Win881A Software User`s Manual
Contents
1. Q Q 1101535 o qb 2 Cll 1000 0000 5 015 JP O 213 3 ES4852 O 11 EI NES Ed j OHO C JO ol fo ol Q Q T O If JP UWR 5 1000 D24 ad golo PT EE 59 130 008 V2 IMAGENEX TECHNOLOGY CORP 15 07 MODEL 881A DIGITAL SONAR HEAD Multi Frequency WINSS81A EXE Display Software For Win 95 98 Me NT 2000 XP VERSION 2 36 OVERVIEW WIN881A is a Windows 95 98 Me NT 2000 XP program that controls displays and records data from the multi frequency Model 881A Digital Sonar Head c w an interface to control the optional Model 881A Azimuth Drive for profiling applications The program uses a 2 Wire RS 485 COM port 115200 N 8 1 to communicate with the head and an RS 232 COM port 4800 N 8 1 for receiving GPS Lat Lng coordinates The head can be operated at different ranges gains speeds frequencies etc The Windows display mode must be at least 8002. TARGETS THE SAME SLANT RANGE BUT DIFFERENT ELEVATIONS PLOT AT THE SAME LOCATION ON THE DISPLAY Hxs Target Height h r s true only on flat level bottom USE SHADOW LENGTH TO CALCULATE TARGET HEIGHT ECHO STRENGTH RANGE ECHO STRENGTH VS TIME WHEN FAN SHAPED SONAR BEAM INTERSECTS WITH A FLAT BOTTOM ECHO STRENGTH Apply Time Varying Gain IVS correction Reduce gain ci short ronge CORRECTED Increase gain at long ronge ECHO This corrects echo strength for STRENGTH attenuation and spreading losses RANGE CORRECT ECHO STRENGTH FOR CHANGES DUE TO RANGE AND TARGETS Bright rings appear on rn as result uneven vertical CORRECTED beam pattem ECHO STRENGTH EN rea white E green pee TIME black gt A RANGE COLOR TABLE Pace COLOR noecho edo echo
3. j FINISH Hard Anodised p LL DE z ji 1 DIMENSIONS 3 1 8 in 79 4mm Diameter Ll 7 1 8 in 181mm Length WEIGHT 3 3 lbs 1 5kg in air E 1 9 ELECTRONICS 1 3 lbs 0 6kg the water RIGHT ANGLE HOUSING CONNECTOR IMAGENEX i TECHNOLOGY CORPORATION 209 1875 BROADWAY STREET PORT COQUITLAM CANADA V3C 5W2 Y TEL 604 944 8248 e mail imagenex npsnet com SIDE VIEW ROV SONAR DATASHEET 881A NEW DRAWING NOT TO SCALE E3 SHEET 1 oF 2 5 4 8 9 10 AZIMUTH DRIVE p DO CLAMP THIS AREA OK FOR CLAMPING IMAGENEX TECHNOLOGY CORP 209 1875 BROADWAY ST PORT COQUITLAM B C CANADA V3C 4Zl TEL 604 944 8248 FAX 604 944 8249 FORM 355033 CDR HEAD POWER 20 TO 36VDC DB9 FEMALE TO RS 485 SERIAL PORT RED I6 gt R2 idal PINOUT IS FOR INDUSTRIAL COMPUTER SOURCE MODEL SPRT2B AT RS 485 CARD PIN 1 VIN BLK PIN 2 DATA WHT PIN 3 DATA4 RED IMPULSE MCIL 4 FS PIN 4 VIN GRN BELDEN 8424 OR 8404 TEST CABLE SPLICE IMAGENEX Technology Corp The MODEL 881A SONAR HEAD TEST CABLE Document Number 881 200 110 pril 9 2002 5 4 REV 8 1 COM BLK D PIN 2 TXD WHT PIN 3 RXD RED IMPULSE MCIL 4 FS PIN 4 VIN GRN HEAD POWER 20 TO 36VDC N DB9 FEMALE XD TO RS 232 RXD SERIAL PORT COM
4. Decimal Minutes _ Space N North or S South GPS Ships Position Longitude null terminated text string 13 bytes ddd mm xxx_E ddd Degrees mm Minutes xxx Decimal Minutes _ Space E East or W West KP POINT null terminated text string 10 bytes XXXX XX Meters _ Space UTC Time null terminated text string 12 bytes HH MM SS hh Fix Quality Number of Satellites Horizontal Dilution of Position four bytes floating point Altitude four bytes floating point Height of Geoid four bytes floating point Page 27 of 27 February 14 2003 IMAGENEX MODEL 881A MULTI FREQUENCY DIGITAL SONAR HEAD V5 Fan Beam 3 1 and Pencil Beam 6 1 SCANNING SPEEDS Mae Byte Meters sec sec sec sec sec MByte hr 20 EXCESS 7 3 14 6 22 0 29 3 0 9 6 all 3 22 200 50 40 30 20 1 58 5 Meters sec 360 sec 360 sec 360 sec 360 sec 360 200 47 0 150 36 9 100 27 0 80 22 8 60 18 9 50 16 8 40 14 8 30 12 7 20 60 330 20 165 108 5 8 5 7 8 a jJ a 02 pe o6 75 3 72 2 1 7 0 33 6 16 8 11 2 8 4 6 7 Using WIN881A EXE v2 12 on Pentium III 500MHz running Windows 98 Polar Mode 8 Bit Data Full Echo 115200 bps SwitchDelay 0 Step Sizes Slow 0 39 Medium 0 6 Fast 0 99 Faster 1 29 Fastest 2 4 February 14 20
5. Byte 15 8 Byte 14 3rd Range Point Byte 17 8 Byte 16 4th Range Point Byte 19 lt lt 8 Byte 18 etc If Header is ASCI IPX There is no echo data and this byte is the termination byte N 13 Use Profile Range Bytes from the Header Byte N 2 End of Echo Data Byte N 1 Termination Byte Page 10 of 10 IMAGENEX TECHNOLOGY CORP 300CT01 MODEL 881A AZIMUTH DRIVE SERIAL INTERFACE SPECIFICATION v1 00 OVERVIEW The Model 881A Azimuth Drive communicates over a 2 wire differential RS 485 serial data transmission line or optionally a half duplex RS 232 data line The Azimuth Drive is designed to operate in conjuction with a Model 881A Multi Frequency Digital Scanning Sonar Head over the same 2 wires To interrogate the drive a Switch Data Command string is sent via a serial command program at a baud rate of 115200 bps No Parity 8 Data Bits and 1 Stop Bit When the Switch Data command is accepted the drive moves to the new azimuth step angle and sends its return data back to the command program SWITCH DATA COMMAND The drive accepts up to 27 bytes of switch data from the serial interface and must see the switch data header 2 bytes and 0x44 HEX in order to process the switches The drive will stop accepting switch data when it sees the termination byte OXFD HEX 28 bytes whichever comes first The termination byte must be present for the drive to process the switch
6. Byte 15 Byte 16 Byte 17 Byte 18 Byte 19 Byte 20 Step Size 0 to 8 in 0 3 Degree increments 1 6 0 No Step 1 0 3 Degrees Step 2 0 6 Degrees Step 3 0 9 Degrees Step 4 1 2 Degrees Step 8 2 4 Degrees Step Pulse Length Length of acoustic transmit pulse 1 100 gt 10 to 1000 usec 10 usec increments Byte 14 pulse length in microseconds 10 Profile Minimum Range Minimum range for profile point digitization 0 250 gt 0 to 25 meters in 0 1 meter increments Byte 15 min range in meters 10 Reserved Always 0 Reserved Always 0 Reserved Always 0 Data Points 25 250 data points are returned by the head The return data will have an ASCII IMX header 50 500 data points are returned by the head The return data will have an ASCII IGX header Data Bits Resolution number of data bits of the returned echo data 4 Data width 4 Bits 2 data points per byte 8 Data width 8 Bits 1 data point per byte 16 Data width 16 Bits 2 bytes per data point Page 4 of 10 SWITCH DATA COMMAND con t Byte 21 Byte 22 Byte 23 Byte 24 Byte 25 Byte 26 Up Baud NOTE THIS FEATURE IS NOT YET AVAILABLE The head receives switch data at 115200 baud but can transmit its return data at various baud rates The Up Baud value sets the head to transmit at a new baud rate The default Up Baud value on power up is 115200 baud OxOB 9600 baud 0x03 14400
7. UNE forget forget CONVERT CORRECTED ECHO STRENGTH TO COLOR LINE ACTUAL SONAR BEAM WITH WITH UNEVEN PATTERN FIGURE 4
8. HH MM SS Hundredth of Seconds null terminated string 4 bytes hh Reserved always 0 Extended Bytes Used for adding extra information to the 81A file format i e GPS Lat Lng Multiply this number by 128 The resulting number of Extended Bytes is appended to the current file shot 0 0 128 0 Bytes 1 1 128 128 Bytes 2 2 128 256 Bytes etc Reserved always 0 Page 23 of 27 DATA STORAGE FILE FORMAT 81A 1 37 38 39 40 41 42 43 44 Dir Xdcr Mode Step 0 0 3 Deg Slow 1 0 6 Deg Medium 2 Sidescan 2 0 9 Deg Fast 3 1 2 Deg Faster 4 2 4 Deg Fastest Start Gain to 40 in 1 dB increments Sector Size 3 0 to 120 0 to 360 Degrees in 3 degree increments Train Angle 3 to 119 0 to 357 Degrees in degree increments Range Offset Oto 255 in Im increments Absorption 1 to 255 2 0 01 to 2 55dB m in 0 01dB m increments Profile Grid Zero Data Bits LOGF 0 4 Data Bits 1 8 Data Bits 2 14 Data Bits Pulse Length 10 to 100 0 to 1000us in 10 increments Page 24 of 27 DATA STORAGE FILE FORMAT 81A 1 45 46 47 48 79 80 81 82 83 84 90 91 92 93 99 Profile 0 Off 1 Points Only 2 Low Mix 3 Medium Mix 4 High Mix Sound Velocity te m te a UE w If V 0 Sound Velocity 1500 0 m s If V 1 Sound Velocity Byte 46 a
9. MAIN MENU con t Reference Elevation Offset Baseline Dredge Depth Elevation Chainage y this number represents the horizontal down range distance along the Y Axis for the current profile cross section Sonar Elevation z this number represents the height of the sonar head in relation to the Reference Elevation along the Z Axis Sonar Offset x this number represents the horizontal distance of the sonar head from the baseline along the X Axis Dredge Line this number is used to display a horizontal line on the display which represents the desired dredge depth distance below the reference elevation The number entered here is the depth below the sonar head Page 12 of 27 MAIN MENU con t Auto Profile Enable After each scan when the Auto Profile Enable is checked pressing the Ok button will invoke scan using the current sonar settings i e range gain sector size train angle sound velocity The sonar will automatically move to its counter clockwise position and begin scanning When the sonar reaches its clockwise position the following will occur A message box appears asking if you would like to save the current profile If you select Yes a screen capture is made and an ASCII XYZ file is generated for the current scan with the profile points adjusted by the above x y and z offsets The Auto Profile Dialog Box is then displayed allowing you to change the offset numbers for the next scan Wh
10. 3 0 3 1 mm 14 5 S ORDERING INFORMATION 1000 m UNIT 881 000 450 3000 m UNIT 881 000 451 Interface source code TESTAZIM C Option 018 Product and company names listed are trademarks or trade names of their respective companies 881A Azimuth Drive 445 019 www imagenex com 2 3 4 6 7 8 9 10 ZONE pe ps gt SPECIFICATIONS FREQUENCY Tunable Three default settings of 330kHz o 675kHz or 1MHz 5 S RS TRANSDUCER Oil filled protective transducer housing x ci H Operater can select a frequency of his own choosing G other than the default settings 1 46 37 2mm 360 degree continuous rotation Polar mode sector mode single side scan mode m SSS RANGE Full scale range is from IM 200 PLAN VIEW POWER 24 VDC less than 5 Watts INTERFACE RS 485 115 2 KBaud or i optional RS 232 TRANSDUCER DEPTH 1000M Aluminium housing 3 46 B7 9mm MIN HOUSING or 3000M Titanium Housing OIL FILLED MATERIALS 606176 Aluminum Polyurethane 300 series stainless steel Epoxy resin 5 m 42 41 lis
11. 6 kg 1 3 Ibs 3000 m unit 1 kg 2 2 lbs MATERIALS 1000 m unit 6061 T6 Aluminum amp Polyurethane 3000 m unit Titanium Polyurethane amp 300 series stainless steel FINISH Hard Anodize SOFTWARE Win881A exe SPECIFICATIONS WINDOWS OPERATING SYSTEM Windows 95 98 2000 Vista MODES Side Scan Polar and Sector RANGE SCALES 1 m 2 m 3 m 4 m 5 10 20 30 m 40 m 50m 60 m 80 m 100m TRAIN ANGLES Continuous rotation 3 increments SECTOR SIZE SECTOR MODE 0 180 3 increments POLAR MODE 0 357 3 increments or Continuous rotation STEP SIZES Slow 0 32 Medium 0 69 Fast 0 9 Faster 1 29 Fastest 2 4 GRID TYPES Polar and rectangular FILE FORMAT filename 81a RECOMMENDED 100 MHz Pentium MINIMUM COMPUTER REQUIREMENTS 16 MB RAM 1 GB Hard Disk 800 x 600 x 256 colour graphics Requires Win881A exe v2 00 or higher Free upgrade available for older versions Contact Imagenex 881A Profiling 445 018 www imagenex com 234 mm 9 29 110 mm 4 3 par 88 mm 3 5 MIN p OPTIONAL uS RIGHT ANGLE ez 31 Eli a ml CONNECTOR TRANSDUCER HOUSING FLUID FILLED ELECTRONICS OPTIONAL z r F roi HOUSING END MOUNT j CONNECTOR 5534 84 73 4 mm 3 13 DIA SIDE TOP VIEW ORDERING INFORMATION 1000 m UNIT 881 000 420
12. 8 BELDEN 8424 8404 B OR CAROL C 1305 4 COND SHIELDED TEST CABLE 5 SPLICE IMAGENEX Technology Corp MODEL 881A SONAR HEAD TEST CABLE RS 232 Size Number REV A 881 200 120 ay 25 2001 8 5 4 3 IMAGENEX MODEL 8814 SONAR RS 232 RS 485 SELECTION Remove the green nylon cord that secures the electronics housing Don t remove the cord that secures the red polyurethane dome as it contains oil Gently wiggle the electronics housing away from the middle bulkhead section ensuring that the O Ring remains clean and intact Locate all suitcase jumper positions on the top circuit board PCB 130 008 V2 For RS 232 operation install jumpers JP11 JP13 and JP 17 Remove all other jumpers For RS 485 operation install jumpers JP12 JP14 JP15 and JP18 Remove all other jumpers Ensure that the O Ring and O Ring surfaces are clean and replace the housing Insert the green nylon cord and push it in all the way to secure the housing to the bulkhead RS232 RS485 RS232 RS485 o OJ FOR RS 232 OPERATION FOR 5 485 OPERATION HEN O jumper JP15 oo MEM install jumper JP15 for 120 ohm oo termination 130 008 V2 FP 1S Q E fool U2
13. 9 deg step Faster 1 2 deg step Fastest 2 4 deg step to change the sector size sweep angle Sector Mode 0 to 180 degrees in 3 degree increments Polar Mode 0 to 360 degrees in 3 degree increments Sidescan Mode 0 degrees to change the training angle relative to the sonar s zero or center angle Sector Mode 0 to 357 degrees in 3 degree increments Polar Mode 0 to 357 degrees in 3 degree increments Sidescan Mode 90 or 270 degrees Page 19 of 27 KEYBOARD SWITCHES The following switches are selected via keyboard entry case insensitive C G Space Bar to clear the sonar screen display to change the Start Gain of the sonar head When the key is pressed the Key Command Entry Box displays the prompt Gain dB Type in a valid start gain number 0 40dB and press Enter to change to the new start gain value If the entered gain is not valid or the Esc key is pressed the current gain will be used Available only when DATA FROM HEAD is active to hold or freeze the display to change the operating range of the sonar head When the key is pressed the Key Command Entry Box below the DATA FROM buttons is displayed with the following prompt Range M meters or Range FT feet Type in a valid range number 1 3 2 6 3 9 4 12 5 15 10 30 20 60 30 90 40 120 50 150 60 180 80 240 100 300 150 450 or 200 600 in meters or feet using the numeric keys and then pre
14. 03 IMAGENEX MODEL 881A MULTI FREQUENCY DIGITAL SONAR HEAD V5 Pencil Beam 6 1 Profile Points Only SCANNING SPEEDS NS Meters sec sec sec sec sec MByte hr E SEE 2 jJ so j o j ms j 6 34 68 100 129 233 4 50 98 140 179 316 15 8 28 6 39 1 46 2 66 7 0 0 0 0 10 5 4 200 400 600 706 89 3 200 400 600 750 923 2 200 400 600 800 1000 1 200 400 60 80 1040 een Meters sec 360 sec 360 sec 360 sec 360 sec 360 200 43 7 150 33 5 100 23 5 80 19 5 60 15 5 50 13 5 40 114 30 9 5 20 74 0 5 4 5 180 90 68 57 44 4 180 90 60 51 40 3 180 90 48 39 2 1 S j 18 0 9 0 6 0 4 5 3 5 Using WIN881A EXE v2 12 on Pentium III SOOMHz running Windows 98 IPX Mode Profile Points Only 115200 bps SwitchDelay 0 Step Sizes Slow 0 39 Medium 0 6 Fast 0 99 Faster 1 29 Fastest 2 4 IMAGENEX TECHNOLOGY CORP 15 07 MODEL 881A DIGITAL MULTI FREQUENCY SONAR HEAD SERIAL INTERFACE SPECIFICATION v1 03 OVERVIEW The Model 881A Digital Sonar Head communicates over a 2 wire differential RS 485 serial data transmission line or optionally a half duplex RS 232 data line To interrogate the head and receive echo data a Switch Data Command string is sent
15. 1 9999 this number automatically increments for each new file Unlike the Auto Profile mode which increments the file number every scan the Auto Azimuth XYZ file contains multiple scans The XYZ ASCII file contains the following information dd mmm yyyy hh mm ss hh rrr rrr bbb bbb xxx xxx zzz zzz lt CR gt lt LF gt 15 Point dd mmm yyyy hh mm ss hh rrr rrr bbb bbb 2zz zzz lt CR gt lt LF gt 2 Point dd mmm yyyy hh mm ss hh rrr rrr bbb bbb xxx xxx zzz zzz lt CR gt lt LF gt Last Point where dd mmm yyyy current system date hh mm ss hh current system time rrr rrr profile range aaa aaa azimuth angle bbb bbb vertical scanning angle XXX XXX profile range cos azimuth angle sin vertical angle profile range sin azimuth angle sin vertical angle 777 777 profile range cos vertical angle The above fields are TAB delimited and the scans are grouped by azimuth angle and seperated by a lt CR gt lt LF gt The Auto Azimuth function is available only when DATA FROM is active Page 16 of 27 MAIN MENU con t Grid Menu Grid On Off to display the range rings or squares on the sonar display About Menu About WIN881A displays an about box showing the software version and date of this program Contact information for Imagenex Technology Corp is also displayed Page 17 of
16. 27 ON SCREEN SWITCHES DATA FROM HEAD DATA FROM FILE Hold Rev Reverse TrackBar Plot Speed to display data from the connected sonar head to display data from a previously recorded 81A Sonar file to hold or freeze the display to reverse the current scanning direction Available only when DATA FROM HEAD is active to reverse the file playback plotting direction Available only when DATA FROM FILE is active to re position the file pointer during file playback Available only when DATA FROM FILE is active to adjust plotting speed during file playback Available only when DATA FROM FILE is active The following switches are available only when DATA FROM is active Range to change the sonar operating range Ranges available are 1m 3ft 2m 6ft 3m 9ft 4m 12ft 5m 15ft 10m 30ft 20m 60ft 30m 90ft 40m 120ft 50m 150ft 60m 180ft 80m 240ft 100m 300ft 150m 450ft 200m 600ft Page 18 of 27 ON SCREEN SWITCHES con t Mode Start Gain Speed Sector Train to change the sonar display mode Modes available are Sector Polar SideScan to change the starting gain of the head Increase to get higher return levels decrease to get lower return levels The Start Gain be adjusted from OdB to 40dB in 1dB increments to change the stepping speed of the sonar Speeds available are Slow 0 3 deg step Medium 0 6 deg step Fast 0
17. 3000 m UNIT 881 000 421 RS 232 006 End mount connector 009 Right angle connector 010 Interface source code in C TEST881A C Option 018 Product and company names listed are trademarks or trade names of their respective companies 881A Profiling ha c a 445 018 www imagenex com 881A Azimuth Drive 445 019 AUGUST 2002 REVISED AUGUST 2004 IMAGENEX MODEL 881A AZIMUTH DRIVE APPLICATIONS FEATURES 3D Precision Surveying e Programmable e Sediment Transport Research e Continuous Rotation e Marine Geology e Suitable for Autonomous or e Scientific Research Remote Deployment The Model 881A Azimuth Drive is a rugged and powerful rotary actuator drive that can be coupled to an Imagenex Model 881A Profiling Sonar The two axes of rotation in this combined unit provide the capability to obtain accurate high resolution range information in any direction In standard applications profiles may be made in any direction by simply commanding the Azimuth Drive to rotate the attached profiling sonar anywhere in a circle The profiling sonar can then perform a cross sectional scan before being rotated to a new azimuth angle The Azimuth Drive uses the same RS 485 serial communications line and command structure as the profiling head A single simple to use PC compatible computer program operates both and full communications protocol specifications are provided for designing Imagenex Model 881A Profiling Sona
18. 445 017 AUGUST 2002 REVISED AUGUST 2004 IMAGENEX MODEL 881A DIGITAL MULTI FREQUENCY IMAGING SONAR APPLICATIONS FEATURES Scientific Research Compact size Communication format available to user ROV AUV amp UUV Programmable Offshore Oil amp Gas e Multi frequency Sunken Timber Recovery High performance Diving Support e Lower cost Surveying e Low power Search amp Recovery e Simple set up and installation Inspection e Digital telemetry Underwater Archaeology e Full scale range from 1 m to 200 m e Now with Multi frequency Sonar operators can generate highly detailed full scale images with just one unit The 881A is a programmable multi frequency digital imaging sonar that you can operate using default frequency settings or customize the configurations for your own situation High performance lower cost low power and simple set up and installation make this sonar perfect for the largest ROV s to the smallest inspection ROV s plus AUV or UUV applications Specifications subject to LAA GENE X Copyright 2002 2009 change without notice www imagenex com Imagenex Technology Corp HARDWARE SPECIFICATIONS FREQUENCY TRANSDUCER TRANSDUCER BEAM WIDTH RANGE RESOLUTION MIN DETECTABLE RANGE MAX OPERATING DEPTH MAX CABLE LENGTH INTERFACE CONNECTOR POWER SUPPLY DIMENSIONS for both depth ratings WEIGHT In Air 310 kHz 675 kHz or 1 MHz default settings Other fre
19. 461 ft s to 2250 m s 7381 ft s The default is 1500 m s 4921 3 ft s to enter a text string for display in the User Text Window to re calibrate the sonar head transducer to the center position Page 4 of 27 MAIN MENU con t Com Ports Menu Sonar Head AUTO Enable RTS Enable GPS Input GLL GGA to select the serial communications port COM1 COM 8 for communicating with the connected head Ports that are already used or unavailable are greyed out The port that is selected must be a 2 Wire RS 485 serial port Alternatively you could use an RS 232 port with an external RS 485 to RS 232 converter connected in line All communication through this port is at 115200 bits per second No Parity 8 Data Bits and 1 Stop Bit use this mode if your RS 485 serial i o card or converter can automatically enable its transmit driver Two excellent converters are the SeaLink 485I P N 2104 from www sealevel com and the Model 9365 from www telebyteusa com which automatically enable the transmit driver when sending data as opposed to controlling the driver via RTS Request To Send use this mode if your RS 485 serial i o card or converter requires RTS Request To Send to enable its transmit driver to select the serial communications port COM1 COM 8 for receiving Lat Lng ships position coordinates from a GPS receiver This port accepts the NMEA 0183 GPGLL string or the GPGGA string at 4800 N 8 1 If the prog
20. OV relies on traveling underwater to bring new targets into view With an imaging sonar instead of traveling it is more useful to spend some time with the vehicle sitting on the bottom while the sonar scans the surrounding area Scanning a large area takes only a short time and the vehicle pilot can quickly assess the nature of the surrounding area The ability to see a long distance underwater allows the pilot to use natural or man made features and targets as position references The combination of an imaging sonar and an ROV leads to fast and effective training in sonar interpretation If the ROV pilot is searching for a particular object recognition can take place directly from the sonar image In other cases a number of potential targets may be seen A pilot can sharpen his sonar interpretation skills by viewing these targets with the vehicle s video camera and correctly identify them INTERPRETATION OF SONAR IMAGES In many cases the sonar image of a target will closely resemble an optical image of the same object In other cases the sonar image may be difficult to interpret and quite unlike the expected optical image The scanning process used to create a sonar image is different from the process used by the human eye or a camera to produce optical images A sonar image will always have less resolution than an optical image due to the nature of the ultrasonic signals used to generate it Generally rough objects reflect sound well in man
21. Operating Range 250 for Polar Mode and Operating Range 500 for Sector Mode You could select Surface if you would like to alter the profile points during playback and record to a new file using the Copy Start function use Start of Pulse to display the profile points at the beginning of the echo pulse Use Center of Pulse to display the profile point in the middle of the pulse The Detection Type can only be changed when Surface Detection is used as the Sonar Head always uses Center of Pulse detection used to set the starting range for profile digitization Ranges less than this setting will not be digitized The minimum range can be adjusted from 0 to 25 meters in 0 1 meter increments used to set the detection level for profile digitization This level can be adjusted from 10 to 90 percent of the color scale Levels less than this setting will not be digitized The Minimum Level can only be changed when Surface Detection is used as the Sonar Head uses its own internal level threshold allows the user to automatically command the sonar to do a scan and save the digitized profile points including offsets to two different files The first file is an ASCII file with xyz information The second is a screen capture to a Windows bitmap file The scan limits are based on the current angles set via the Sector and Train switches and a new ASCII file and screen capture are automatically generated for every new scan Page 11 of 27
22. ame 81a RECOMMENDED 100 MHz Pentium MINIMUM COMPUTER REQUIREMENTS 16 MB RAM 1 GB Hard Disk 800 x 600 x 256 colour graphics Requires Win881A exe v2 00 or higher Free upgrade available for older versions Contact Imagenex 881A Imaging 445 017 www imagenex com 182 mm 7 2 110 mm 4 3 in e OPTIONAL E e RIGHT ANGLE ex in CONNECTOR af OPTIONAL ELECTRONICS z CONNECTOR etdi Ld HOUSING FLUD FILLED SIDE VIEW TOP VIEW ORDERING INFORMATION 1000 m UNIT Standard 881 000 400 3000 m UNIT Standard 881 000 401 RS 232 006 End mount connector 009 Right angle connector 010 Interface source code in TEST881A C Option 018 Product and company names listed are trademarks or trade names of their respective companies 881A Imaging CE 445 017 www imagenex com 445 018 AUGUST 2002 IMAGENEX MODEL 881A DIGITAL MULTI FREQUENCY PROFILING SONAR APPLICATIONS FEATURES e Profiling e Programmable ROV AUV amp UUV e Multi frequency e Offshore Oil amp Gas e High performance e Surveying e Lower cost e Dam Face Inspection e Low power e Pipeline Inspection e Simple set up and installation e Underwater Archaeology e Digital telemetry e Scientific Research e 110 100 m operation full scale e Compact size e Communication format available to user Now with Multi frequency Sonar operators
23. baud OxOC 19200 baud 0x04 28800 baud 0x02 38400 baud 0x05 57600 baud 0x06 115200 baud Profile 0 OFF 1 ON gt The return data will have an ASCII IPX header Calibrate 0 Normal Operation 1 Calibrate sonar head transducer move to 0 degrees Switch Delay The head can be commanded to pause from 0 to 510 msec before sending its return data to allow the commanding program enough time to setup for serial reception of the return data 0 to 255 in 2 msec increments Byte 24 delay in milliseconds 2 Do not use a value of 253 Frequency 675kHz 500kHz 0 200 gt 175kHz to 1175khz in SkHz increments Byte 25 frequency_in_khz 675 5 100 Termination Byte The head will stop looking for Switch Data when it sees this byte Always 0xFD 253 decimal Page 5 of 10 SONAR RETURN DATA Every shot the head returns a 12 Byte header up to 500 points of echo data depending on the Switch Data command that was sent and a terminating byte value of OxFC total number of bytes N returned will be 13 141 265 or 513 Byte Byte Description 0 to 5 ASCII Head Serial Head Pos M ID Status LO 6to 11 Head Pos Rs Prof Rng Prof Rng Data Data HI LO HI Bytes Bytes LO HI to Echo Data 2 N 1 Term Table 2 Model 881A Sonar Head Return Data 0 128 252 500 Data Bytes BYTE DESCRIPTIONS Note Byte values are shown i
24. can fine tune their profiling range resolution The Model 881A Profiling Sonar Head is programmable multi frequency digital scanning sonar that you can operate using default settings or customize the configurations for your own situation High performance lower cost low power and simple set up and installation make this sonar perfect for all profiling applications Specifications subject to LAA GENE X Copyright 2002 2009 change without notice www imagenex com Imagenex Technology Corp HARDWARE SPECIFICATIONS FREQUENCY TRANSDUCER TRANSDUCER BEAM WIDTH RANGE RESOLUTION MIN DETECTABLE RANGE MAX OPERATING DEPTH MAX CABLE LENGTH 675 kHz Other frequencies can be selected through programmable software configurations Tunable from 600 kHz to 1 MHz in 5 kHz steps Profiling type fluid compensated 600 kHz 2 4 675 kHz 2 1 1 MHz 1 4 1 4 2 mm 0 08 5m amp up 10 mm 0 4 150 mm 6 1000 m and 3000m available 1000 m on typical twisted shielded pair RS 485 INTERFACE RS 485 serial interface 115 2 kbps or optional RS 232 CONNECTOR Side mounted four conductor wet mateable Impulse MCBH 4 MP SS Optional right angle or end mount connector POWER SUPPLY 20 36 VDC at less than 5 Watts DIMENSIONS 79 4 mm 3 125 diameter x for both depth ratings 234mm 9 2 length WEIGHT In Air 1000 m unit 1 8 kg 4 105 3000 m unit 2 2 kg 4 8 Ibs In Water 1000 m unit 0
25. cil shaped beams Scans surfaces at a steep angle usually on a vertical plane Displays individual points or lines Accurately cross sections a surface Echo strength for each point higher than a set threshold Digitizes a data set for interfacing with external devices Data set is small enough to be manipulated in a small computer Primarily a measurement tool In Profiling a narrow pencil shaped sonar beam scans across the surface of a given area generating a single profile line on the display monitor see Figure 2 This line consisting of a few thousand points accurately describes the cross section of the targeted area A key to the Profiling process is the selection of the echo returns for plotting The sonar selects the echo returns typically one or two returns for each shot based on a given criterion for the echo return strength and the minimum profiling range The information gathered from the selection criteria forms a data set containing the range and bearing figures An external device such as a personal computer or data logger accesses the data set through an RS 232 interface with the sonar The profile data is useful for making pen plots of bottom profiles trench profiles internal and external pipeline profiles The primary purpose of the profiling sonar is as a quantitative measuring tool USING AN IMAGING SONAR ON AN ROV The imaging sonar is a useful substitute for a positioning system on an ROV Without an imaging sonar an R
26. ed echo data is plotted normally Points Only Only the profile range points are plotted no echo data is sent from the head Low Mix The profile range point is plotted along with the echo data The echo data is plotted at 1 4 level so the profile point stands out This mode can be useful for making Start Gain adjustments to optimize the profile points before switching to Points Only mode Med Mix Same as Low Mix but the echo data is plotted at 1 2 level High Mix Same as Low Mix but the echo data is plotted at full level to display a rectangular grid for profiling applications to enable plotting of profile data with the zero reference of the sonar head pointing down rather than pointing up This allows plotting the seafloor in its correct orientation This item is available only if Profile Grid is enabled Zero Down must be selected if using a profiling sonar with an Azimuth Drive Page 10 of 27 MAIN MENU con t Profile Setup Digitization Source Detection Type Minimum Range Minimum Level Auto Profile allows the user to alter the detection scheme used to generate the digitized profile range points the profile range point for each ping is digitized in the sonar head and sent to the surface in the 12 byte header The data is sampled with a resolution of 2mm for the 1 2 3 and 4 meter operating ranges other operating ranges have a 10mm sampling resolution The surface detection resolution is
27. ees in 0 3 degree increments normal high intensity color table used for mapping the echo data amplitude to a color for display Color depth is 107 colors ranging from Black low level through Blue Green Orange Yellow White and Red max level normal low intensity color table 107 shades of green 107 shades of grey White on Black 107 shades of grey Black on White 107 mixed shades of brown and yellow 107 mixed shades of green and blue 107 mixed shades of green and yellow 107 shades of blue Page 3 of 27 MAIN MENU con t Options Menu Units Xdcr Position Sound Velocity User Text Calibrate Sonar Head to change the units of measurement from Meters to Feet to adjust the display of the sonar echo data relative to the physical mounting of the sonar head If the xdcr transducer is physically mounted down red side down this switch should be set to Down If the xdcr is mounted up red side up Up should be selected If this switch is set incorrectly the sonar display will appear as a mirror image targets which are actually on the right side will appear on the left and vice versa If Profile Grid is enabled via the Profile Menu the Xdcr Position names change to Fwd and Aft for profiling applications The Fwd position must be selected if using a profiling sonar with an Azimuth Drive to change the speed of sound number used in range measurements This number can have a range of 750 m s 2
28. en you want to stop the Auto Profile scanning simply disable the Auto Profile Enable check box and press Ok You can invoke the Auto Profile Dialog Box at any time during a scan When this dialog box is active the sonar head is put on hold until the Ok button is pressed It is recommended that you record all data to a 81A file via the Record Start function in the File menu as the XYZ ASCII file can not be displayed via this program you can customize the scanning process by enabling or disabling the XYZ and BMP file generation You can also omit the save scan confirmation and Auto Profile Dialog Box display in order to gain hands free operation The automatic filenames used for the ASCII file and the screen capture file are based on the current system date DDMMMYYYY nnnn BMP DDMMMYYYY nnnn XYZ DD day 1 31 MMM month Jan Feb Mar YYYY year nnnn 0001 9999 this number automatically increments for each new file each new scan Page 13 of 27 MAIN MENU con t The XYZ ASCII file contains the following information YYYY YY M lt CR gt lt LF gt Chainage M meters F feet ZZZZ ZZ lt CR gt lt LF gt Sonar Elevation XXXX XX lt CR gt lt LF gt Sonar X Offset VVVV VV lt CR gt lt LF gt Sound Velocity dd mmm yyyy hh mmrss hh rrr rrr bbb bbb xxx xxx yyy yyy zzz zzz lt CR gt lt LF gt 1 Point dd mmm yyyy bh mm ss hh rrr rrr bbb bbb xxx xxx ZZZZ
29. er contamination and help prevent corrosion of the aluminum and stainless steel parts The red polyurethane transducer dome should be cleaned with a detergent solution such as dishwashing liquid to remove any oil grease or other deposits which may reduce the acoustic performance of the unit The cable and connector should be washed and coated with a thin film of silicon grease to protect the rubber The connector should be protected from prolonged exposure to sunlight ozone solvents hydrocarbon greases and oils to avoid deterioration of the rubber After being thoroughly cleaned and dried the underwater unit should be stored in a dry stable location to prevent moisture corrosion and damage from impact The cable should be protected from prolonged exposure to sunlight ozone solvents hydrocarbon greases and oils to avoid deterioration of the rubber Do not use any solvents on the cable or underwater unit as they will compromise the physical integrity of the sonar Service There are no user serviceable components in the sonar and as such all repairs must be directed to Created on 03 03 04 11 30 AM 881A Care Guide and Operational Specs doc Imagenex Technology Corp 209 1875 Broadway Street Port Coquitlam BC Canada V3C 471 Tel 604 944 8248 Fax 604 944 8249 Page 1 of 2 Imagenex Technology Corp 02004 Safety Before each use inspect the red polyurethane dome for any damage from impact a
30. es Note the Termination Byte is the only switch value allowed to have a value of 0xFD other switches should be set higher or lower than 0xFD 253 Decimal so they are not interpreted as a termination byte ID 0 0 Slave 0 0 0 0 LO HI 0 0 0 0 0 0 0 0 Baud 0 Delay 0 0xFD Table 1 Model 881A Azimuth Drive Switch Data Command Page 1 of 6 SWITCH DATA COMMAND con t BYTE DESCRIPTIONS Note All Byte values are shown in decimal unless noted with a 0x hexadecimal prefix Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Switch Data Header 1st Byte Always OxFE 254 decimal Switch Data Header 2nd Byte Always 0x44 68 decimal Head ID Always 0 31 decimal Reserved Always 0 Reserved Always 0 Hold BitO 1 Hold or pause Azimuth Drive 0 Resume Normal Bitl 0 Bit2 0 Bit3 0 Bit4 0 Bit5 0 Bit6 0 Bit7 0 Master Slave The Azimuth Drive must be operated as a slave device The default mode on power up is Slave mode Bit 6 1 Slave mode allows the user to command the drive at any given time Always 0x43 67 decimal Page 2 of 6 SWITCH DATA COMMAND con t Byte 7 Reserved Always 0 Byte 8 Reserved Always 0 Byte 9 Reserved Always 0 Byte 10 Reserved Always 0 Byte 11 2 Azimuth Step Angle LO and HI to 1199 180 0 Deg to 179 7 Deg in 0 3 Degree steps Azimuth Step Angle angle_in_degrees 180 0 3 0 180 0 Degrees 300 90 0 Degre
31. es 600 0 Degrees 900 90 Degrees 1199 179 7 Degrees Byte 11 Azimuth Step Angle amp Ox7F Byte 12 Azimuth Step Angle amp 0 3 80 gt gt 7 Byte 13 Reserved Always 0 Byte 14 Reserved Always 0 Byte 15 Reserved Always 0 Byte 16 Reserved Always 0 Byte 17 Reserved Always 0 Byte 18 Reserved Always 0 Page 3 of 6 SWITCH DATA COMMAND 0 Byte 19 Byte 20 Byte 21 Byte 22 Byte 23 Byte 24 Byte 25 Byte 26 Reserved Always 0 Reserved Always 0 Up Baud Always 0x06 115200 baud Reserved Always 0 Calibrate 0 Normal Operation 1 Calibrate Azimuth Drive motor move to 0 degrees Switch Delay The drive can be commanded to pause from 0 to 510 msec before sending its return data to allow the commanding program enough time to setup for serial reception of the return data 0 to 255 in 2 msec increments Byte 24 delay in milliseconds 2 Do not use a value of 253 Reserved Always 0 Termination Byte The drive will stop looking for Switch Data when it sees this byte Always 0 253 decimal Page 4 of 6 AZIMUTH DRIVE RETURN DATA After it processes the Switch Data command the Azimuth Drive returns a 12 Byte header and a terminating byte value of OxFC The total number of bytes returned will be 13 T A x ID Status LO HD 0 0 0 0 0 12 Term Table 2 Model 881A Azimuth Drive Return Data BYTE DESCRIPTIONS Note Byte values are sho
32. from disk Save As to save the current user configuration to disk Default to load the factory default configuration The default values for each individual range can be selected by pressing the button labeled D beside each range row Page 8 of 27 MAIN MENU con t Misc Menu Pixel Zoom x2 Clear Screen Now Diagnostics Sonar On When Minimized displays a x2 pixel zoom window in the lower right hand corner of the screen A rectangular area about the cursor is displayed in this window If the left mouse button is pressed anywhere in the sonar image window the zoom window will be captured held Pressing the button a second time releases the capture to clear all echo data from the sonar display displays the Diagnostics Pop Up Window This window displays the header information from the connected sonar head and optional Azimuth Drive when this item is checked the sonar head will continue to operate and log data when the sonar screen is minimized If not checked the serial port is closed and communication with the sonar head and data logging is put on hold until the screen is maximized This allows other programs to use the serial port and available CPU time Page 9 of 27 MAIN MENU con t Profile Menu Profile Mode Profile Grid Zero Down to set the mode of operation for the display of the digitized profile range points The following modes are available Off No profile range point is plott
33. in the capture process then select Auto from Capture Stop to finish Available when DATA FROM FILE is active writes current configuration to file WIN881A IND closes the program and exits to Windows Page 2 of 27 MAIN MENU con t Heads Menu Disable Sonar Head Enable Azimuth Drive Simulate Azimuth Drive Change Azimuth Color Table Menu Norm Hi Norm Lo Green Grey Rev Grey Brown Yellow Green Blue Green Yellow Blue this feature is not implemented used to enable disable interrogation of the optional Model 881A Azimuth Drive When enabled the Azimuth Pop up window is displayed showing the current azimuth angle setting The message Detecting Azimuth Drive will flash until communications are established with the azimuth drive After 40 seconds if the Azimuth Drive has not replied the message Azimuth Drive Not Found is displayed If the this message is displayed and the Azimuth Drive has not finished calibrating re enable the drive in order to begin another detection process If the Azimuth Drive will not be used disable this setting The profiling sonar connected to the Azimuth Drive must have its Xdcr Position set to Fwd and Zero Down must be selected in the Profile Menu allows the user to manually operate the Auto Azimuth function without having an Azimuth Drive connected displays the Azimuth Pop up window and allows the user to change the Azimuth angle from 0 to 359 7 degr
34. llowed 0x10 to Ox1F Range to 200 Meters in 1 Meter increments Reserved Always 0 Rev Hold BitO0 1 Hold or pause Head 0 Resume Bitl 0 Bit2 0 Bit3 0 Bit4 0 Bit5 0 1 Reverse Step Direction 0 Normal Operation Bit7 0 Master Slave The sonar head can be operated as a master or as a slave The default mode on power up is Slave mode Bit 6 1 Slave mode allows the user to command the head to transmit and send its return data at any given tme BitO 1 Transmit if Bit 6 1 Slave Mode 1 Send Data if Bit 6 1 Slave Mode Bit2 0 Bit3 0 Bit4 0 Bit5 0 0 Master 1 Slave 0 Page 2 of 10 SWITCH DATA COMMAND con t Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 Reserved Always 0 Start Gain to 40dB in 1dB increments LOGF 0 10dB 1 20dB 2 30dB 3 40dB Absorption 0 to 255 0 00dB m to 2 55dB m Byte 10 absorption_in_dB_per_m 100 Do not use a value of 253 Train Angle 0 to 120 180 Deg to 180 Deg 360 Deg Total in 3 Degree steps Byte 11 train angle in degrees 180 3 i e 0 180 Degrees 30 90 Degrees 60 0 Degrees 90 90 Degrees 120 180 Degrees Sector Width 0 to 120 0 Deg to 360 Deg in 3 Degree steps Byte 12 sector_width_in_degrees 3 Le 0 0 Degrees 30 90 Degrees 60 180 Degrees 120 360 Degrees Page 3 of 10 SWITCH DATA COMMAND con t Byte 13 Byte 14
35. lp you to better understand the images that you see basic knowledge of this process will help users to interpret what otherwise might be confusing images SHORT TRANSMIT PULSE ABOUT 1 7 DEGREES WIDE Eu ABOUT 30 DEGREES HIGH TYPICAL FAN SHAPED BEAM AS USED ON IMAGING SONARS FAN SHAPED SONAR BEAM INTERSECTS WITH A FLAT BOTIOM ECHO STRENGTH VS TIME WHEN FAN SHAPED SONAR BEAM INTERSECTS WITH A FLAT BOTTOM FAN SHAPED SONAR BEAM INTERSECTS WITH A FLAT BOTTOM AND TARGETS TRANSMIT PULSE E ABOUT 1 7 DEGREES CONICAL BEAM TYPICAL PENCIL SHAPED BEAM AS USED ON PROFILING SONARS PENCIL SHAPED SONAR BEAM SCANS IN A VERTICAL PLANE TO MEASURE BOTTOM PROFILE ECHO Profile Minimum Profile Level STRENGTH Range only returns returns at range above this greater than level are this are digitized digitized ECHO RETURN FROM PENCIL BEAM PLOT DIGITIZED ECHO RETURNS TO SHOW PROFILE CROSS SECTION OF BOTTOM FIGURE 2 in T OV at IP i ps Uno Y 00 echo from behind bottom target target SIDE SCAN SONAR SIDE SCAN SONAR ROTARY SCAN SONAR ROTARY SCAN SONAR FIGURE 3
36. mp 0x7F 8 Byte 47 10 0 User Text null terminated text string 32 bytes Operating Frequency E TE E Orcus eme d E Azimuth Drive Head Position Byte 82 Byte 83 8 2 EXESESESIEREPSESESEACSESESIESESEZRES Azimuth Head Pos 0 1199 0 Azimuth Head Pos not available 1 Azimuth Head Pos Byte 82 amp 0x7F lt lt 8 Byte 83 Azimuth Angle 0 3 Azimuth Head Pos 180 in degrees Reserved always 0 Vertical Angle Offset Byte 91 Byte 92 2 771615141312111911161514 13 Reserved always 0 Page 25 of 27 DATA STORAGE FILE FORMAT 81A 1 SONAR RETURN DATA HEADER SONAR RETURN ECHO DATA ZERO FILL The following bytes contain the Sonar Return Data that is acquired directly from the sonar head serial COM port If Header is ASCI IPX Bytes 100 through 112 13 bytes Bytes 113 through 127 15 bytes Zero Fill If Header is ASCI 8 Bit Bytes 100 through 364 265 bytes Bytes 365 through 383 19 bytes Zero Fill If Header is ASCII 1 8 Bit Bytes 100 through 612 513 bytes Bytes 613 through 639 27 bytes Zero Fill Page 26 of 27 DATA STORAGE FILE FORMAT 81A 1 EXTENDED BYTES starting at yyyy 1 0 11 12 24 32 41 60 61 62 65 66 69 70 73 GPS Ships Position Latitude null terminated text string 12 bytes dd mm xxx_N dd Degrees mm Minutes
37. n decimal unless noted with a Ox prefix N total number of return bytes Byte0 2 Imagenex Return Data Header ASCII IMX TGX 0x49 M Ox4D G 0x47 P 0x50 X 0x58 ASCII IMX In response to a Switch Data Command with Data Points 25 If Data Bits was set to 4 141 128 Data Bytes 256 Points If Data Bits was set to 8 N 265 252 Data Bytes 252 Points If Data Bits was set to 16 N 513 500 Data Bytes 250 Points ASCII In response to a Switch Data Command with Data Points 50 If Data Bits was set to 4 265 252 Data Bytes 504 Points If Data Bits was set to 8 N 513 500 Data Bytes 500 Points If Data Bits was set to 16 N 513 500 Data Bytes 250 Points ASCII In response to a Switch Data Command with Profile ON N 13 0 Data Bytes 0 Points Page 6 of 10 SONAR RETURN DATA 1 Byte 3 Byte 4 Byte 5 6 Head ID 16 Head ID s allowed 0x10 to Ox1F Serial Status Bit0 1 lt V5 firmware 0 V4 or lower Bitl 0 2 0 Bit3 0 4 0 Bit5 0 1 Switches Accepted Bit7 1 Character Overrun Head Position Byte 5 Byte 6 CEER be sala Os Head Pos LO o D HeadPos HD L Head Pos LO Head Pos HD Step Direction D Head Pos High Byte Byte 6 amp 0x3E gt gt 1 Head Pos Low Byte Byte 6 amp 0x01 7 Byte 5 amp Ox7F Head Po
38. ncy of 675 kHz The Pencil Beam Profiling Sonar Model 881 000 420 421 has a frequency limit of 600 to 1 MHz Page 6 of 27 MAIN MENU con t Settings Menu Allows the user to manually or automatically adjust the sonar head s operating frequency absorption and pulse length Manual Frequency Setup select Enable to adjust the following parameters for the current range Frequency 280 1100kHz in 5kHz increments Absorption 0 01 2 55dB m in 0 01 dB increments Pulse Length 10 1000us in 10 increments Auto Frequency Setup select Enable to use the pre programmed frequencies absorptions and pulse lengths from the displayed Current Configuration Page 7 of 27 MAIN MENU con t Edit Configuration to display the following User Configuration dialog box The following parameters can be modified for each range Frequency 280 1100kHz in 5kHz increments Absorption 0 01 2 55dB m in 0 01 dB increments Pulse Length 10 1000us in 10us increments User Configuration Ea Current Configuration psi magenex rov_sonar ctg Frequency kHz Absorption dB m Pulse Length us o 5 m 5 5 20M z 5 50M 5 80M LEN n A 100M 5 MIN 200M Do Ielslelelslslslelslsielele sls Note Pulse Length is multiplied by 2 in Polar Mode Ok Load SaveAs Defaut Cancel Load to load a previously saved user configuration
39. nd for any air bubbles or oil leakage Inspect the cable connector on both the sonar head and cable for any damage such as bent or broken pins or cuts in the cable Ensure that the mating connection is secure and that the locking ring is in place Operational Environmental Specifications While the Model 881A is designed to operate in a wide variety of environments there are limitations Table 1 Model 881A 881 000 400 Specifications Minimum Temperature 35 5 Depth 100 1 3000m maximum operating depth available on model 881 000 401 only operation specification on Salinity is for acoustic properties only i e the speed of sound the medium Salinity has no effect on mechanical operations if the unit is thoroughly cleaned after use Created on 03 03 04 11 30 AM Page 2 of 2 881A Care Guide and Operational Specs doc SONAR THEORY AND APPLICATIONS EXCERPT FROM IMAGENEX MODEL 855 COLOR IMAGING SONAR USER S MANUAL IMAGENEX TECHNOLOGY CORP 209 1875 BROADWAY ST PORT COQUITLAM V3C 471 CANADA TEL 604 944 8248 FAX 604 944 8249 ABOUT YOUR SONAR TERMINOLOGY The following is an explanation of the basic terms used by Imagenex to describe their sonar techniques Color The different colors used to represent the varying echo return strengths Echo The reflected sound wave Echo Return The time required for the echo to return to the source of the so
40. quencies can be selected through programmable software configurations Tunable from 280 kHz to 1 1 MHz in 5 kHz steps Imaging type fluid compensated 310 kHz 4 x 40 675 kHz 1 8 x 20 1 MHz 0 9 x 10 1 4 2 mm 0 08 5m amp up 10mm 0 4 150 mm 6 1000 m and 3000 m available 1000 m on typical twisted shielded pair RS 485 RS 485 serial interface 115 2 kbps or optional RS 232 Side mounted four conductor wet mateable Impulse MCBH 4 MP SS Optional right angle or end mount connector 20 36 VDC at less than 5 Watts 79 4 mm 3 125 diameter x 182 mm 7 125 length 1000 m unit 1 5 kg 3 3 Ibs 3000 m unit 2 kg 4 4 Ibs In Water 1000 m unit 0 6 kg 1 3 Ibs 3000 m unit 1 1 2 4 165 MATERIALS 1000 m unit 6061 T6 Aluminum amp Polyurethane 3000 m unit Titanium Polyurethane amp 300 series stainless steel FINISH Hard Anodize SOFTWARE Win881A exe SPECIFICATIONS WINDOWS OPERATING SYSTEM Windows 95 98 2000 Vista MODES Sector Polar and Side Scan RANGE SCALES 1m 2m 3m 4m 5m 10 m 20 m 30 m 40 m 50 m 60 m 80 m 100 m 150 m 200 m TRAIN ANGLES Continuous rotation 3 increments SECTOR SIZE SECTOR MODE 0 180 3 increments POLAR MODE 0 357 3 increments or Continuous rotation STEP SIZES Slow 0 3 Medium 0 6 Fast 0 9 Faster 1 2 Fastest 2 4 GRID TYPES Polar and rectangular FILE FORMAT filen
41. r Model 881 000 420 not included customized software HARDWARE SPECIFICATIONS MAX OPERATING DEPTH MAX CABLE LENGTH INTERFACE CONNECTOR STANDARD ACCESSORIES POWER SUPPLY DIMENSIONS WEIGHT In Air In Water MATERIALS FINISH 1000 m and 3000 m available 1000 m on typical twisted shielded pair RS 485 RS 485 serial interface 115 2 kbps Four conductor wet mateable Impulse MCBH 4 MP SS Azimuth Drive to Sonar Head Interconnect Cable 20 36 VDC at 1 Amp max 89 mm 3 5 diameter x 445 mm 17 5 length 291 mm 11 5 Cage diameter 1000 m unit 7 7 kg 17 Ibs 3000 m unit TBA 1000 m unit 2 7 kg 6 Ibs 3000 m unit TBA 6061 T6 Aluminum amp 300 Series Stainless Steel Anodized Specifications subject to change without notice www imagenex com Copyright 2002 2009 Imagenex Technology Corp SOFTWARE Win881A exe SPECIFICATIONS WINDOWS OPERATING SYSTEM AZIMUTH ANGLE Windows 95 98 2000 0 359 7 0 3 increments FILE FORMAT filename 81a filename xyz RECOMMENDED 100 MHz Pentium MINIMUM COMPUTER 16 MB RAM REQUIREMENTS 1 GB Hard Disk 800 x 600 x 256 colour graphics Requires Win881A exe v2 00 or higher Free upgrade available for older versions Contact Imagenex p Ej Elis m H 88 3 5 7 4 445 mm 17 59 616 mm 24
42. ram detects one available COM port i e on a laptop computer this port will be reserved for communications with the sonar head only and GPS Input will not be available As default on most computers COM1 COMG share IRQ4 interrupt request 4 and COM2 COMA share Ensure that the COM port you select for GPS Input does not share its IRQ with the sonar head COM port This could cause the program to hang up to use Lat Lng coordinates from the GPGLL string to use Lat Lng coordinates from the GPGGA string Page 5 of 27 MAIN MENU con t MULTI FREQUENCY OPERATION The default configuration for Win881A automatically adjusts the operating frequency absorption and pulse length with range The following Table describes this relationship Range Frequency Absorption Pulse Length Pulse Length m kHz dB m us us Polar Mode Sector Sidescan vOv s 5 1000 ly all 09 540000 oR Gig pi eee ee ee ee eee C T ud L cg a oes 908 89s 32580 0 orbs ODS 242 7400 p 807 65 92 3090 7 1 j S 0 The frequencies in the above table are designed for use with the Fan Beam Imaging Sonar Model 881 000 400 401 only The Fan Beam Imaging Sonar Model 881 000 402 has a fixed freque
43. sition Head Pos High Byte 8 Head Pos Low Byte Head Position 0 to 1200 180 to 180 Degrees in 0 3 Degree steps 0 180 Degrees 300 90 Degrees 600 0 Degrees Center Position 900 90 Degrees 1200 180 Degrees Example angle calculation Angle 0 3 Head Pos 600 Head Pos 900 Angle 0 3 900 600 Angle 90 Degrees Step Direction Byte 6 amp 0x40 gt gt 6 0 counter clockwise 1 clockwise Page 7 of 10 SONAR RETURN DATA 1 Byte 7 Byte 8 9 Byte 10 11 Byte 12 Range Sonar Head Range 1 to 200 Meters Profile Range First digitized range value above threshold in sample units Prof Rng LO Prof Rng HI Prof Rng LO Prof Rng Prof Rng High Byte Byte 9 amp Ox7E gt gt 1 Prof Rng Low Byte Byte 9 amp 0x01 7 Byte 8 amp Ox7F Profile Range Prof Rng High Byte lt lt 8 Prof Rng Low Byte For ranges lt 5m one sample unit 2mm For ranges gt 5m one sample unit 10mm Sample units are based on a sound velocity of 1500m s Data Bytes Number of Echo Data Bytes returned Data Bytes LO Data Bytes HI Byte 10 Byte 11 0 0 DataBytes HD L Data Bytes High Byte Byte 11 amp Ox7E gt gt 1 Data Bytes Low Byte Byte 11 amp 0x01 lt lt 7 Byte 10 amp Ox7F Data Bytes Data Bytes High Byte 8 Data Bytes Lo
44. ss Enter to change to the new range If the entered range is not valid or the Esc key is pressed the current range will be used Available only when DATA FROM HEAD is active to reverse the current scanning direction Can also be used to reverse the file playback direction Page 20 of 27 ONE CURSOR MEASUREMENT One Cursor Measurement is used for measuring the distance and relative bearing to a target with respect to the transducer origin When the mouse is moved into the sonar image display area the cursor changes from an arrow to a square target cursor The range and bearing to the target cursor is displayed in the Range Bearing Display Box underneath the sonar image display The area about the target cursor is also displayed in the Pixel Zoom window Clicking the left mouse button while the cursor is in the sonar image display area captures freezes the zoom window image Clicking the left button a second time allows normal zoom window updating TWO CURSOR MEASUREMENT Two Cursor Measurement is used for measuring the distance and relative bearing between two targets To invoke two cursor measurement position the mouse cursor over a target in the sonar image display area and press the right mouse button A target origin cursor is placed at this location The range and bearing to this cursor becomes the new origin for future measurements When the mouse is moved a rubber banded line is drawn from the target origin cursor to the
45. t sonar settings i e range gain sector size train angle sound velocity The sonar will automatically move to its counter clockwise position and begin scanning When the sonar reaches its clockwise position an ASCII XYZ file is generated for the current scan The Azimuth Drive will then automatically rotate the profiling sonar by the Azimuth Increment amount and start a new scan At the end of this scan the data is appended to the XYZ file This process will continue until the Azimuth Stop angle has been reached At this point the XYZ file is closed the Auto Azimuth mode is disabled and the Scan Complete message is displayed Pressing Ok simply acknowledges the message and allows the sonar to continue scanning at the current azimuth angle If you want to abort an Auto Azimuth scan select the Auto Azimuth menu and simply disable the Auto Azimuth Enable check box and press Ok You can invoke the Auto Azimuth Dialog Box at any time during a scan When this dialog box is active the sonar head is put on hold until the Ok button is pressed Page 15 of 27 MAIN MENU con t It is recommended that you record all data to a 81A file via the Record Start function in the File menu as the XYZ ASCII file can not be displayed via this program The automatic filename used for the XYZ ASCII file is based on the current system date DDMMMYYY Y nnnn XYZ DD day 1 31 MMM month Jan Feb Mar YYYY year nnnn 000
46. target cursor The Range Bearing Display Box shows the range and bearing to the new origin Org the range and bearing to the target cursor Tar and the range and bearing difference Diff between the two cursors The displayed range and bearing between the two cursors is always relative to the target origin cursor Press the right mouse button again to return to One Cursor Measurement MESSAGES No Data at COM no power to the sonar head cable not connected Sonar Head COM port set to the wrong port number computer not fast enough to keep up with the head increase SwitchDelay in the WIN881A INI file GPS Lat Lng Not Available GPS receiver output not connected to serial port GPS receiver is not sending data GPS receiver not set for 4800 N 8 1 GPS Input COM port set to the wrong port number GPS receiver not sending GPGLL or GPGGA Azimuth Drive Not Found no power to the Azimuth Drive cable not connected Detecting Azimuth Drive timed out before Azimuth Drive calibration complete Page 21 of 27 DATA STORAGE FILE FORMAT 81A When recording the sonar data to a 81A file the following bytes are appended and saved to the file every shot Byte File Header 100 Bytes 100 to 111 Sonar Return Data Header 12 Bytes 112 to xxxx Sonar Return Echo Data 0 128 250 252 or 500 Bytes 112 number Byte xxxx always Termination Byte from sonar head xxxx l Zero Fill
47. to yyyy yyyy 127 255 383 or 639 Extended Bytes 1 If Byte 34 in the File Header is greater than zero multiply Byte 34 to ZZZZ by 128 to derive the number of Extended Bytes for this shot i e if Byte 34 0x01 Extended Bytes 128 Number of Extended Bytes Pointer To Previous Shot The last 2 bytes of this shot contain a 16 Bit number that is the sum of the number of bytes for this shot and the number of bytes for the previous shot This number is used for reverse playback synchronization N 128 or 256 or 384 or 640 Extended Bytes Number of bytes to previos shot N 2 8 N 1 FILE HEADER Bytes 0 through 99 contain the following File Header information 0 ASCII 8 1 ASCII 1 2 ASCII A 3 nToReadIndex Index for Number of Data Bytes 0 0 Data Bytes 1 128 Data Bytes 2 250 or 252 Data Bytes 3 500 Data Bytes Page 22 of 27 DATA STORAGE FILE FORMAT 81A 1 4 5 6 7 8 19 20 28 29 32 33 34 35 36 Total Bytes number of bytes that are written to the disk for this shot Byte 4 Byte 5 so Em GES 128 256 384 or 640 Number of Extended Bytes nToRead Number of Bytes from the sonar head Byte 6 Byte 7 Sees TER 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 13 141 263 265 or 513 Date null terminated date string 12 bytes DD MMM YYYY Time null terminated time string 9 bytes
48. und Sonar The principle used to measure the distance between a source and a reflector target based on the echo return time Target The object that you wish to obtain information about IMAGING Fan shaped beam Scans surfaces at shallow angles usually through a horizontal angle Displays color images or pictures Complete echo strength information for each point Primarily for visual interpretation In Imaging a fan shaped sonar beam scans a given area by either rotating or moving in a straight line through a series of small steps see Figure 1 The beam s movement through the water generates points that form a sonar image of the given area The different colored points representing the time or slant range of each echo return plot a line on a video display screen The image consisting of the different colored lines depicts the various echo return strengths The following characteristics are necessary to produce a visual or video image of the sonar image the angle through which the beam is moved is small the fan shaped beam has a narrow angle the transmitted pulse is short the echo return information is accurately treated These visual images provide the viewer with enough data to draw conclusions about the environment being scanned The operator should be able to recognize sizes shapes and surface reflecting characteristics of the chosen target The primary purpose of the imaging sonar is as a viewing tool PROFILING Narrow pen
49. ve Screen Auto Frame Capture Exit opens a File Name Dialog Box so the user can input a filename for logging sonar data shot by shot complete with date time and Lat Lng coordinates The file extension is always 81 The filename and current size kbytes of the file are displayed at the top of the screen File recording continues until Record Stop is selected Available only when DATA FROM HEAD is active opens a File Name Dialog Box so the user can select and playback a previously recorded 81A Sonar file Available only when DATA FROM FILE is active opens a File Name Dialog Box so the user can enter a filename for a new 81A file that can be used for making smaller data files from large pre recorded sonar files The filename and current size kbytes of the file are displayed at the top of the screen File copying continues until Copy Stop is selected Available when DATA FROM FILE is active opens a File Name Dialog Box so the user can enter a filename for saving the screen as a BMP Windows Bitmap file allows the user to automatically create screen captures for time lapsed movie file creation Whenever there is is scan direction change or whenever the sonar scans a full 360 degrees a BMP file of the screen is automatically generated An incrementing number is appended to the filename for each successive screen capture the format is filename nnnn bmp Select Auto Frame Capture Start to beg
50. via a serial command program at a baud rate of 115200 bps No Parity 8 Data Bits and 1 Stop Bit When the Switch Data command is accepted the head moves to a new step angle transmits receives and sends its return data back to the command program SWITCH DATA COMMAND The head accepts up to 27 bytes of switch data from the serial interface and must see the switch data header 2 bytes OxFE and 0x44 HEX in order to process the switches The head will stop accepting switch data when it sees the termination byte OxFD HEX or 28 bytes whichever comes first The termination byte must be present for the head to process the switches Note the Termination Byte is the only switch value allowed to have a value of 0 other switches should be set higher or lower than 0xFD 253 Decimal so they are not interpreted as a termination byte ID 0 Hold Slave 0 Gain tion Angle Width Size Length MinRange 16 23 Reserved Reserved Reserved Data Data Up Profile Calibrate 24 26 Switch Freq Term Table 1 Model 881A Switch Data Command To Sonar Head Page 1 of 10 SWITCH DATA COMMAND con t BYTE DESCRIPTIONS Note Byte values are shown in decimal unless noted with a hexadecimal prefix Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Switch Data Header 1st Byte Always OxFE 254 decimal Switch Data Header 2nd Byte Always 0x44 68 decimal Head ID 16 Head ID s a
51. w Byte Start of Echo Data N 13 Bytes of data Page 8 of 10 SONAR RETURN DATA 1 If Header is ASCI If Data Bits was set to 4 N 141 128 Data Bytes 256 Points Ist Range Point Byte 12 amp 2nd Range Point Byte 12 amp 0 0 gt gt 4 3rd Range Point Byte 13 amp OxOF 4th Range Point Byte 13 amp 0 gt gt 4 etc If Data Bits was set to 8 N 265 252 Data Bytes 252 Points Ist Range Point Byte 12 2nd Range Point Byte 13 3rd Range Point Byte 14 4th Range Point Byte 15 etc If Data Bits was set to 16 N 2 513 500 Data Bytes 250 Points Ist Range Point Byte 13 8 Byte 12 2nd Range Point Byte 15 8 Byte 14 3rd Range Point Byte 17 8 Byte 16 4th Range Point Byte 19 8 Byte 18 ete iv If Header is ASCII 1 If Data Bits was set to 4 265 252 Data Bytes 504 Points Ist Range Point Byte 12 amp 2nd Range Point Byte 12 amp 0 0 gt gt 4 3rd Range Point Byte 13 amp OxOF 4th Range Point Byte 13 amp 0 gt gt 4 etc If Data Bits was set to 8 N 513 500 Data Bytes 500 Points Ist Range Point Byte 12 2nd Range Point Byte 13 3rd Range Point Byte 14 4th Range Point Byte 15 etc Page 9 of 10 SONAR RETURN DATA 1 If Data Bits was set to 16 N 2 513 500 Data Bytes 250 Points Ist Range Point Byte 13 8 Byte 12 2nd Range Point
52. wn in decimal unless noted with prefix Byte 0 2 Imagenex Return Data Header ASCII T 0x49 Ox41 X 0x58 Byte 3 Head ID Always Ox1F Byte 4 Serial Status BitO 0 0 Bit2 0 Bit3 0 Bit4 0 5 0 1 Switches Accepted 1 Character Overrun Byte 5 6 Azimuth Angle Byte 5 Byte 6 N ae ac H Azimuth LO 0 Azimuth Azimuth Angle 0 3 Byte 6 lt lt 7 Byte 5 600 in degrees Page 5 of 6 AZIMUTH DRIVE RETURN DATA con t Byte 7 Byte 8 Byte 9 Byte 10 Byte 11 Byte 12 Reserved Always 0 Reserved Always 0 Reserved Always 0 Reserved Always 0 Reserved Always 0 Termination Byte Page 6 of 6 Imagenex Technology Corp 02004 Imagenex Model 881A Care Guide and Operational Specifications This document describes the general care of the Model 881A sonar and it s operating environmental Specifications including depth and temperature General Care and Usage Model 881A sonar s are designed to be operated in many types of operating environments However to prolong the life of the equipment si Routine Maintenance Fresh Water Rinse Clean Transducer Dome Clean and Lubricate Connector Underwater Unit Storage Cable Storage mple maintenance is required After each immersion of the underwater unit rinse the sonar thoroughly in fresh water This will prevent the accumulation of salt or oth
53. x 600 pixels with small fonts selected SCREEN LAYOUT The main screen of WIN881A comprises of a sonar data window on the left side with various sonar head controls and a sector size icon on the right side Other items include an operating frequency display a x2 Pixel Zoom window date time readout Lat Lng readout sonar head range bearing readout to one or two cursors and a control for displaying real time data from the head or playback data from a file Pop up windows are available for controlling the Azimuth Drive and for displaying sonar head diagnostics OPERATION To operate the sonar head ensure that the head cable is connected to a 2 Wire RS 485 serial port or an external RS 485 to RS 232 or RS 485 to USB converter is installed in line Apply 20 to 36VDC to the sonar head power wires V to RED V to BLACK using a DC power supply capable of supplying a current of 0 5 Amps or 1 Amp with the Azimuth Drive connected Run the program WIN881A EXE and select the button DATA FROM HEAD on the right hand side of the display Ensure that the correct COM port is selected Com Ports Menu and depending on the RS 485 serial i o card installed in your computer select AUTO Enable or RTS Request To Send Enable To allow other programs to use available CPU time WIN881A can be put into standby mode simply by minimizing the main window Page 1 of 27 MAIN MENU File Menu Record Start Stop Playback Copy Start Stop Sa
54. y directions and are therefore good sonar targets Smooth angular surfaces may give a very strong reflection in one particular direction but almost none at all in other directions Some objects such as smooth plane surfaces may be difficult to see with a sonar They can act as a perfect mirror so called specular reflectors reflecting the sonar pulse off in unexpected directions never to return This happens to people visually when they see an object reflected in a window The human eye deals with such reflections daily but it is surprising to see the same thing occur with a sonar image As with normal vision it is often useful to scan targets from different positions to help identify them A target which is unrecognizable from one direction may be quite easy to identify from another It is very important to note that the ranges shown to the targets on the sonar image slant ranges Usually the relative elevations of the targets are not known only the range from the transducer This means that two targets which are displayed in the same location on the screen may be at different elevations For example you might see a target on the bottom and a target floating on the surface in the same place By analyzing the shadows you can estimate the height of objects above the bottom An example of this calculation is shown in Figure 4 The diagrams following this chapter are examples of the sonar scanning process Studying the diagrams will he
55. zz CR LF 24 Point dd mmm yyyy hh mnrss hh rrr rrr bbb bbb xxx xxx 2ZZ zzz lt CR gt lt LF gt Last Point where dd mmm yyyy current system date hh mm ss hh current system time rrr rrr profile range aaa aaa O not used bbb bbb vertical scanning angle XXX XXX sonar offset profile range sin vertical angle yyy yyy chainage ZZZ ZZZ sonar elevation profile range cos vertical angle above fields are TAB delimited The Chainage Sonar Elevation Sonar Offset and Dredge Line numbers are saved in WIN881A INI file but are not saved in the 81A data files The Auto Profile function is available only when DATA FROM is active Page 14 of 27 MAIN MENU con t Auto Azimuth Azimuth Start Azimuth Stop Azimuth Increment Auto Azimuth Enable to command the azimuth drive to automatically move to a new azimuth angle and invoke a scan with the profiling sonar head The digitized profile points can automatically be saved to an ASCII xyz file The profiling sonar scan limits are based on the current angles set via the Sector and Train switches the azimuth angle for the first profile scan the azimuth angle for the last profile scan the azimuth angle increment for each profile scan when the Auto Azimuth Enable is checked pressing the Ok button will command the Azimuth Drive to move to the Azimuth Start Angle and invoke 1 scan using the curren
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