IXSEA Rovins
Contents
1. Heave 0 8 speed 235kt ROVINS 030 060 Longitude 5 63354 Depth 25 3m STATUS Fine Alignment Heading Std Dev 0 087 System Status color and verbose display MSS 9 9 SS KL ES as 227 ss utm a gt Zeg lt 2 WW 20 22 2 9 2 5 Fay SM M We NO 02 L f P d Ope 14 2010 05 MU ROVINS OOI B d position selection language selec tion day night mode selection Latitude Longitude and Depth or UTM positions and Depth data UTM northing UTM easting Depth 4784416 50 m 714025 03 m 25 30 WEB BASED USER INTERFACE GENERAL RULES COMMANDS AND NAVIGATION IXSEA logo handling A click on the IXSEA logo opens the detailed status activation pop up window and the compass disappears This window e Sums up the status of The input ports The output ports The system The external sensors e Enables the external sensors activation navigation data maintenance options OIXSEA INSTALLATION SETUP DATALOGGING Latitude 43 18221 Longitude 5 63354 Heading 45 253 Roll 1 187 Pitch 0 874 Heave 078m Speed 235kt DETAILED STATUS Input EXTERNAL SENSORS es EN us Depth 253m STATUS System ready ROVINS Output System Ext Sensors Navigation mode Stabilization Alignm2. ELECTRICAL CONNECTIONS GPS PPS OPTIONAL FOR TIME SYNCHONIZATION SERIAL LINK CASE WHEN ETHERNET CONNECTION IS NOT POSSIBLE Case when Ethernet connection is not possible External sensor connected to the serial link A of ROVINS GPS Output protocol on serial link A GPS like PPS time synchronization pulse from the GPS cabled on the Pulse input A of ROVINS In this case the workstation establishes a PPP connection with ROVINS Refer to the ROVINS User Manual to know how to configure this PPP connection 2010 05 MU ROVINS 001 B 11 GPS Antenna Power supply workstation connected to the Central connector 42 O O L LO O O O 42 CQ O O On 2252 43 025 CN 4 uma 85232 Cenral connector Function Repeater com with worksation RS232 Repeater com with worksation Cenral connector RS422 Function RS422 Function 12 2010 05 MU ROVINS OOI B STEP 2 ACTIVATING THE PRODUCT LICENSE ONLY FOR UPGRADE CASE As soon as ROVINS is powered up it starts its alignment phase starting with the manually input position stored into RO VINS PROM It is required that a valid initial position is input manually see Step 3 or is given by the GPS The alignment sequence is detailed in Step 4 Launching the WEB based User Interface Required environment e he workstation must be equipped with one of the following Web browser Mozilla Firefox version 3 5 and higher Chrome ve
3. QUICK START GUIDE ROVINS GYRO TO INS FOREWORD ROVINS QUICK START GUIDE Q IXSEA Objective This guide describes how to install the ROVINS and the basic configurations required before beginning the positioning Contents 01 V HU EEEE 01 CONVENTION tmt 02 ROVING SYSTEM OVERVIEW onim ipee ide eth 03 VERIFICATION OF PACK CONTENTS ccccccscsesescssssscsssscscecececscecsssesececscecsusesesevavavsususesevavavsususesesavevaveusesesevevaveususesesevavavuseseeesevavennsesees 03 BASIC 5 11 EO NR I RERO 03 STEP 1 INSTALLING ROVINS 05 STEP 2 ACTIVATING THE PRODUCT LICENSE eene 10 STEP 3 CONFIGURING aeta cina merca 19 STEP 4 NAVIGATING WITH 5 24 RC steve reste etre io gas ease des cae 25 CUSTOMER SUPPOR 29 30 2010 05 MU ROVINS OO1 B 2 CONVENTIONS The following conventions are used in this guide The symbol leads you through nested menu items and or dialog box options to a final action Example Logging Configure Logging Parameters means Select Configure Logging Parameters option from the Logging pull down menu bold Bold text is used for ite
4. GPS lever arms e LV1 is the signed distance from the ROVINS center of measurements to the GPS along axis 1 of the illustration e LV2 is the signed distance from the ROVINS center of measurements to the GPS along axis 2 of the illustration e LV3 is the signed distance from the ROVINS center of measurements to the GPS along axis 3 of the illustration GPS SETTINGS LV1 2 LV3 0 Click OK to validate and save your choices Activate the GPS i e take into account the GPS data into the ROVINS Kalman filter In EXTERNAL SENSORS area that is the detailed status pop up in the CONTROL set the activation parameter of the GPS to ON position by clic king on OFF button EXTERNAL SENSORS EXTERNAL SENSORS gt ew GPS OFF GPS 2010 05 MU ROVINS 001 B 29 26 CONFIGURING THE PPS FOR USING TIME SYNCHRONIZATION SYSTEM Choose INPUTS under INSTALLATION Menu Associate UTC to INPUT A by clicking in the intersection of the INPUT A column and UTC row Step 3 For an Ethernet link the pulse input will come from pulse input B choose Ethernet for the Physical Link then select Pulse B for Synchro In and the desired protocol e For a serial link the pulse input will come from pulse input A choose Serial for the Physical Link then select Pulse A for Synchro In and the desired protocol Click OK to validate and save your
5. Mode v Altitude Mode Altitude mode Stabilization 2010 05 MU ROVINS 001 B 29 30 STEP 4 NAVIGATING WITH ROVINS As soon as ROVINS is powered on it starts its alignment phase with the manually input position stored into ROVINS PROM During the first five minutes after powering on ROVINS performs its coarse alignment ROVINS inertial sensor data accelerometers and are computed to estimate heading roll and pitch angles At sea it is recommended that the system is kept as steady as possible during coarse alignment oscillations around a mean position are permitted but accelerations should be avoided Leaving the vessel adrift for 5 minutes would lead to satisfactory conditions for coarse alignment e After the first fine minutes long coarse alignment phase ROVINS switches to the fine alignment phase to improve the accuracy of roll pitch and heading estimations Such improved accuracy is useful if data from external sensors are not available right at the beginning of the mission Any movement is allowed during the fine alignment 90 degrees rotations are even recommended so that the Kalman filter assesses the sensors bias on different axes The fine alignment is ended automatically by ROVINS when the heading covariance is below 0 1degree e At the end of the fine alignment process ROVINS is ready for navigation with optimal performances When heading standard deviation 0 1 0 5 Time in
6. SETTINGS FPPP sewer DHCP Client 16 2010 05 MU ROVINS OOI B lext box Bytyping it in the dedicated area NETWORK SETTINGS PPP server DHCP Client rs IP Address O jt Net Mask Note You can also use the up arrow and down arrow 01 keys to increase or decrease the numerical values Incorrect value are immediately indicated by red color NETWORK SETTINGS PPP sewer DHCP Client IP Address 192 168 36 100 Net Mask 255 255 0 M Expanding hidden area In order to keep each web based page as small as possible only the main parameters are default visible You can expand the hidden area by clicking on its text label title OK Cancel buttons Each command page contains the same buttons they appear as soon as a modification or a selection has been made in the command page To validate the new configuration and store it in the ROVINS PROM return to the previous entered values 2010 05 MU ROVINS OOI B 17 18 Other Button clicking on the button has consequences Examples of such action ROVINS restart the alignment process is repeated e Reset to factory settings the customized configuration is lost 2010 05 MU ROVINS 001 B On mouse over action orange color may surround a button to indicate that the action performed by PRODUCT LICENSE ACTIVATION ONLY IN CASE OF UPGRADE ROVINS Alert Product License not activa
7. a general mail box 15 available with the following address support ixsea com 34 2010 05 MU ROVINS OOI B 2010 O5 MU ROVINS OOI B 35 IXSEA CONTACT PERSONAL NOTES To obtain information on any IXSEA products a general mail box is available with the following address info ixsea com You can also contact IXSEA headquarters in France or one of its representatives around the Contact Phone Fax IXSEA SAS 33 0 1 30 08 98 88 33 0 1 30 08 88 01 France IXSEA BV 31 0 23 750 5110 31 0 23 750 5111 he Netherlands IXSEA GmbH 49 0 511 123 59575 49 0 511 123 59576 Germany IXSEA Ltd Main office IXSEA Ltd Aberdeen office United Kingdom 44 1730 260222 44 1224 355160 44 1730 260333 IXSEA LLC 971 4 3117135 971 4 3328860 United Arab Emirates IXSEA Inc 1 888 660 8836 1 781 937 8806 Usa IXSEA Pte Ltd 65 6747 4912 65 6747 4913 Singapore IXSEA Pte Ltd 86 0110 6211 4716 86 0 10 6211 4718 China IXSEA Pty Ltd 61 0 7 3390 4660 61 0 7 3390 7242 Australia 2010 05 MU ROVINS 001 B 2010 05 MU ROVINS 001 B 37 PERSONAL NOTES PERSONAL NOTES 38 2010 05 MU ROVINS OOI B 2010 O5 MU ROVINS OOI1 B 39
8. filter Heading standard deviation lt 0 1 A IXS EA navigation data maintenance options A IXS EA navigation data maintenance options A IXS EA navigation data maintenance options INSTALLATION SETUP DATA LOGGING INSTALLATION SETUP DATA LOGGING INSTALLATION SETUP DATA LOGGING Heading 45 253 Latitude 43 18221 Heading 45 253 Latitude 43 18221 Heading 45 253 Latitude 43 18221 Rol 1 187 Longitude 5 63354 Rol 14187 Longitude 5 63354 Rol 1187 Longitude 5 63354 Pith 0874 Depth 253m Pitch 0 874 Depth 253m Pitch 0874 Depth 253m STATUS STATUS STATUS Heave 0 78m Alignment Heave 0 78 Fine Alignment Reaver Orem System ready Speed 2 35 kt Speed 2 35 kt Heading Std Dev 0 087 Speed 2 35kt 4 2010 05 MU ROVINS OOI B 2010 05 MU ROVINS OOI B 5 STEP 1 INSTALLING ROVINS ROVINS is fixed onboard using six CHC M screws It can be installed with any orientation with respect to the vessel see BOTTOM View the definition of the vessel reference frame hereafter The alignment of the unit is performed by means of the two cen tering pins located on the bottom plate of the ROVINS You will find on Figure 1 all the mechanical information necessary to fix ROVINS All inertial measurements are default performed with respect to ROVINS reference frame X1 X2 This Hole deep reference frame is defined in Figure
9. minutes j Navigation Static or Navigation with large max speed heading variations lt 3 knot gt 909 Heading amp Attitude Reliable output Full accuracy output Full accuracy output Status area 2010 05 MU ROVINS 001 B MORE The previous steps consist only of the basic configuration of your ROVINS system You will find hereafter a list of other possible configurations Details on these configurations can be found in the ROVINS User Guide ROVINS TO VEHICLE MISALIGNMENT ROVINS measures heading and attitude with respect to its reference frame defined by the 3 axes X1 X2 and X3 see Figure 1 ROVINS reference frame may not be parallel to the vehicle reference frame In such case heading and attitude outputs can be compensated for angular misalignments of ROVINS relative to the vehicle reference frame so that ROVINS outputs heading and attitude of the vehicle This is done by setting misalignment bias for the three reference axis These biases are the Euler angles which relate ROVINS and vehicle reference frame Vehicle reference frame 15 depicted on Figure 2 XV1 Figure 2 Vehicle Reference Frame For more details about the misalignment bias refer to Part 2 of the ROVINS User Guide 2010 05 MU ROVINS 001 B 31 CONFIGURING THE OUTPUT STREAM ROVINS is able to calculate the heave of several external monitoring point one primary and three secondary monitoring points can be user configured The
10. to Define the ROVINS orientation possible roll pitch and heading misalignments primary and secondary lever arms useful to compute the heave and position for the output protocols that provide it Define the couple external sensor or UTC input link the protocol used to input the data the serial parity baud rate standard 25232 RS422 and stop bit or Ethernet transport layer IP address Port number parameters and the external sensor para meters lever arms misalignments for the DVL beacon selection for the USBL Define the Time synchronization settings UTC pulse input selection for the PPS si gnal the protocol to use for the PPS signal 99651 974m 13331 50 89 435 m CONTROL CONTROL INSTALLATION Menu options INSTALLATION SETUP DATA LOGGING MECHANICAL PARAMETERS INPUTS Longitude Depth STi Fine Alianme NETWORK SETUP MENU INSTALLATION SETUP DATA LOGGING MECHANICAL PARAMETERS Latitude Longitude OUTPUTS v Depth NETWORK STF SETUP MENU Fine Alignme SETUP DATA LOGGING WARNING CONFIGURATION DVL CALIBRATION SETTINGS MANAGEMENT INSTALLATION SETUP DATA LOGGING INIT amp UPDATE DVL CALIBRATION SETTINGS MANAGEMENT Used to Define the outputs the protocol used to output the data the lever Arm to use the data rate or the input pulse to use to syn chronize the output data the serial parity b
11. 1 Motion sensing measurements are default measured at ROVINS Center of Mea surement see Figure 1 Lio 8 P S g AMO 1 att Center of Measurements 7 5 2 61 ic Center of Measurements S ES 5 Q 5 1 ui ms aue sh rac pa a i Pa 6 holes 6 60 mounting with screws Hole 6H7 mm deep 180 Figure 1 Definition of ROVINS Reference Frame 1 2 X3 and P center of measurements Recommendations and Note e Temperature in operation must be in the range 20 C to 55 C dimensions of the ROVINS housing are in mm 374 x 213 There must be enough place for the wire way on the connector side of ROVINS he weight of ROVINS is 14 6 in air and 4 65 in sea water 6 2010 05 MU ROVINS OOI B 2010 05 MU ROVINS OOI B 7 TRUE HEADING ROLL AND PITCH DEFINITIONS Vessel reference frame le Xll XV1 The roll is defined as the angle of rotation perform around the vessel XV1 so that the vessel axis XV2 lies in the local horizontal plane This angle is default defined positive in the direction of axis XV1 i e when the boat port side is up It varies between 180 and 180 The figure above is an illustration of the roll angle with null pitch 2010 05 MU ROVINS OOl B North pole XV3 e 4 LA Once the axis XV2 lies in the local ho rizontal plane th
12. Baudrate 2010 05 MU ROVINS OO1 B 27 ENTERING THE INITIAL POSITION Entering the initial position is only necessary if no GPS is available upon starting ROVINS Once saved by clicking on OK button the entered position is used at next ROVINS start Click options menu In the Coordinate System area e Either select Latitude longitude option e Or UTM option e Click OK button to validate SCP Choose INIT amp UPDATE under SETUP Menu 28 2010 05 MU ROVINS OOI B To define the position IXSEA avigation data maintenance CONTROL INSTALLATION SETUP DATA LOGGING ROVINS OPTIONS S English 222120201 ine Night Mode OFF Cance OK V tena CONTROL INSTALLATION SETUP DATALOGGING WARNING CONFIGURATION DVL CALIBRATION SETTINGS MANAGEMENT Enter the initial position e Either Latitude in degrees Longitude degrees and depth in meters OIXSEA CONTROL INSTALLATION DATA LOGGING v ZUPT Mode ZUPT Mode Static 10m s m v Altitude Mode Atitude mode Click OK to validate and save your choices e or the UTM coodinates of this position IXS navigation data maintenance options CONTROL INSTALLATION LOGGING INIT AND UPDATE v Manual Position uri norting 2488 m UTM Easting m ow 9 Zone Precision m Shortcuts Delete v ZUPT Mode ZUPT
13. VERIFICATION OF PACK CONTENTS You will find in the shipping case a Packing List detailing all the items delivered This packing has been completed and checked by IXSEA shortly before shipment and should match the contents of the pack you have received However we recommend that you check the contents of the pack and the equipment immediately on receipt of your ROVINS unit Specifically you should check that all the items referred to above are present on delivery and that none has sustained damage If you observe any non conformity or damage please inform the carrier and IXSEA without delay by certified mail des cribing in detail the problem encountered BASIC INSTALLATION This guide describes how to install ROVINS with a GPS and the basic configurations required before beginning the positioning This is the basic installation If you need to install additional external sensors to define lever arms and or to enter installation biases please refer to ROVINS User Guide ROVINS being versatile you have to define its configu ration to insure optimal operation In this installation we assume that ROVINS is aligned with respect to the vessel reference frame This configuration includes Defining how ROVINS is installed on board ROVINS orientation with respect to the vessel reference frame ROVINS and GPS lever arms cable connections to other equipment connection to the workstation connection to the GPS e he activat
14. aud rate standard RS232 or RS422 and stop Ethernet transport layer IP ad dress Port number parameters the pulse output to output the envelop the heave fil ter to use Define the Network parameters for com munication through a serial link PPP op tion or through Ethernet one DHCP client mode activation ROVINSIP address Network mask to use e Enter the initial position save it update it e Choose the Zero Velocity mode e be informed in case of warning or er ror for UTC synchronization loss Position sensor loss Speed loss e generate a warning when the heading and or the position standard devia tion cross a defined threshold 2010 05 MU ROVINS 001 B 21 Menu options CONTROL INSTALLATION SETUP DATA LOGGING INIT amp UPDATE WARNING CONFIGURATION SETTINGS MANAGEMENT CONTROL SETUP DATA LOGGING INIT amp UPDATE WARNING CONFIGURATION DVL CALIBRATION CONTROL INSTALLATION SETUP OIXSEA CONTROL INSTALLATION SETUP DATALOGGING OIXSEA INSTALLATION SETUP DATALOGGING OIXSEA CONTROL INSTALLATION SETUP DATALOGGING 22 2010 05 MU ROVINS OOI B Used to To launch the DVL calibration To save restore product settings Log the data of the repeater output or of any A to E output e Restart your ROVINS Unit e Update the system firmware loader and or WEBBasedUser Interface versions o activate your license by en
15. choices 2010 05 MU ROVINS 001 B INSTALLATION SETUP DATA LOGGING 533 13331 50789 435 INPUT AND EXTERNAL SENSORS SETTINGS File Edit View History Bookmarks Tools Help Protocol GPS vse co EN 77777 UTC INPUT A SETTINGS Protocol M M n n n sn an Msn v Phea v Serial UTC SETTINGS Penlnolll MECHANICAL PARAMETERS Latitude Longitude OUTPUTS Depth NETWORK STZ SETUP MENU Fine Alignme ROVINS ECTE ETLE ETN 1 NONE put D NONE NONE NONE LA v Stopbits 1 0 bitstop Stanaara ee IER Pulse Aly CONFIGURING THE OUTPUT STREAM SCIES Choose OUTPUTS under INSTALLATION Menu Click on Output A SGR Choose GPS like in the Protocol list Select the Physical Link and configure its parameters if needed Click OK to validate and save your choices INSTALLATION SETUP DATA LOGGING 3 56788 99651 974 OIXSEA MECHANICAL PARAMETERS Latitude INPUTS Longitude Depth NETWORK STf SETUP MENU Fine A amp linnmet File Edit View History Bookmarks Tools Help CONTROL OUTPUT SETTINGS v Physical Link Serial Advanced Settings Main Lever arm x Standard
16. e pitch is the angle between the axis XV1 of the vessel and its projection in the local plane This angle is default defined positive in the direction of the axis XV2 i e when the boat bow is down It varies from 90 to 90 The figure above is an illustration of the pitch angle in case of null roll up X in the horizontal plane pointing towards geographical North X parallel to the local vertical pointing up up X in the horizontal plane pointing towards West X Il Once the axes XV2 and XV1 lie in the local horizontal plane the true heading is the angle between the vertical plane oriented in the North direction and the vertical plane pas sing through the vessel Heading is counted positive from North va rying from 0 to 360 The orientation of this angle 15 given above in case of null pitch and roll Electrical Connections GPS PPS optional for Time synchonization Standard Ethernet Link Case Standard case defined as follows External sensor connected to the ethernet stream A of ROVINS GPS Output protocol on stream A GPS like PPS time synchronization pulse from the GPS cabled on the Pulse input B of ROVINS To the Ethernet connector To the Ethernet connector 2010 05 MU ROVINS OOI B 9 10 GPS Antenna Power supply workstation connected to the Ethernet connector 4 0 O 13 0 eui 17 0 O o 2010 05 MU ROVINS 001 B
17. ent GPS valid Fine alignment USBL valid Depth valid LBL valid GPS reception USBL reception LBL reception Depth reception UTC synchro Sound velocity reception owe Tor Torr zur Torr You can close the pop up by clicking the IXSEA logo 2010 05 MU ROVINS 001 B 15 Color Code The color code applies for the indicators and text labels displayed in this pop up window When a problem occurs the color of the IXSEA logo changes and the detailed status pop up automatically appears showing immediately which equipment has raised the problem Table 1 Color code definition Color Definition Grey inactivity Flashing Grey Blue System Configuration during initialization for example Blue Activity nominal operation Orange Activity warning Red Activity alarm General Rules for Using Command Windows The command windows allow you to display or modify ROVINS configuration parameters At first delivery these parame ters are set to default values You have to modify them to fit your needs Scrolling list selection e By selecting it directly in the scrolling list yt Physical BP l lc Serial only g None S9 Parity Serial E Ethernet Note you can also use the up arrow 21 and down arrow keys to scroll in the list Tick box e By selecting it by clicking in the dedicated box NETWORK
18. ion of the product license communication link the serial or Ethernet link the activation of the GPS the pulse input for Time synchroniza tion System 1 all settings to enter into ROVINS using the WEB based User Interface Navigation 2010 05 MU ROVINS 001 B B Installing ROVINS GPS Configuring To define the ROVINS orientation lever arms and the PC ROVINS communication parameters To configure the GPS serial or Ethernet input parameters lever arm To define the Time Synchronisation system To define the initial position To activate the license code IXS navigation data maintenance options INSTALLATION SETUP DATA LOGGING Latitude 43 18221 Longitude 5 63354 Depth 25 3 STATUS System ready Heading 45 253 Roll 1 187 Pitch 0 874 Heave 0 78 Speed 2 35 ROVINS DETAILED STATUS Input Output System Ext Sensors SUO Activating the product license Navigation mode Stabilization Alignment Fine alignment USBL valid Depth valid LBL valid GPS reception USBL reception LICENSE ACTIVATION z LBL reception Depth reception UTC synchro Sound velocity reception Send your license ID below to support You will receive an activation code by mail to start using the system EXTERNAL SENSORS License state Not yet activated License ID A3D6F534177DDFE4 To activate the GPS i e to take the GPS data into account by the Kalman
19. ms you must select or click in the software It is also used for the field names used into the dialog box Courier lext in this font denotes text or characters that you should enter from the keyboard the proper names of disk Drives paths directories programs functions filenames and extensions Italic Italic text is the result of an action in the procedures 2010 05 MU ROVINS 001 B ROVINS SYSTEM OVERVIEW The ROVINS system is an Inertial Navigation System INS It delivers heading and attitude information as well as po sition and speed to other systems or to display It can receive data from other sensors to improve its accuracy The ROVINS system can also be used as gyrocompass The core of ROVINS is an inertial measurement unit IMU The IMU is the assembly of three fiber optic gyroscopes FOG manufactured IXSEA and three high precision pendulum type accelerometers Apart from its IMU ROVINS contains a self consistent navigation algorithm based on Kalman Filtering This structure enables ROVINS to work either as a black box or to be connected to external sensor systems GPS Doppler Velocity Log Depth sensor acoustic positioning systems conjunction with external sensors ROVINS Kalman filter exceeds by several orders of magnitude the performances obtained with traditional navigation approaches ROVINS is delivered with a powerful and easy to use WEB Based User Interface which allows a complete configuration
20. rsion 4 and higher Safari version 4 and higher Opera version 10 and higher Internet Explorer version 7 and higher e Flash Player version 10 higher must be installed on the workstation to visualize the compass e For the data logging Java Runtime Environment 1 6 and higher They can be installed on your workstation from the provided IXSEA CD ROM The communication with the workstation 15 performed directly through the Ethernet link ROVINS Web based User Interface is then launched from the WEB browser hosted on the workstation Its URL address 15 192 168 36 1xx being the two last numbers of the ROVINS serial number S IXSEA ROVINS Mozilla Firefox File Edit View History Bookmarks Tools Help The Control Pages opens During the first seconds the IXSEA logo is flashing gray blue indicating that the Web based User Interface is loading the internal configuration of ROVINS Then the logo turns blue the alignment sequence of ROVINS begins 2010 05 MU ROVINS OOI B 13 Maintenance page Firmware upgrades system restaring factory Menu Bar settings reset Support contact The menu is blue when selected options page Navigation data window It displays all data either computer by ROVINS or coming from external sensors INSTALLATION SETUP DATALOGGING Heading 45 253 Latitude 43182217 Roll 1 1877 Fitch 0 874 Heading Roll Pitch Heave and Speed data
21. secondary lever arms are used to compute the heave for the output protocols that provide it see Part IV Configuration and Operation of the ROVINS User Guide to define the secondary lever arms the output position being always given for the Primary lever arm External monitoring points are defined by their Lever Arm to ROVINS center of measurement P This lever arm is the triplet of cartesian coordinates LV1 LV2 LV3 defining the position of external monitoring point M with respect to ROVINS center of measurement P defined in Figure 1 in the vessel reference frame 1 XV2 XV3 see Figure 3 7 f J Oy j XV2 S 2 z MZ 4 Figure 3 Definition of lever arms For more details about the external monitoring points refer to Part 2 of the ROVINS User Guide 2010 05 MU ROVINS 001 B CONFIGURING THE OUTPUT STREAM ROVINS uses external sensor data to improve its own estimates of position speed attitude and heading In order to prevent corrupted external data to degrade the estimation of ROVINS external sensor data passe through a rejection filter before being incorporate into ROVINS main computation Kalman filter The following external sensors can be added e ADVL e ALBL USBL up to three beacons e ACID e A depth sensor For more details about the external sensors refer to part 4 of the ROVINS User GUIDE ETHERNET INPUT OUTPUT Five Ethernet inputs ou
22. ted Ask for the activation code click on maintenance menu on the ROVINS Web based User Interface A X S E X navigation data CONTROL INSTALLATION SETUP DATALOGGING SITIS To recover the activation code using LICENSE ACTIVATION the Contact Support button send a SENI Koo B Abr uit message to IXSEA support giving your FROVINS license 1D ewe cet Activate RESET TO FACTORY SETTINGS Click to reset all settings to factory default values CONTACT SUPPORT Click to create a support ticket You can attach the last recorded log file max 500ko CCC Enter the recovered activation code in the dedicated text box and click Activate LICENSE ACTIVATION License state Not yet activated License ID A3D6F534127DDFE4 netwatoncode J Activate 2010 05 MU ROVINS OOI B 19 20 WEB BASED USER INTERFACE MENUS AND OPTIONS OVERVIEW Find hereafter all the menus and options of the WEB based User Interface and their uses 13331 50789 435m Menu options INSTALLATION SETUP DATA LOGGING INSTALLATION SETUP DATA LOGGING Latitude INPUTS Longitude OUTPUTS Si Depth NETWORK STA SETUP MENU Fine Alignme INSTALLATION SETUP DATA LOGGING MECHANICAL PARAMETERS Latitude Longitude OUTPUTS _ Depth NETWORK ST SETUP MENU Fine Alignme 2010 05 MU ROVINS 001 B Used
23. tering the activation code e Get ROVINS serial number and WEB based User Interface e Contact IXSEA Support Display all navigation data computed and received by ROVINS Choose the position coordinate represen tation latitude longitude or UTM coordi nates Choose the display mode night day mode Choose the WEB based language English or French STEP 3 CONFIGURING ROVINS CONFIGURING THE ROVINS ORIENTATION WITH RESPECT TO THE VEHICLE As ROVINS can be installed with any orientation with respect to the vehicle ROVINS axes orientation can be different from vehicle axes orientation with 90 degrees rotations of any of the ROVINS axis with respect to the vehicle axes SCPE Choose MECHANICAL PARAMETERS under INSTALLATION Menu direction to which the IXSEA logo side is pointing gt n the illustration ROVINS logo side points to the chosen direction e he direction to which the ROVINS connectors side 15 pointing gt n the illustration ROVINS connectors side points to the chosen direction SCPE Click the OK button to validate your choice Click on Restart button in the warning window that appears in the upper part of the Mechanical Parameters page gt ROVINS restarts and alignment sequence see step 4 is repeated INSTALLATION SETUP DATALOGGING Latitude 1 Longitude Depth STA Fine Aliqnmet INPUTS 88714 OUTPUTS 43159 NETWORK SETUP MENU A EA na
24. tputs are available on ROVINS For more details about e The Ethernet connector refer to Part 2 of the ROVINS User Guide e The available protocols for this connectors refer to part 5 of the ROVINS User Guide PULSE INPUT OUTPUT Four pulse inputs and two external pulse coming from the central connector are available on ROVINS For more details about the pulse connector pins refer to Part 2 of the ROVINS User Guide EXTENDED FUNCTIONS OF THE WEB BASED USER INTERFACE Recording data you can record the data coming from the repeater port or of any of the A to E output For more details about the data recording refer to Part 4 of the ROVINS User Guide Observing the input data flow coming from any input stream For more details refer to Part 4 of ROVINS User Guide System Information to accede to the serial number and firmware version of your ROVINS unit click on maintenance menu of the WEB based User Interface Note these information are useful when you contact IXSEA technical support 2010 05 MU ROVINS OO1 B 33 ROVINS ZERO VELOCITY UPDATE ZUPT MODES CUSTOMER SUPPORT These modes have been designed to use ROVINS for specific applications when no external sensor 15 connected For more details about ZUPT mode refer to part 4 of the ROVINS User Guide THE WORLDWIDE 24 7 TELEPHONE SUPPORT LINE NUMBERS ARE EMEA 33 0 1 30 08 98 98 USA 1 888 660 8836 toll free ASIA 65 6747 7027 To contact customer support for any IXSEA products
25. vigation data maintenance options CONTROL SETUP DATALOGGING e ROVINS ORIENTATION amp LEVER ARMS Logo Side Upward Downward Right starboard Left port side Front bow Back stern Connectors Side G upward O Downward O Right starboard Left port side gt Primary 1 ORIENTATION amp LEVER ARMS Please restart the system to take them into account Settings have been saved 2010 05 MU ROVINS OOI B 23 24 CONFIGURING THE GPS INPUT STREAM AND GPS PARAMETERS Choose INPUTS under INSTALLATION Menu INSTALLATION SETUP DATALOGGING MECHANICAL PARAMETERS 5333 Latitude 13331 OUTPUTS Longilude 50789 NETWORK T 435 m SETUP MENU Fine Alignmt Associate GPS to INPUT A by clicking in the intersec tion of the INPUT A column and GPS row IXS navigation data maintenance options CONTROL SETUP DATALOGGING ROVINS INPUT AND EXTERNAL SENSORS SETTINGS Protocol NONE NONE NONE NONE NONE 9 LBL DVL Configure the relevant parameters of the INPUT A by choosing them in the various drop down lists of the Protocol Physical Link Serial and or Ethernet areas INPUT A SETTINGS v Physical S Standard Baudrate 2010 05 MU ROVINS 001 B SS Define the
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