42 Firmware Changelog..................................................................................................53 Hardware Changelog.................................................................................................64 Introduction...............................................................................................................75 Foundation Knowledge..............................................................................................8

5.1 USBL Acoustic Positioning...................................................................................85.2 Inertial Navigation Systems................................................................................95.3 Sensor Co-ordinate Frame................................................................................10

6 Evaluation Kit..........................................................................................................126.1 Evaluation Kit Contents....................................................................................126.2 Quick Start........................................................................................................12

7 Part Numbers and Ordering Options........................................................................147.1 Evaluation Kit...................................................................................................147.2 Standalone Unit................................................................................................147.3 Accessories.......................................................................................................15

8 Specifications..........................................................................................................168.1 Mechanical Drawings........................................................................................168.2 Navigation........................................................................................................178.3 Acoustics..........................................................................................................178.4 Sensors.............................................................................................................178.5 Hardware..........................................................................................................188.6 Connector Pin-out.............................................................................................18

8.6.1 PoE (Power over Ethernet) Pin-out.............................................................198.6.2 DC Power Pin-out.......................................................................................20

9 Installation...............................................................................................................219.1 Installation Checklist........................................................................................219.2 Surface Unit Mounting......................................................................................229.3 Subsea Unit Mounting.......................................................................................249.4 Subsonus Unit Addresses.................................................................................259.5 Surface Unit Reference Source.........................................................................25

9.5.1 Advanced Navigation GPS Compass..........................................................269.5.1.1 Advanced Navigation GPS Compass Mounting...................................26

9.5.2 Advanced Navigation Spatial series GPS/INS.............................................289.5.3 Third Party GPS/INS or GPS Compass........................................................28

9.6 ILU Serial Port Input/Output..............................................................................299.7 Subsea Unit Magnetic Calibration.....................................................................299.8 Third Party Beacons and Pingers......................................................................30

10 Operation...............................................................................................................3110.1 Surface Unit Initialisation................................................................................3110.2 Subsea Unit Initialisation................................................................................3110.3 Subsea Unit GPS.............................................................................................3110.4 Subsea Unit Magnetic Heading.......................................................................3110.5 Out of Water Low Power Mode........................................................................31

11 Maintenance..........................................................................................................3311.1 Disassembly Warning.....................................................................................3311.2 Inspections.....................................................................................................33

11.2.1 Damage...................................................................................................3311.2.2 Connectors..............................................................................................33


Version 1.020/05/2015

11.2.3 Biofouling................................................................................................3311.3 Removing Biofouling.......................................................................................3311.4 Factory Service and Calibration......................................................................34

12 Interfacing.............................................................................................................3512.1 IP Address.......................................................................................................3512.2 Network Discovery.........................................................................................35

12.2.1 Zeroconf..................................................................................................3512.2.2 AN Packet Protocol Discovery..................................................................35

12.3 Web Browser User Interface...........................................................................3512.4 AN Packet Protocol Machine Interface............................................................3512.5 NMEA Input/Output.........................................................................................36

12.5.1 NMEA Input..............................................................................................3612.5.2 NMEA Output...........................................................................................36

12.6 Time Synchronisation.....................................................................................3713 Advanced Navigation Packet Protocol....................................................................38

13.1 Data Types......................................................................................................3813.2 Packet Structure.............................................................................................38

13.2.1 Header LRC..............................................................................................3913.2.2 Packet ID.................................................................................................3913.2.3 Packet Length..........................................................................................3913.2.4 CRC..........................................................................................................39

13.3 Packet Requests.............................................................................................3913.4 Packet Acknowledgement...............................................................................4013.5 Packet Rates...................................................................................................4013.6 Packet Timing.................................................................................................4013.7 Packet Summary.............................................................................................4013.8 System Packets...............................................................................................41

13.8.1 Acknowledge Packet................................................................................4113.8.1.1 Acknowledge Result.........................................................................42

13.8.2 Request Packet........................................................................................4213.8.3 Boot Mode Packet....................................................................................42

13.8.3.1 Boot Mode Types..............................................................................4213.8.4 Device Information Packet.......................................................................4313.8.5 Restore Factory Settings Packet...............................................................4313.8.6 Reset Packet............................................................................................4313.8.7 Network Settings Packet..........................................................................44

13.8.7.1 DHCP Mode Flags.............................................................................4413.9 State Packets..................................................................................................45

13.9.1 System State Packet................................................................................4513.9.1.1 Health Status....................................................................................4613.9.1.2 System Status..................................................................................4713.9.1.3 GNSS Fix Status................................................................................4713.9.1.4 Unix Time Seconds...........................................................................4713.9.1.5 Microseconds....................................................................................48

13.9.2 Unix Time Packet.....................................................................................4813.9.3 Formatted Time Packet............................................................................4813.9.4 Status Packet...........................................................................................4913.9.5 Remote Unit Track Packet........................................................................50

13.9.5.1 Tracking Status.................................................................................5013.9.6 External Position & Velocity Packet..........................................................51


Version 1.020/05/2015

13.9.7 External Position Packet...........................................................................5113.9.8 External Velocity Packet..........................................................................5213.9.9 External Body Velocity Packet..................................................................5213.9.10 External Heading Packet........................................................................5313.9.11 Running Time Packet.............................................................................5313.9.12 External Time Packet.............................................................................5313.9.13 External Depth Packet...........................................................................5413.9.14 Heave Packet.........................................................................................54

13.10 Configuration Packets...................................................................................5513.10.1 Packet Timer Period Packet....................................................................55

13.10.1.1 UTC Synchronisation.......................................................................5513.10.1.2 Packet Timer Period........................................................................55

13.10.2 Packets Period Packet............................................................................5613.10.2.1 Clear Existing Packets....................................................................5613.10.2.2 Packet Period..................................................................................56

13.10.3 Installation Alignment Packet................................................................5713.10.3.1 Alignment DCM...............................................................................57

13.10.4 System Options Packet..........................................................................5813.10.4.1 System Options Flags.....................................................................58

13.10.5 Magnetic Calibration Values Packet.......................................................5813.10.6 Magnetic Calibration Configuration Packet............................................59

13.10.6.1 Magnetic Calibration Actions..........................................................6013.10.7 Magnetic Calibration Status Packet.......................................................60

13.10.7.1 Magnetic Calibration Status............................................................6113.10.8 NMEA Output Configuration Packet.......................................................61

13.10.8.1 NMEA Fix Behaviour........................................................................6213.10.8.2 GPIO Output Rates..........................................................................6213.10.8.3 GPIO Output Rates Index................................................................62


Version 1.020/05/2015

1 Revision History

Version Date Changes

1.0 20/05/2015 Initial Release

Table 1: Revision history


Version 1.020/05/2015

2 Firmware Changelog


1.0 04/03/2015 Initial release

Table 2: Firmware changelog


Version 1.020/05/2015

3 Hardware Changelog


1.0 12/02/2015 Initial release

Table 3: Hardware changelog


Version 1.020/05/2015

4 IntroductionSubsonus is a next generation USBL underwater acoustic positioning system that provides high accuracy position, velocity and heading at depths of up to 1000 metres. The system features an industry leading calibrated hydrophone array combined with an internal tightly coupled INS, all packed into a miniature titanium enclosure small enough to fit in the palm of your hand.

Subsonus can provide amazing results but it does need to be set up properly and operated with an awareness of its limitations. Please read this manual carefully to ensure success within your application.

If you have any questions please contact [email protected].

mailto:[email protected]


Version 1.020/05/2015

5 Foundation Knowledge

5.1 USBL Acoustic Positioning

USBL is a system that uses acoustic sound waves to determine position underwater. A USBL set up consists of two acoustic transceivers that transmit and receive acoustic sound waves between them which allows each unit to determine the location of the other unit.

USBL stands for Ultra-short Baseline. It is an old loosely defined phrase referring to an acoustic positioning system with multiple hydrophones in a single unit.

A typical USBL set up will have a USBL transceiver mounted on a pole attached to the side of a ship and another USBL transceiver mounted on a vehicle underwater, see Illustration 1. The USBL system mounted on the pole is known as the surface unit and the USBL system underwater is known as the subsea unit.

The way a USBL system works is that one unit will first transmit an acoustic sound wave signal. That acoustic signal travels through the water at the speed of sound and arrives at the receiving USBL a short time later. The receiving USBL receives the acoustic signal on each one of its hydrophones which are separated by a known distance. By comparing the acoustic signals time of arrival at each of the hydrophones it is possible to determine the direction the signal has come from, please see Illustration 2. By comparing the time at which the signal was transmitted with the time at which the signal was received, the amount of time the signal was travelling through the water can be determined. This travel time can be used to calculate the distance (range) between the USBLs by multiplying by the speed of sound through water. With

Illustration 1: Typical USBL positioning set up


Version 1.020/05/2015

both distance and direction, the relative position of the transmitter can be determined.

This process of transmitting and receiving acoustic sound wave signals between the USBLs alternates back and forth continuously between the two units, allowing each unit to determine the position of the other. Subsonus is able to perform acoustic positioning updates in this way at up to 10 times per second which is limited by the speed of sound through water.

Illustration 2 shows 4 receive hydrophones which is typical of current USBL systems, however Subsonus actually uses 8 hydrophones which allows it to more accurately determine the direction and range of the acoustic signal.

Subsonus is the first low cost USBL system on the market to feature acoustic heading. Acoustic heading works by determining the angular offset between the surface and the subsea unit. This angular offset can then be subtracted from the surface units known accurate heading to provide accurate heading for the subsea unit.

5.2 Inertial Navigation Systems

An inertial navigation system uses motion to determine position from a starting point. Inertial navigation systems are very accurate over short periods but experience a exponentially increasing error over long periods. On Subsonus an inertial navigation system fuses the acoustic position and velocity with inertial sensors and a depth sensor to achieve an optimal solution with accuracy far beyond that of a standalone acoustic positioning system. The inertial navigation system also fills in the gaps between acoustic updates and for periods when acoustic updates are not available.

Subsonus is one of the first USBL systems on the market to offer an integrated tightly

Illustration 2: USBL hydrophones receiving acoustic sound waves from another USBL


Version 1.020/05/2015

coupled inertial navigation system.

5.3 Sensor Co-ordinate Frame

The sensor co-ordinate frame provides the three axes in which all measurements are made.

There are two different hardware variants of Subsonus, the subsea unit and the surface unit. The subsea unit is mounted upright on top of a subsea vehicle, see Illustration 1. The surface unit is mounted upside down on a pole attached to the side of a ship. As the surface unit is mounted upside down its axes are different from the subsea variant.

The positive directions of each of the axes and the positive directions of rotations are shown for the subsea version in Illustration 3 and the surface version in Illustration 4.

Illustration 3: Subsonus subsea variant axes


Version 1.020/05/2015

Illustration 4: Subsonus surface variant axes


Version 1.020/05/2015

6 Evaluation KitThe Subsonus evaluation kit contains everything required to start operating a Subsonus system for subsea positioning and heading.

It contains both a surface and subsea Subsonus that can be used to demonstrate the full capabilities and maximum performance of the system. The evaluation kit contains all the equipment required for an ideal set up that will provide the best results from Subsonus. Due to Advanced Navigation's desire for customers to experience the best results from Subsonus, the evaluation kit price is subsidised relative to buying the equipment individually to promote purchasing the ideal set up.

6.1 Evaluation Kit Contents

1. Subsonus surface unit.

2. Subsonus subsea unit.

3. ILU (Interface and Logging Unit), see section 9.6.

4. GPS compass RS422 (comes with cable), see section 9.5.1.

5. Pole mount bracket, see Illustration 8.

6. 2x Subsonus connector to RJ45 connector 10 metre cable.

7. 2x 100-240V PoE (Power over Ethernet) power supply injectors.

8. 2x Subsonus connector female plug caps (for Subsonus connectors).

9. 2x Subsonus connector male plug caps (for cable connectors).

6.2 Quick Start

1. Mount the surface and subsea Subsonus units following the mounting guidelines in sections 9.2 and 9.3 respectively. It is recommended to mount the surface Subsonus on a pole using the pole mount bracket included.

2. Mount the GPS compass on the top of the surface Subsonus pole with the forwards mark in the forwards direction of travel of the ship and precisely aligned with the opposite direction of the Subsonus connector blanking cap, see Illustration 11.

3. Plug the surface Subsonus cable into the output port on the PoE injector and then the PoE injector input port into Ethernet port 2 on the ILU.

4. Plug the GPS compass into the INS connector on the ILU and plug the power adapter into the ILU.

5. Plug the ILU Ethernet port 1 into your local network.

6. Plug the subsea Subsonus into the output port of the PoE injector and power everything on.

7. Install zeroconf (Apple Bonjour) and Mozilla Firefox from the links below:

https://support.apple.com/kb/DL999



Version 1.020/05/2015

https://www.mozilla.org/en-US/firefox/new/

8. Open firefox and type in the address an-subsonus-1.local to connect to the surface Subsonus unit.

9. In the configuration menu open the Alignment Offsets page and enter the offset from the base of the surface Subsonus unit to the base of the GPS compass.

10.The system is now ready for use. Click on the main page to see the status. It may take a couple minutes to initialise after which time the location of the surface and subsea units will appear on the map.



Version 1.020/05/2015

7 Part Numbers and Ordering Options

7.1 Evaluation Kit

Part Number Description Notes

SUBSONUS-EK Subsonus Evaluation Kit

Subsonus Evaluation Kit Contains everything required to start operating Subsonus for subsea acoustic positioning and heading. It includes the items listed in section 6.1.

Table 4: Evaluation kit part numbers

7.2 Standalone Unit


SUBSONUS-SUB Subsonus Subsea Unit

Subsonus Subsea UnitHorizontal connectorInternal GPS/INSInternal GPS antenna in hydrophone array

SUBSONUS-SURF Subsonus Surface Unit

Subsonus Surface UnitVertical connectorInternal AHRS/INS (Requires external GPS compass or GPS/INS)

Table 5: Standalone unit part numbers


Version 1.020/05/2015

7.3 Accessories


SS-10M-CABLE Subsonus 10 metre cable

Subsonus 10 metre cable to RJ45 Ethernet connector.

SS-POLE-BRACKET Subsonus Surface Pole Mount Bracket

Subsonus Surface Pole Mount Bracket.

ILU Interface and Logging Unit

Interface and Logging UnitBreaks the Subsonus Ethernet interface out to 5 serial ports capable of input/output of standard protocols and logs up to 64GB of data.

GPS-COMPASS-POE GPS Compass (PoE)

All in one GPS Compass for Subsonus surface unit. Ethernet interface. PoE powered.

GPS-COMPASS-RS422 GPS Compass (RS422)

All in one GPS Compass for use with ILU. RS422 interface. 9-36V DC power.

POE-INJECTOR AC PoE Injector 100-240V AC PoE power injector adaptor.

SS-CONNECTOR-CAP Subsonus Connector Cap

Protective cap for Subsonus connector. (MCDC8F).

SS-CABLE-CAP Subsonus Cable Cap

Protective cap for connector on Subsonus cable. (MCDC8M).

Table 6: Accessories part numbers


Version 1.020/05/2015

8 Specifications

8.1 Mechanical Drawings

Illustration 5: Subsonus mechanical drawings


Version 1.020/05/2015

8.2 Navigation

Parameter Value

Position Accuracy (5 m range) 0.05 m



Velocity Accuracy 0.01 m/s

Roll & Pitch Accuracy 0.1 °

Heading Accuracy (Acoustic) 0.3 °

Heave Accuracy 5 % or 0.05 m

Internal Filter Rate 1000 Hz

Data Output Rate Up to 1000 Hz

Latency 0.6 ms

Table 7: Navigation specifications

8.3 Acoustics

Parameter Value

Hydrophones 8

Frequency 30 kHz (broadband)

Acoustic Coverage 300 ° hemispherical

Accuracy 0.25% of slant range

Update Rate Up to 10 Hz

Data Transfer Rate Up to 10 kBit

Table 8: Acoustics specifications

8.4 Sensors

Parameter Value

Pressure Sensor Range 1000 m

Pressure Sensor Accuracy 1.5 m

Subsonus Subsea Unit Integrated GPS/INSIntegrated GPS antenna in top of

hydrophone array

Subsonus Surface Unit Integrated INSExternal GPS Compass or GPS/INS

required for use

Table 9: Sensors specifications


Version 1.020/05/2015

8.5 Hardware

Parameter Value

Operating Voltage 9 to 60 V orPower over Ethernet

Power Consumption (average) 8 watts

Power Consumption (peak) 25 watts

Interface Ethernet(RS232 or RS422 through ILU)

Timing Synchronisation Support PTP and NTP

Depth Rating 1000 m

Operating Temperature -20 °C to 40 °C

Storage Temperature -40 °C to 85 °C

Shock Limit 25 g

Dimensions 106x106x82 mm

Weight in Air 780 g

Table 10: Hardware specifications

8.6 Connector Pin-out

Power and data connection is made through a single standard Subcon MCBH8M that is compatible with other manufacturers mating connectors. The connector pin-out is shown below in Illustration 6. The mating connector is a Subcon MCIL8F. Advanced Navigation stocks an MCIL8F mating connectors with 10 metres of cable to an RJ45 Ethernet connector. Custom cable lengths are available upon request.

There are two options available to power the unit. It can either be powered using PoE (Power over Ethernet) or it can be powered from a DC source. See Table 11 and Table 12 respectively. The system can be connected either way and it automatically determines the power source method. The evaluation kits are powered using the PoE method.


Version 1.020/05/2015

8.6.1 PoE (Power over Ethernet) Pin-out

Pin Colour Function RJ45 Pin

1 Blue/White Ethernet DC+ 5

2 Blue Ethernet DC+ 4

3 Orange/White Ethernet Tx+ 1

4 Orange Ethernet Tx- 2

5 Green/White Ethernet Rx+ 3

6 Green Ethernet Rx- 6

7 Brown/White Ethernet DC- 7

8 Brown Ethernet DC- 8

Table 11: Power over Ethernet pin-out

Illustration 6: Subsonus MCBH8M connector

12

3

45

6

7

8


Version 1.020/05/2015

8.6.2 DC Power Pin-out

Pin Colour Function RJ45 Pin

1 Blue/White Power Supply

2 Blue Power Supply

3 Orange/White Ethernet Tx+ 1

4 Orange Ethernet Tx- 2

5 Green/White Ethernet Rx+ 3

6 Green Ethernet Rx- 6

7 Brown/White Ground

8 Brown Ground

Table 12: DC power pin-out


Version 1.020/05/2015

9 Installation

9.1 Installation Checklist

1. Mount the surface unit following the guidelines in section 9.2.

2. Mount the subsea unit following the guidelines in section 9.3.

3. Set up the reference data source, see section 9.5.

4. Install cables to the units and make sure the connector is mated correctly and the jacket is screwed up hand tight.

5. Connect the Subsonus cables to PoE injectors and the PoE injectors into a local network (with DHCP). Power everything on.

6. Install zeroconf (Apple Bonjour) and Mozilla Firefox from the links below:



7. Connect to the surface Subsonus, by typing the address an-subsonus-1.local into firefox. To connect to the subsea Subsonus the address an-subsonus-2.local can be used.

8. In the configuration menu open the Alignment Offsets page and enter the offset from the base of the surface Subsonus unit to the base of the GPS compass.

9. The system is now ready for use. Click on the main page to see the status. It may take a couple minutes to initialise after which time the location of the surface and subsea units will appear on the map.




Version 1.020/05/2015

9.2 Surface Unit Mounting

The surface Subsonus unit is typically mounted on a pole that is attached to the side of a ship and pointing down into the water, see Illustration 7.

Mounting goals with the surface unit are:

1. The Subsonus unit should be mounted with its face pointing directly down into the water. The connector blanking bolt on the side of Subsonus needs to be aligned so that it is pointing in the backwards direction of the ship, opposite to the direction of travel.

2. The Subsonus unit should be mounted at least 1 metre under the surface of the water. The unit should be deep enough that it never comes out of the water.

3. The Subsonus unit should be mounted away from propellers and thrusters. It should be mounted in a position where it will have minimal air bubbles passing over or below the hydrophones.

4. The Subsonus unit should be mounted at least 1 metre away from the boat hull or jetty.

Advanced Navigation stocks a reinforced acetal plastic pole mount bracket for Subsonus that allows customers to quickly mount the surface unit to a 15-35mm diameter pole, see Illustration 8.

Illustration 7: Typical Subsonus surface mounting


Version 1.020/05/2015

The surface Subsonus unit can also be mounted to fixed structures such as jettys or buoys, where the same mounting goals apply except that in this scenario the connector alignment does not matter.

Illustration 8: Subsonus pole mount bracket


Version 1.020/05/2015

9.3 Subsea Unit Mounting

The subsea Subsonus unit is typically mounted on the top of the subsea vehicle and pointing towards the surface, see Illustration 9.

Mounting goals with the Subsea unit are:

1. The Subsonus unit should be mounted with its face pointing towards the surface when the subsea vehicle is in a level orientation. The connector on the side of Subsonus needs to be aligned so that it is pointing in the backwards direction of the vehicle, opposite to the direction of travel.

2. The Subsonus unit should be mounted on the top of the vehicle with minimal obstructions to its view of the surface.

3. The Subsonus unit should be mounted away from propellers and thrusters.

4. The Subsonus unit should be mounted away from any air/gas exhausts. It should be mounted in a position where it will have minimal air bubbles passing over or above the hydrophones.

5. The Subsonus unit should be mounted high enough on the vehicle that the blue transducer array is above the water line when the vehicle is surfaced. This is so that the GPS antenna in the top of the transducer can get a GPS fix when the unit is surfaced.

Illustration 9: Typical Subsonus subsea mounting


Version 1.020/05/2015

9.4 Subsonus Unit Addresses

If you are only using only one subsea Subsonus unit you can disregard this section as the factory default unit addresses of 1 for surface and 2 for subsea will work out of the box.

It is possible to track multiple subsea Subsonus units from a single surface Subsonus unit. One surface Subsonus unit can track up to 254 subsea Subsonus units.

Every Subsonus unit has an address which allows units to communicate one at a time. By default surface Subsonus units have an address of 1 and subsea Subsonus units have an address of 2.

Every Subsonus unit being operated within a 3km radius must have a unique address otherwise communication collisions will occur.

When installing more than one subsea Subsonus unit, each units address should be set to a unique value by going into the addresses page in the configuration menu. Typically this will be a numerically ascending value from 2 i.e. 2, 3, 4, 5 and so on.

9.5 Surface Unit Reference Source

The surface Subsonus unit requires a source of time, position, velocity and heading data to function. This data can be provided by either a GPS compass or a GPS/INS. There are three options available for the reference source.

1. Advanced Navigation GPS Compass.

2. Advanced Navigation Spatial series GPS/INS.

3. Third Party GPS/INS or GPS Compass.

The recommended source is the Advanced Navigation GPS Compass which will give the best results. Many survey ships will have an existing high accuracy GPS/INS in which case they can use either the Advanced Navigation Spatial series GPS/INS or Third Party GPS/INS or GPS Compass options.

When the Advanced Navigation GPS compass is used as the reference source, Subsonus operates in full GPS/INS mode. When a third party GPS/INS or GPS compass is used, Subsonus will operate in AHRS and not perform any further processing on the reference data.


Version 1.020/05/2015

9.5.1 Advanced Navigation GPS Compass

Advanced Navigation manufactures an all in one GPS compass system that is an ideal reference source for Subsonus. There are two versions produced:

1. Ethernet GPS compass, powered using PoE (Power over Ethernet).

2. RS422 GPS compass, powered using 9-36 V DC.

Using the Ethernet GPS compass it is possible to operate Subsonus without the ILU. Once plugged into the same network Subsonus will automatically recognise the presence of the GPS compass and start using it.

The Subsonus evaluation kit is supplied with the RS422 version that plugs into the ILU.

9.5.1.1 Advanced Navigation GPS Compass Mounting

The ideal mounting position for the GPS compass is on top of the surface Subsonus pole. The system needs to be mounted in a position where it has a clear view of the sky. The GPS compass should be mounted with its forward mark pointed in the direction of travel of the vehicle. The connector blanking cap on Subsonus should be pointing in the opposite direction of the GPS compass forward mark, see Illustration 11. It is important to accurately align the GPS compass with Subsonus. The two units alignment with the forward direction of the ship is less important and can be done by eye.

Illustration 10: Advanced Navigation GPS compass


Version 1.020/05/2015

The GPS compass accepts a standard 5/8” survey mount or 4x M8 panel mount bolts, see Illustration 12 for mechanical details.

Illustration 12: Advanced Navigation GPS compass mechanical drawings

Illustration 11: Advanced Navigation GPS compass mounting


Version 1.020/05/2015

9.5.2 Advanced Navigation Spatial series GPS/INS

Subsonus supports any of Advanced Navigation's Spatial series of GPS/INS through use of the Advanced Navigation ILU (Interface and Logging Unit). The Spatial series GPS/INS should be plugged into the INS port on the ILU. The Subsonus unit should be plugged into Ethernet port 2. Ethernet port 1 should be connected to the user network. The ILU will automatically detect the Subsonus and Spatial units and automatically configure for correct use.

9.5.3 Third Party GPS/INS or GPS Compass

Third party GPS/INS and GPS compass systems work with Subsonus if they can output NMEA messages GPGGA, GPVTG and GPHDT at 10 Hz.

If the third party system has an Ethernet interface, it should be configured to send the NMEA messages to Subsonus over a TCP port, please see section 12.5.

If the third party system has only a serial interface such as RS232 then the Advanced Navigation ILU (Interface and Logging Unit) is required to interface the system to Subsonus. The third party system should be plugged into COM1 and Subsonus into Ethernet interface 2 on the ILU. In the ILU data streams configuration page COM1 should be configured as NMEA Input.


Version 1.020/05/2015

9.6 ILU Serial Port Input/Output

For customers that require serial port interfaces to Subsonus, Advanced Navigation offers the ILU (Interface and Logging Unit). The ILU breaks out Subsonus's Ethernet interface to up to 6 RS232/RS422 ports and provides industry standard data format outputs such as NMEA 0183 and NMEA 2000.

When tracking multiple subsea Subsonus units it is possible to output the NMEA position data of each unit on separate ports of the ILU.

The ILU is also useful for time synchronisation with Subsonus. Using PTP over Ethernet time can be synchronised to an accuracy of 10 nanoseconds. The ILU also supports 1PPS synchronisation input/output for synchronising with other equipment.

9.7 Subsea Unit Magnetic Calibration

The subsea Subsonus unit features magnetic heading which it uses when acoustic heading is unavailable. The magnetic heading features automatic calibration that occurs continuously whenever acoustic heading is available. When the unit is first deployed there will be no magnetic calibration and the system won't use magnetic heading until it has had acoustic heading for more than 5 minutes. If the customer would prefer to only use acoustic heading, magnetic heading can be disabled on the configuration page.

Illustration 13: Advanced Navigation ILU


Version 1.020/05/2015

9.8 Third Party Beacons and Pingers

Subsonus does support operation with a number of third party beacons and pingers. However there are no third party systems on the market that support a lot of Subsonus's revolutionary features and as such performance when operating with third party equipment will be significantly reduced compared to Subsonus to Subsonus operation. A number of features such as acoustic heading, data transfer and dynamic transmit power will not function with third party equipment. Please contact [email protected] to discuss operation with third party equipment.



Version 1.020/05/2015

10 Operation

10.1 Surface Unit Initialisation

After power on the surface unit typically takes 30 seconds to become ready for use. After this time the unit will not be able to start providing data until its aiding source has initialised. When using the Advanced Navigation GPS Compass as an aiding source it will typically initialise within 5 minutes. The initialisation status can be monitored from the main view in the Subsonus web GUI. The address for the web GUI is an-subsonus-1.local.

10.2 Subsea Unit Initialisation

After power on the surface unit typically takes 30 seconds to become ready for use. After this time, if the subsea unit's transducer head is submerged it will initialise within 10 seconds of first acoustic contact with a surface Subsonus unit. If the Subsonus transducer head is out of the water the system will instead automatically initialise using its built in GPS receiver which will typically occur within 30 seconds. The initialisation status can be monitored from the main view in the Subsonus web GUI. The address for the web GUI is an-subsonus-2.local.

10.3 Subsea Unit GPS

The subsea Subsonus unit contains an internal GPS receiver and a GPS antenna in the top of the hydrophone array. When the unit breaches the water surface, acoustic positioning will cease to function and Subsonus will automatically use GPS positioning instead.

10.4 Subsea Unit Magnetic Heading

The subsea Subsonus unit features magnetic heading which it uses when acoustic heading is unavailable. The magnetic heading features automatic calibration that occurs continuously whenever acoustic heading is available. In the event that the Subsonus unit is going to be mounted in the presence of a strong magnetic interference source (such as close to a motor or high current wiring), then the magnetic heading should be disabled in the system settings. When magnetic heading is disabled the system will maintain accurate heading using its gyroscopes when acoustic heading is unavailable.

10.5 Out of Water Low Power Mode

Subsonus automatically detects when it is out of water and switches to a low power mode where it shuts down its acoustic functionality. While in low power mode the GPS/INS, interface and all other non-acoustic functions will continue operating correctly. When the system is returned to water it will automatically switch back to full power mode within 20 seconds and restart acoustic operation.

This power mode switching is because Subsonus generates a significant amount of heat during acoustic operation. In full power mode Subsonus depends upon the water


Version 1.020/05/2015

surrounding it to dissipate heat. While in low power mode Subsonus does not depend upon the water to dissipate heat and can operate in ambient temperatures of up to 40 °C. In the event that Subsonus is subjected to temperatures beyond its operating limits, it will safely shut down. In this event the power must be cycled to restart operation.


Version 1.020/05/2015

11 Maintenance

11.1 Disassembly Warning

The protective cage of Subsonus must never be removed. Subsonus's protective cage is a structural component and removal of the cage will break the sealing of the unit, causing permanent damage to internal components.

If the Subsonus cage is ever damaged, the unit should be sent back to the factory immediately. Replacement cages are a quick and low cost procedure.

Subsonus requires special tools to disassemble it without causing damage and this can only be performed by trained personnel at the Advanced Navigation factory.

11.2 Inspections

The following inspections should be performed prior to deployment and after retrieval.

11.2.1 Damage

Inspect the titanium base and protective cage for deep scratches and cracks. Inspect the transducer head for any cuts, gouges or damage. In the event of any damage please email a photo to [email protected] for advice before deployment.

11.2.2 Connectors

The connectors and cables should be inspected for damage and checked to ensure they are fully mated.

Every time the connectors are un-mated the inside should be inspected for bent or damaged pins and cracked or damaged rubber. Silicon lubricant such as Dow Corning molykote 111 should be applied to the male pins and the female socket prior to remating.

11.2.3 Biofouling

Inspect for biofouling such as barnacles and other marine growth. Follow the service procedures in section 11.3 for removal of biofouling.

11.3 Removing Biofouling

Soft marine growth should be gently removed using a soft bristled brush and soapy water.

For hard marine growth it is recommended to soak the unit in a weak solution (8-10%) of Sulphamic acid and then brush it down. An example product containing Sulphamic acid is Lime-A-Way thick gel.

Hydrochloric acid should not be used to remove biofouling on Subsonus as this can cause the protective cage to become brittle and weak.



Version 1.020/05/2015

If hard marine growth has attached to the hydrophone head it should not be pulled off with force as this will likely tear the head open. The unit should be returned to the factory in this event.

11.4 Factory Service and Calibration

Subsonus should be sent back to Advanced Navigation for servicing and calibration verification every 2 years. At this time the unit will be thoroughly checked and tested, all the seals will be replaced, and the factory calibration will be checked and updated if necessary.


Version 1.020/05/2015

12 Interfacing

12.1 IP Address

By default Subsonus uses DHCP to assign itself an address. The system can be assigned a static IP in the network configuration page. Advanced Navigation recommends using zeroconf to connect to the unit, however it is also possible to use the direct IP address to connect.

12.2 Network Discovery

12.2.1 Zeroconf

Zeroconf is a network protocol used for finding devices on a network without an IP address. Subsonus has zeroconf support and it is typically the easiest way to connect to it on a network. Zeroconf for Windows (Apple Bonjour) can be downloaded from the link below:


Mozilla Firefox is recommended for use with zeroconf. Google Chrome is known not to work with zeroconf.

Once zeroconf is installed you can open a web browser (firefox) and enter the address an-subsonus-1.local to connect to the surface unit. The address an-subsonus-2.local can be used to connect to the subsea unit.

When operating multiple subsea units the unit address is used in the zeroconf address. For example unit address 12 would have the zeroconf address an-subsonus-12.local.

12.2.2 AN Packet Protocol Discovery

Devices can also be discovered using the AN packet protocol over a UDP network socket.

To initiate discovery send a multicast UDP packet with hex bytes 0x01 0x01, 0x00, 0xFF, 0xFF on port 48817 to address 239.48.81.7. Any Subsonus units on the network will reply to the sender on port 48818 with their Device Information Packet including AN packet header.

12.3 Web Browser User Interface

The Subsonus user interface is available through a web browser. The web browser interface features real time 3D mapping and full device configuration. Zeroconf is recommended to determine the web address of the unit, see section 12.2.1.

12.4 AN Packet Protocol Machine Interface

Subsonus features a full machine interface that allows access to all data and system configuration. The machine interface uses the binary AN packet protocol described in section 12.4 over TCP.



Version 1.020/05/2015

The AN packet protocol machine interface is available over four TCP ports. These are ports 16718, 16719, 16720 and 16721.

12.5 NMEA Input/Output

Subsonus supports NMEA input and output over four TCP ports. These are ports 16722, 16723, 16724 and 16725.

12.5.1 NMEA Input

The Subsonus surface unit requires a reference source of position, velocity, time and heading to function. This can be supplied to the unit using NMEA. The messages required are GPGGA, GPVTG and GPHDT at 10Hz.

The Subsonus subsea unit can also accept NMEA input that can be used supply aiding information. For example if the subsea vehicle already has a high accuracy gyrocompass heading system installed with superior accuracy to Subsonus's acoustic heading, then this data can be fed into the unit using one of the NMEA heading messages for enhanced results.

The full list of supported input NMEA messages is listed below in Table 13.

Message ID Description

GPGGAGNGGA

3D position

GPGLLGNGLL

2D position

GPRMCGNRMC

2D position, 2D velocity and coarse time

GPVTGGNVTG

2D velocity

GPHDTGNHDTHEHDT

Heading

GPGSVGNGSV

Satellites

GPGSAGNGSA

Dilution of Position

GPZDAGNZDA

Time

Table 13: Supported NMEA input messages

12.5.2 NMEA Output

Subsonus can output a configurable combination of NMEA messages GPZDA, GPGGA, GPVTG, GPRMC, GPHDT, GPGLL and PASHR at up to 50 Hz. The output NMEA messages can be configured in the NMEA output configuration page.


Version 1.020/05/2015

An example output is shown below:

$GPZDA,031644.460,07,05,2013,00,00*52

$GPGGA,031644.460,3352.3501851,S,15112.2355488,E,6,00,1.4,150.0,M,0.0,M,,*7E

$GPVTG,089.19,T,089.19,M,000.00,N,000.00,K,E*27

$GPRMC,031644.460,A,3352.3501851,S,15112.2355488,E,0.0,89.2,070513,12.5,W,E*02

$GPHDT,89.2,T*06

$PASHR,031644.460,089.19,T,-00.01,-00.47,-00.00,,,,0,0*2E

12.6 Time Synchronisation

Subsonus supports time synchronisation using either PTP or NTP. When operating Subsonus with either the Advanced Navigation GPS Compass or the Advanced Navigation ILU the time will be automatically synchronised with an accuracy of around 30 nanoseconds.


Version 1.020/05/2015

13 Advanced Navigation Packet ProtocolThe Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efficiency and safe design practices. It has a well defined specification and is very flexible. It is used across all existing and future Advanced Navigation products.

13.1 Data Types

The following data types are used in the packet protocol. All data types in the protocol are little endian byte ordering.

Abbreviation Bytes Also known as

u8 1 unsigned char, unsigned byte, uint8_t

s8 1 char, byte, int8_t

u16 2 unsigned short, uint16_t

s16 2 short, int16_t

u32 4 unsigned int, unsigned long, uint32_t

s32 4 int, long, int32_t

u64 8 unsigned long long, uint64_t

s64 8 long long, int64_t

fp32 4 float

fp64 8 double

Table 14: Data type abbreviations used in the ANPP

13.2 Packet Structure

The ANPP packet structure is shown in Table 15 and the header format is shown in Table 16. Example code can be downloaded from the software section.

Header

Header LRC Packet ID Packet Length CRC16 Packet Data

Table 15: ANPP Packet Structure


Version 1.020/05/2015

ANPP Header Format

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Header LRC, see section 13.2.1

2 1 u8 1 Packet ID, see section 13.2.2

3 2 u8 1 Packet Length, see section 13.2.3

4 3 u16 2 CRC16, see section 13.2.4

Table 16: ANPP header format

13.2.1 Header LRC

The header LRC (Longitudinal Redundancy Check) provides error checking on the packet header. It also allows the decoder to find the start of a packet by scanning for a valid LRC. The LRC can be found using the following:

LRC = ((packet_id + packet_length + crc[0] + crc[1])^0xFF) + 1

13.2.2 Packet ID

The packet ID is used to distinguish the contents of the packet. Packet IDs range from 0 to 255.

Within this range there are three different sub-ranges, these are system packets, state packets and configuration packets.

System packets have packet IDs in the range 0 to 19. These packets are implemented the same by every device using ANPP.

State packets are packets that contain data that changes with time, i.e. temperature. State packets can be set to output at a certain rate. State packets are packet IDs in the range 20 to 179.

Configuration packets are used for reading and writing device configuration. Configuration packets are packet IDs in the range 180 to 255.

13.2.3 Packet Length

The packet length denotes the length of the packet data, i.e. from byte index 5 onwards inclusive. Packet length has a range of 0 – 255.

13.2.4 CRC

The CRC is a CRC16-CCITT. The starting value is 0xFFFF. The CRC covers only the packet data.

13.3 Packet Requests

Any packet can be requested at any time using the request packet. See section 13.8.2.


Version 1.020/05/2015

13.4 Packet Acknowledgement

When configuration packets are sent to Subsonus, it will reply with an acknowledgement packet that indicates whether the configuration change was successful or not. For details on the acknowledgement packet, see section 13.8.1.

13.5 Packet Rates

The packet rates can be configured using either the Subsonus output configuration page or through the Packets Period Packet. By default Subsonus is configured to output the System State Packet at 20Hz and the Remote Unit Track Packet on arrival.

When multiple packets are set to output at the same rate, the order the packets output is from lowest ID to highest ID.

13.6 Packet Timing

Packets are output in order of packet ID from lowest ID to highest ID and all packets that are output in one sequence have their data matched to the same time of validity. The time of validity can be found in either the System State Packet, the Unix Time Packet or the Formatted Time Packet. For example if the Unix Time Packet, Status Packet and Heave Packet packet were all set to output at 10 Hz, at each 0.1 second period the three packets would output consecutively by order of packet ID with all data synchronised between them and the Unix Time Packet providing the time of validity for the other two packets.

13.7 Packet Summary

Packet ID Length R/W Name

System Packets

0 4 R Acknowledge Packet

1 - W Request Packet

2 1 R/W Boot Mode Packet

3 24 R Device Information Packet

4 4 W Restore Factory Settings Packet

5 4 W Reset Packet

11 18 R/W Network Settings Packet

State Packets

20 100 R System State Packet

21 8 R Unix Time Packet

22 14 R Formatted Time Packet

23 4 R Status Packet

24 71 R Remote Unit Track Packet

44 64 R/W External Position & Velocity Packet


Version 1.020/05/2015

Packet ID Length R/W Name

45 40 R/W External Position Packet

46 28 R/W External Velocity Packet

47 20 R/W External Body Velocity Packet

48 12 R/W External Heading Packet

49 8 R Running Time Packet

52 8 R/W External Time Packet

53 16 R/W External Depth Packet

58 16 R Heave Packet

Configuration Packets

180 4 R/W Packet Timer Period Packet

181 - R/W Packets Period Packet

185 73 R/W Installation Alignment Packet

186 17 R/W System Options Packet

189 49 R/W Magnetic Calibration Values Packet

190 1 W Magnetic Calibration Configuration Packet

191 3 R Magnetic Calibration Status Packet

195 33 R/W NMEA Output Configuration Packet

Table 17: Packet summary

13.8 System Packets

13.8.1 Acknowledge Packet

Acknowledgement Packet

Packet ID 0

Length 4

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Packet ID being acknowledged

2 1 u16 2 CRC of packet being acknowledged

3 3 u8 1 Acknowledge Result, see section 13.8.1.1

Table 18: Acknowledge packet


Version 1.020/05/2015

13.8.1.1 Acknowledge Result

Value Description

0 Acknowledge success

1 Acknowledge failure, CRC error

2 Acknowledge failure, packet size incorrect

3 Acknowledge failure, values outside of valid ranges

4 Acknowledge failure, system flash memory failure

5 Acknowledge failure, system not ready

6 Acknowledge failure, unknown packet

Table 19: Acknowledge result

13.8.2 Request Packet

Request Packet

Packet ID 1

Length 1 x number of packets requested

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Packet ID requested

+ Field 1 repeats for additional packet requests

Table 20: Request packet

13.8.3 Boot Mode Packet

Boot Mode Packet

Packet ID 2

Length 1

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Boot mode, see section 13.8.3.1

Table 21: Boot mode packet

13.8.3.1 Boot Mode Types

Value Description

0 Bootloader

1 Main Program

Table 22: Boot mode types


Version 1.020/05/2015

13.8.4 Device Information Packet

Device Information Packet

Packet ID 3

Length 24

Field #

Bytes Offset

Data Type

Size Description

1 0 u32 4 Software version

2 4 u32 4 Device ID

3 8 u32 4 Hardware revision

4 12 u32 4 Serial number part 1



Table 23: Device information packet

13.8.5 Restore Factory Settings Packet

Restore Factory Settings Packet

Packet ID 4

Length 4

Field #

Bytes Offset

Data Type

Size Description

1 0 u32 4 Verification Sequence (set to 0x85429E1C)

Table 24: Restore factory settings packet

13.8.6 Reset Packet

Reset Packet

Packet ID 5

Length 4

Field #

Bytes Offset

Data Type

Size Description

1 0 u32 4 Verification Sequence (set to 0x21057A7E)

Table 25: Reset packet


Version 1.020/05/2015

13.8.7 Network Settings Packet

Network Settings Packet

Packet ID 11

Length 18

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 u8 1 DHCP mode flags, see section 13.8.7.1

3 2 u32 4 Static IP address

4 6 u32 4 Static netmask

5 10 u32 4 Static gateway

6 14 u32 4 Static DNS server

Table 26: Network settings packet

13.8.7.1 DHCP Mode Flags

Bit Description

0 DHCP enabled (fields 3-5 ignored)

1 Automatic DNS (field 6 ignored)

2-7 Reserved (set to zero)

Table 27: DHCP mode flags


Version 1.020/05/2015

13.9 State Packets

13.9.1 System State Packet

System State Packet

Packet ID 20

Length 109

Field #

Bytes Offset

Data Type

Size Description

1 0 u16 2 Health status, see section 13.9.1.1

2 2 u16 2 System status, see section 13.9.1.2

3 4 u32 4 Unix time seconds, see section 13.9.1.4

4 8 u32 4 Microseconds, see section 13.9.1.5

5 12 fp64 8 Latitude (rad)

6 20 fp64 8 Longitude (rad)

7 28 fp64 8 Height (m)

8 36 fp32 4 Velocity north (m/s)

9 40 fp32 4 Velocity east (m/s)

10 44 fp32 4 Velocity down (m/s)

11 48 fp32 4 Body acceleration X (m/s/s)

12 52 fp32 4 Body acceleration Y (m/s/s)

13 56 fp32 4 Body acceleration Z (m/s/s)

14 60 fp32 4 G force (g)

15 64 fp32 4 Roll (radians)

16 68 fp32 4 Pitch (radians)

17 72 fp32 4 Heading (radians)

18 76 fp32 4 Angular velocity X (rad/s)

19 80 fp32 4 Angular velocity Y (rad/s)

20 84 fp32 4 Angular velocity Z (rad/s)

21 88 fp32 4 Latitude standard deviation (m)

22 92 fp32 4 Longitude standard deviation (m)

23 96 fp32 4 Height standard deviation (m)

24 100 fp32 4 Depth (m)

25 104 fp32 4 Velocity of sound (m/s)

26 108 u8 1 Unit ID


Version 1.020/05/2015

Table 28: System state packet

13.9.1.1 Health Status

This field contains 16 bits that indicate problems with the system. These are boolean fields with a zero indicating false and one indicating true.

Bit Description

0 System Failure

1 Accelerometer Sensor Failure

2 Gyroscope Sensor Failure

3 Magnetometer Sensor Failure

4 Pressure Sensor Failure

5 GNSS Failure

6 Accelerometer Over Range

7 Gyroscope Over Range

8 Magnetometer Over Range

9 Pressure Over Range

10 Maximum Temperature Shutdown

11 Out Of Water Alarm

12 Reserved

13 Reserved

14 Reserved

15 Reserved

Table 29: Health status


Version 1.020/05/2015

13.9.1.2 System Status

This field contains 16 bits that indicate the status of the system. These are boolean fields with a zero indicating false and one indicating true.

Bit Description

0 Orientation Filter Initialised

1 Navigation Filter Initialised

2 Heading Initialised

3 UTC Time Initialised

4 GNSS Fix Status, see section 13.9.1.3

5

6

7 Acoustic Heading Active

8 USBL Tracking Active

9 Internal GNSS Enabled

10 Magnetic Heading Active

11 Velocity Heading Active

12 Depth Sensor Active

13 External Position Active

14 External Velocity Active

15 External Heading Active

Table 30: System status

13.9.1.3 GNSS Fix Status

Value Bit 6 Bit 5 Bit 4 Description

0 0 0 0 No GNSS fix

1 0 0 1 2D GNSS fix

2 0 1 0 3D GNSS fix

3 0 1 1 SBAS GNSS fix

4 1 0 0 Differential GNSS fix

5 1 0 1 Omnistar/Starfire GNSS fix

6 1 1 0 RTK Float GNSS fix

7 1 1 1 RTK Fixed GNSS fix

Table 31: GNSS fix status

13.9.1.4 Unix Time Seconds

This field provides UTC time in seconds since January 1, 1970 including leap seconds.


Version 1.020/05/2015

13.9.1.5 Microseconds

This field provides the sub-second component of time. It is represented as microseconds since the last second. Minimum value is 0 and maximum value is 999999.

13.9.2 Unix Time Packet

Unix Time Packet

Packet ID 21

Length 8

Field #

Bytes Offset

Data Type

Size Description



Table 32: Unix time packet

13.9.3 Formatted Time Packet

Formatted Time Packet

Packet ID 22

Length 14

Field #

Bytes Offset

Data Type

Size Description

1 0 u32 4 Microseconds

2 4 u16 2 Year

3 6 u16 2 Year day, 0 - 365

4 8 u8 1 Month, 0 - 11

5 9 u8 1 Month Day, 1 - 31

6 10 u8 1 Week Day, 0 - 6

7 11 u8 1 Hour, 0 - 23

8 12 u8 1 Minute, 0 - 59

9 13 u8 1 Second, 0 - 59

Table 33: Formatted time packet


Version 1.020/05/2015

13.9.4 Status Packet

Status Packet

Packet ID 23

Length 4

Field #

Bytes Offset

Data Type

Size Description


2 2 u16 2 Filter status, see section 13.9.1.2

Table 34: Status packet


Version 1.020/05/2015

13.9.5 Remote Unit Track Packet

Remote Unit Track Packet

Packet ID 24

Length 71

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Remote Unit ID

2 1 u8 1 Tracking status, see section 13.9.5.1

3 2 u16 2 Health status, see section 13.9.1.1


5 6 u32 4 Unix time stamp seconds, see section 13.9.1.4








13 38 fp32 4 Roll (radians)

14 42 fp32 4 Pitch (radians)

15 46 fp32 4 Heading (radians)

16 50 fp32 4 Position standard deviation (m)

17 54 fp32 4 Depth (m)

18 58 fp32 4 Range (m)

19 62 fp32 4 Azimuth (rad)

20 66 fp32 4 Elevation (rad)

21 70 u8 1 Signal Quality Indicator (%)

Table 35: Remote unit track packet

13.9.5.1 Tracking Status

Bit Description

0 Data Connection Active (Status, Velocity and Orientation Valid)


Table 36: Tracking status


Version 1.020/05/2015

13.9.6 External Position & Velocity Packet

External Position & Velocity Packet

Packet ID 44

Length 64

Field #

Bytes Offset

Data Type

Size Description










10 48 fp32 4 Velocity north standard deviation (m/s)

11 52 fp32 4 Velocity east standard deviation (m/s)

12 56 fp32 4 Velocity down standard deviation (m/s)

13 60 fp32 4 Delay (s)

Table 37: External position & velocity packet

13.9.7 External Position Packet

External Position Packet

Packet ID 45

Length 40

Field #

Bytes Offset

Data Type

Size Description







7 36 fp32 4 Delay (s)

Table 38: External position packet


Version 1.020/05/2015

13.9.8 External Velocity Packet

External Velocity Packet

Packet ID 46

Length 28

Field #

Bytes Offset

Data Type

Size Description




4 12 fp32 4 Velocity north standard deviation (m/s)

5 16 fp32 4 Velocity east standard deviation (m/s)

6 20 fp32 4 Velocity down standard deviation (m/s)

7 24 fp32 4 Delay (s)

Table 39: External velocity packet

13.9.9 External Body Velocity Packet

External Body Velocity Packet

Packet ID 47

Length 20

Field #

Bytes Offset

Data Type

Size Description

1 0 fp32 4 Velocity X (m/s)

2 4 fp32 4 Velocity Y (m/s)

3 8 fp32 4 Velocity Z (m/s)

4 12 fp32 4 Velocity standard deviation (m/s)

5 16 fp32 4 Delay (s)

Table 40: External body velocity packet


Version 1.020/05/2015

13.9.10 External Heading Packet

External Heading Packet

Packet ID 48

Length 12

Field #

Bytes Offset

Data Type

Size Description

1 0 fp32 4 Heading (rad)

2 4 fp32 4 Heading standard deviation (rad)

3 8 fp32 4 Delay (s)

Table 41: External heading packet

13.9.11 Running Time Packet

Running Time Packet

Packet ID 49

Length 8

Field #

Bytes Offset

Data Type

Size Description

1 0 u32 4 Running time seconds

2 4 u32 4 Microseconds

Table 42: Running time packet

13.9.12 External Time Packet

External Time Packet

Packet ID 52

Length 8

Field #

Bytes Offset

Data Type

Size Description



Table 43: External time packet


Version 1.020/05/2015

13.9.13 External Depth Packet

External Depth Packet

Packet ID 53

Length 12

Field #

Bytes Offset

Data Type

Size Description

1 0 fp32 4 Depth (m)

2 4 fp32 4 Depth standard deviation (m)

3 8 fp32 4 Delay (s)

Table 44: External depth packet

13.9.14 Heave Packet

Heave Packet

Packet ID 58

Length 16

Field #

Bytes Offset

Data Type

Size Description

1 0 fp32 4 Heave (m)

2 4 12 Reserved (set to zero)

Table 45: Heave packet


Version 1.020/05/2015

13.10 Configuration Packets

Configuration packets can be both read from and written to the device. On many of the configuration packets the first byte is a permanent flag. A zero in this field indicates that the settings will be lost on reset, a one indicates that they will be permanent.

13.10.1 Packet Timer Period Packet

Packet Timer Period Packet

Packet ID 180

Length 4

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 u8 1 UTC synchronisation, see section 13.10.1.1

3 2 u16 2 Packet timer period, see section 13.10.1.2

Table 46: Packet timer period packet

13.10.1.1 UTC Synchronisation

This is a boolean value that determines whether or not the packet timer is synchronised with UTC time, with zero for disabled and one for enabled. For UTC Synchronisation to be enabled the packet timer period must multiply into 1000000 evenly. For example if the packet timer period is 10000 (10 ms), 1000000/10000 = 100 which is valid for UTC synchronisation. If the packet timer period is 15000 (15 ms), 1000000/15000 = 66.6666 which is not valid for UTC synchronisation. To get the rate use the following.

Packet Timer Rate = 1000000/(Packet Timer Period) Hz

13.10.1.2 Packet Timer Period

This is a value in microseconds that sets the master packet timer period. The minimum value is 1000 (1 ms) or 1000 Hz and the maximum value is 65535 (65.535 ms) or 15.30 Hz.


Version 1.020/05/2015

13.10.2 Packets Period Packet

Packets Period Packet

Packet ID 181

Length 2 + (5 x number of packet periods)

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 u8 1 Clear existing packet periods, see section 13.10.2.1

3 2 u8 1 Packet ID

4 3 u32 4 Packet period, see section 13.10.2.2

+ Fields 3-4 repeat for additional packet periods

Table 47: Packets period packet

13.10.2.1 Clear Existing Packets

This is a boolean field, when set to one it deletes any existing packet rates. When set to zero existing packet rates remain. Only one packet rate can exist per packet ID, so new packet rates will overwrite existing packet rates for the same packet ID.

13.10.2.2 Packet Period

This indicates the period in units of the packet timer period. The packet rate can be calculated as follows.

Packet Rate = 1000000/(Packet Period x Packet Timer Period) Hz

For example if the packet timer period is set to 1000 (1 ms). Setting packet ID 20 with a packet period of 50 will give the following.

Packet 20 Rate = 1000000/(50 x 1000)

Packet 20 Rate = 20 Hz


Version 1.020/05/2015

13.10.3 Installation Alignment Packet

Installation Alignment Packet

Packet ID 185

Length 73

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 fp32 4 Alignment DCM[0][0]









11 37 fp32 4 GNSS antenna offset X (m)

12 41 fp32 4 GNSS antenna offset Y (m)

13 45 fp32 4 GNSS antenna offset Z (m)


15 61 fp32 4 External data offset X (m)

16 65 fp32 4 External data offset Y (m)

17 69 fp32 4 External data offset Z (m)

Table 48: Installation alignment packet

13.10.3.1 Alignment DCM

The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial from it's standard alignment. A DCM is used rather than euler angles for accuracy reasons. To convert euler angles to DCM please use the formula below with angles in radians.

DCM[0][0] = cos(heading) * cos(pitch)

DCM[0][1] = sin(heading) * cos(pitch)

DCM[0][2] = -sin(pitch)

DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)

DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)

DCM[1][2] = cos(pitch) * sin(roll)


Version 1.020/05/2015

DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll)

DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)

DCM[2][2] = cos(pitch) * cos(roll)

13.10.4 System Options Packet

System Options Packet

Packet ID 186

Length 17

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 u8 1 Flags, see section 13.10.4.1


Table 49: System options packet

13.10.4.1 System Options Flags

Bit Description

0 Acoustics Enabled

1 Acoustic Heading Enabled

2 Magnetic Heading Enabled

3 Automatic Magnetic Calibration Enabled


Table 50: System options flags

13.10.5 Magnetic Calibration Values Packet

This packet can be used to inspect the magnetic calibration values or write custom magnetic calibration values to the system. Under normal operation with automatic magnetic calibration the user should not need to use this packet.


Version 1.020/05/2015

Magnetic Calibration Values Packet

Packet ID 189

Length 49

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 fp32 4 Hard iron bias X

3 5 fp32 4 Hard iron bias Y

4 9 fp32 4 Hard iron bias Z

5 13 fp32 4 Soft iron transformation XX

6 17 fp32 4 Soft iron transformation XY

7 21 fp32 4 Soft iron transformation XZ

8 25 fp32 4 Soft iron transformation YX

9 29 fp32 4 Soft iron transformation YY

10 33 fp32 4 Soft iron transformation YZ

11 37 fp32 4 Soft iron transformation ZX

12 41 fp32 4 Soft iron transformation ZY

13 45 fp32 4 Soft iron transformation ZZ

Table 51: Magnetic calibration values packet

13.10.6 Magnetic Calibration Configuration Packet

This packet allows the user to perform a manual calibration. Under normal operation with automatic magnetic calibration the user should not need to use this packet.

Magnetic Calibration Configuration Packet

Packet ID 190

Length 1

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Magnetic calibration action, see section 13.10.6.1

Table 52: Magnetic calibration configuration packet


Version 1.020/05/2015

13.10.6.1 Magnetic Calibration Actions

Value Description

0 Cancel magnetic calibration

2 Start 2D magnetic calibration

3 Start 3D magnetic calibration

4 Reset calibration to defaults

Table 53: Magnetic calibration actions

13.10.7 Magnetic Calibration Status Packet

This packet allows the user to perform a manual calibration. Under normal operation with automatic magnetic calibration the user should not need to use this packet.

Magnetic Calibration Status Packet

Packet ID 191

Length 3

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Magnetic calibration status, see section 13.10.7.1

2 1 u8 1 Magnetic calibration progress (%)

3 2 u8 1 Local magnetic error (%)

Table 54: Magnetic calibration status packet


Version 1.020/05/2015

13.10.7.1 Magnetic Calibration Status

Value Description

0 Magnetic calibration not completed

1 2D magnetic calibration completed

2 3D magnetic calibration completed

3 Custom values magnetic calibration completed

5 2D calibration in progress

6 3D calibration in progress

7 2D calibration error: excessive roll

8 2D calibration error: excessive pitch

9 Calibration error: sensor over range event

10 Calibration error: time-out

11 Calibration error: system error

12 Calibration error: interference error

Table 55: Magnetic calibration status

13.10.8 NMEA Output Configuration Packet

NMEA Output Configuration Packet

Packet ID 195

Length 33

Field #

Bytes Offset

Data Type

Size Description

1 0 u8 1 Permanent

2 1 u8 1 NMEA fix behaviour, see section 13.10.8.1

3 2 u16 2 GPZDA Rates, see section 13.10.8.2

4 4 u16 2 GPGGA Rates, see section 13.10.8.2

5 6 u16 2 GPVTG Rates, see section 13.10.8.2

6 8 u16 2 GPRMC Rates, see section 13.10.8.2

7 10 u16 2 GPHDT Rates, see section 13.10.8.2

8 12 u16 2 GPGLL Rates, see section 13.10.8.2

9 14 u16 2 PASHR Rates, see section 13.10.8.2

10 16 u16 2 TSS1 Rates, see section 13.10.8.2

11 18 u16 2 Simrad Rates, see section 13.10.8.2


Table 56: GPIO output configuration packet


Version 1.020/05/2015

13.10.8.1 NMEA Fix Behaviour

Value Description

0 Normal

1 Always indicate 3D fix when the navigation filter is initialised

Table 57: NMEA fix behaviour

13.10.8.2 GPIO Output Rates

Bit Description

0-3 Port 1 (TCP:16722) rate, see 13.10.8.3

4-7 Port 2 (TCP:16723) rate, see 13.10.8.3

8-11 Port 3 (TCP:16724) rate, see 13.10.8.3

12-15 Port 4 (TCP:16725) rate, see 13.10.8.3

Table 58: GPIO output rates

13.10.8.3 GPIO Output Rates Index

Value Bit 3 Bit 2 Bit 1 Bit 0 Description

0 0 0 0 0 Disabled

1 0 0 0 1 0.1 Hz

2 0 0 1 0 0.2 Hz

3 0 0 1 1 0.5 Hz

4 0 1 0 0 1 Hz

5 0 1 0 1 2 Hz

6 0 1 1 0 5 Hz

7 0 1 1 1 10 Hz

8 1 0 0 0 25 Hz

9 1 0 0 1 50 Hz

Table 59: GPIO output rates index


Version 1.020/05/2015

Information in this document is provided solely in connection with Advanced Navigation products. Advanced Navigation reserves the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice.

All Advanced Navigation products are sold pursuant to Advanced Navigation’s terms and conditions of sale. Purchasers are solely responsible for the choice, selection and use of the Advanced Navigation products and services described herein, and Advanced Navigation assumes no liability whatsoever relating to the choice, selection or use of the Advanced Navigation products and services described herein.

No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under this document. If any part of this document refers to any third party products or services it shall not be deemed a license grant by Advanced Navigation for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein.

UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION’S TERMS AND CONDITIONS OF SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND/OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE (AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION), OR INFRINGEMENT OF ANY PATENT, COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT.

UNLESS EXPRESSLY APPROVED IN WRITING BY TWO AUTHORIZED ADVANCED NAVIGATION REPRESENTATIVES, ADVANCED NAVIGATION PRODUCTS ARE NOT RECOMMENDED, AUTHORIZED OR WARRANTED FOR USE IN MILITARY, AIR CRAFT, SPACE, LIFE SAVING, OR LIFE SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY, DEATH, OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE.

ADVANCED NAVIGATION PRODUCTS WHICH ARE NOT SPECIFIED AS "AUTOMOTIVE GRADE" MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER’S OWN RISK.

Resale of Advanced Navigation products with provisions different from the statements and/or technical features set forth in this document shall immediately void any warranty granted by Advanced Navigation for the Advanced Navigation product or service described herein and shall not create or extend in any manner whatsoever, any liability of Advanced Navigation.

Information in this document supersedes and replaces all information previously supplied.

© 2015 Advanced Navigation Pty Ltd - All rights reserved

Subsonus Reference Manual - Geo-matching.comSubsonus Reference Manual Page 7 of 63 Version 1.0...

Documents

Transcript of Subsonus Reference Manual - Geo-matching.comSubsonus Reference Manual Page 7 of 63 Version 1.0...