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AQUA-METRE R300/R3000 User Manual

1. A bottom plastic sleeve is also delivered in order to facilitate mechanical interface production This sleeve drawing appears below Dre NN L N En 49 0 e SSS SASSASSS Ch XS AN kg SSES 100 0 R3000 bottom sleeve drawing Nota this R3000 bottom sleeve is different from the R300 version but may be used for R300 housing AQUA METRE R300 R3000 User Manual Page 27 95 Doc N 0112 801 011 www plsm eu 4 2 4 Interferometric frame and Base assembly R300 R3000 Place the frame base plate over the frame rest A and turn it until the locating pin is aligned with its locating hole then lock with the main screw B Check that the frame is properly installed by looking for clearance Any clearance in this area may be detrimental for the measurement accuracy Then plug the electrical male connector on the female socket located on the base housing full proof design AQUA METRE R300 R3000 User Manual Page 28 95 Doc N 0112 801 011 www plsm eu gt SM 4 3 Base electrical interfaces description R300 R3000 The Base is equipped with two underwater connectors IMPULSE MCBH 8 bulkhead both located at the top cap One is dedicated to interferometric frame interface The other connector being used for ROV interface and ON OFF functions Interferometric frame connector JP1 description Type MCBH 8 FS type bulkhead from Impulse NEOPRENE a d S s
2. 9 1 3 R3000 Base Pointer batteries charge The R3000 batteries charge scheme slightly differs from R300 the R3000 units do not have specific plugs dedicated to this function then the charge is made through the interface connector using the internal DC DC converter AC DC Converter R3000 Pointer with AC DC Converter and Charger A specific charger is provided with each unit to enter charge mode just follow the steps 1 connect the charger to the unit R3000 Base or Pointer Step 1 Connect the charger to the R3000 unit AQUA METRE R300 R3000 User Manual Page 86 95 Doc N 0112 801 011 P sm ve 2 connect the AC DC converter to the wall supply 100 to 260 VAC 40 to 60Hz Step 2 Connect the AC DC Converter to the wall supply then and only then 3 connect the DC plug 2 5mm type 24V in the centre to the charger Step 3 Connect the DC plug to the charger A green led will light that indicate a proper DC supply Check the green led indicator Nota if you connect the DC plug before the wall supply the AC DC converter will not be sufficient to supply surge current and the internal DC DC converter of the unit will not start This may damage it AQUA METRE R300 R3000 User Manual Page 87 95 Doc N 0112 801 011 www plsm eu gt SM About 45 seconds after the unit will emit acoustic beeps with the hydrophone the interferometric frame should be plugged to
3. RS485 232 ROV interface DB9 male connector pinout Pin 1 RS485 A signal Pin 9 RS485 B signal Pin 5 Ground for RS232 or shield for RS485 Pin 2 RS232 TX ROV uplink Pin 3 RS232 RX ROV downlink The RS485 and RS232 signals are logical ored it 1s thus possible to use RS485 or RS232 ROV Pointer without any hardware setting but it is not possible to use RS485 and RS232 simultaneously JP4 UHF Radio modem antenna TNC female connector Frequency 868 MHz for European model 915 MHz for US Canada model Output Power max 500 mW 27 dBm Always use the antenna provided by PLSM at delivery Do not connect directly the antenna on rear panel connector use the 5 metres coaxial cable provided by PLSM and offset the antenna in order to get the best path as clear as possible with the Surface buoy Do not use the antenna in a closed shield room JP5 Direct cable interface to CM unit Type MCBH 8 FS type bulkhead pinout Signal Signal function function RX_RSO ON OFF Downlink 0 battery operated AQUA METRE R300 R3000 User Manual Page 42 95 Doc N 0112 801 011 www plsm eu TX_RSO Not used Uplink 0 RX RS0 TX_RSO RX TX signals of main serial port port 0 RS232 electrical level MAX232 interface GND_RS signal return path for both serial ports 24 Volts external supply used to powered the Base with following characteristics maximum current 250mA 24V input in emission 120mA in norm
4. e p AQUA METRE R300 R3000 ROV operated configuration CM through ROV umbilical All units include dual axis inclinometer and fluxgate compass Each Base can locate every Pointer or another Base specific feature of AQUA METRE R300 R3000 a Base can act as a Pointer then be interrogated It is then possible to manage the system from the surface and get measurement 3D location inclination heading temperature of every underwater unit using a simple communication terminal The list of commands called Monitor Commands are listed and described in following chapters PLSM also offers the AQUA CAD software that allows system management through a friendly Graphical User Interface GUI and real time interface to popular CAD software in order to get the best environment for metrology class survey The AQUA CAD software is described in a separate manual AQUA METRE R300 R3000 User Manual Page 8 95 Doc N 0112 801 011 www plsm eu ROV s umbilical Surface system synoptic using AQUA CAD software The AQUA METRE R300 may also be simply operated from the surface in this case the CM unit is just hanged from a taut wire or pier wall and the serial link could be a direct cable up to 100 metres or a licence free radio modem This configuration appears below UHF radio datalink 869 MHz R Y amp HAV d CONTROL UNITS plsm Instrumentation Surface configuration using a radio modem buoy USB interface with radio mo
5. nneneeeessssssssssssseerereessssses 37 5 3 R300 R3000 Pointer electrical interface description rrrrnnnnnnrrrrnnnnvvvrrrvrnnnnnnnnnnennnrrrrnnrrrrnnnnnnnnsssesne 39 5 4 Pe INES Se E E 39 6 Surface buoy and surface interface GESCIiIPTtiON ccccsesseeseeeseeeeeeneeeseenseeeeeseeseoeseeesoneeeses 40 6 1 Surface interface PG 40 6 1 1 Surface Interface rear panel description rrrnnnnnnnnnnnrrnnnnnvvvrnnnnnnnnnnnnnnnrrrrnnnnnrrrnnnnnnnneessassseennnene 41 6 1 2 Surface Interface front panel descrpton 44 6 1 2 1 NNN 44 6 1 2 2 ROV interface dcHVoation 44 6 1 2 3 Radio modem activation rrrrrrrnnnnnnnnnnnnrrrvrvvnvrvrvnnnnnnnnnnenenrrrrrnrnnrrrvnnnnnnnnnnsssssssssesennnene 45 6 1 2 4 Direct Cable link activation rrrnnnnnnnnnnnnnrrrnnnvrvvvnnnnnnnnnnnnnnnsrrrrrnnnnrvvrnnnnnnnnnsssnssssssssnnnene 45 6 2 Su rface radio modem DUG Y description seg scsoseys3ssccncacsnnceiaddenenwooseutevadnesmeaeenaisteddaesesesiautveeNencnaeonaahes 46 or EEB NR 48 EE EE 48 7 MiIniPointer for AQUA MET RE Ro00 svsiiccccsisicsiccescsccdessventvencusavcedeveuciecesscnecudecuenstwocsveceesecceesdewseeses 49 AQUA METRE R300 R3000 User Manual Page 3 95 Doc N 0112 801 011 www plsm eu SM 7 1 MiniPoi inter electrical EN le 50 74 1 B OF 50 74 2 Interface Power EE 52 tz MiniPointer mechanical Characteristics rrrrnrnrrnnnnrrnnnrnnnnnrnnnnvnnnnnnnnnnnnnnnvnnnnsennnsnnnevennnsnennnsennnsennnsnene 54 7 3 MimiPomter Ins
6. AQUA METRE R300 R3000 User Manual Page 89 95 Doc N 0112 801 011 www plsm eu Adresse 10 Mode 0 CM TYPE TO ENTER MONITOR MODE Then type a question mark rapidly you have about 4 seconds in order to enter monitor mode Before it will activate the build in surface tests with the following messages being displayed Basse tension mission 7 75 Test du DAC et comparateurs Resultat test DAC 0 Mesure du seuil de reception Seuil Voie 1 0 51 V Seuil recepteur final 1 00 V Calibration du recepteur en phase Mesure Cap Cap mesure 263 8 deg Celerite par defaut 1500 m s Tension batteries 7 49 Fin de la calibration initialisation Code erreur 0 Code alerte 0 MONITOR MODE CM se The unit is then in monitor mode and able to perform build in tests report software upgrade or unit preparation address setting Before entering in monitor mode the unit will beep two times if initialisation successful or just once if error or warning occurs These beeps are mainly dedicated to switch on in remote mode with dummy plug see next chapter If you did not enter monitor mode directly by typing the question mark when prompted the unit will enters sleeping mode after initialisation A wake up windows occurs for 2 seconds every 30 seconds and the following message is send to announce the wake up window Code alerte 0 MSG UNIT 12 SLEEPING first sleeping period of 45 seconds CM WAKE UP 2s output by u
7. Example DAT V EMI 10 08 52 returned by unit 10 where The emitter voltage can be tuned by user to lower the radiated power and improve behaviour in highly reverberant environment It is set to 8 5 volts during initialisation and may not be changed by user when working in open area may only be changed when working in harbour or closed to pier is expected AQUA METRE R300 R3000 User Manual Page 81 95 Doc N 0112 801 011 www plsm eu 8 2 4 29 DAT V_BAT jj report message This message is reported by CM when a batteries voltage data is send from the unit Zu Gj between 1 and 31 included This message is often send after a request to unit jj Example DAT V_BAT 10 08 12 returned by unit 10 where The batteries voltage typical value is between 7 5 and 9 5 volts A batteries voltage lower than 7 5 and greater than 6 5 will issue a warning and an error if lower than 6 5 Volts If the unit is powered by external supply this voltage will be constant about 9 3 Volts 0 5 providing that external supply voltage remains in the range 15 to 27 Volts 8 2 4 30 DAT TEMP jj report message This message is reported by CM when an internal temperature data is send from the unit Zu jj between 1 and 31 included This message is often send after a request to unit jj Example DAT TEMP 10 25 2 returned by unit 10 where The temperature unity is degree Celsius between 35 and 90 C 8 2 4 31 DAT
8. may be powered externally or using the internal batteries An RS232 serial link is also implemented this link is optional during work but may be useful to monitor the Pointer status and to securely report navigation message of the ROV including local static pressure and ROV heading using the internal electronic compass included in the MiniPointer This navigation message is send through the serial link each time the MiniPointer is interrogated by a Base and the AQUA CAD software process it in order to compensate ROV mounting offsets and display ROV oriented in CAD software MiniPointer installed on a light survey class ROV AQUA METRE R300 R3000 User Manual Page 49 95 Doc N 0112 801 011 www plsm eu gt SM 7 1 MiniPointer electrical interfaces The MiniPointer has two electrical bulkhead connector one located on the top is the hydrophone s connector the other located on the bottom of the unit is the Interface amp Power Supply connector Hydrophone s Connector _ Diam 68mm M Diam 60mm P AQUA MET RA MINI POINTER PIN 0115 000 000 S N 00th Options 10 bars depth gai www plsm instrume Mini Pointeur R300 hydrophone not plugged Do never lubricate the connector with silicon or over type of grease always use a silicon oil instead 7 1 1 Hydrophone s Connector Type MCBH6 FS bulkhead from IMPULSE Top Hydrophone s Connector AQUA METRE R300 R3000 User Manual Page
9. typed by user blank between SETMOD and address DAT MODE 10 0 returned by unit 10 The setting is stored in flash memory and remains valid until next SETMOD command User can get actual mode using the REQMOD command see later in this chapter 8 2 2 21 REQMOD jj command This command query the mode of operation of unit Su jj between I and 31 The mode is an 8 bits integer mode range 0 255 in embedded software version 3 06 only the bit 0 is used and define the acoustic head up or down option This setting is very important when using a Base and the CAPT or DCAPI command because in this case the inclination of the Base will be compensate to always output a coordinate with X Y axis in the local horizontal plane and Z vertical Example REQMOD 10 typed by user blank between REQMOD and address DAT MODE 10 0 returned by unit 10 The setting is stored in flash memory and remains valid until next SETMOD command AQUA METRE R300 R3000 User Manual Page 69 95 Doc N 0112 801 011 www plsm eu 8 2 3 List of CM command These commands are dedicated to the CM unit only and then not addressed They are mainly dedicated to unit configuration setting and error reporting Command Description From embedded software version ADDCHG jj Set a new address jj for the unit CM only 8 2 3 1 ADDCHG command This command sets the CM unit address between and 31 A CM message is echoed Example ADD
10. xX Y DN x y HEADING Y In blue local geographic coordinate system with Y axis North oriented and Z axis vertical In red underwater unit coordinate system HEADING definition A heading report message is send back by unit jj Example HEAD 10 typed by user DAT HEADING 10 096 67 returned by unit 10 x Where The heading is an angle between 000 00 and 359 99 degrees always positive Refer to chapter describing report message for detail of content 8 2 2 7 VBAT jj command This command allows reading of the batteries voltage of the unit tj jj between I and 31 A batteries voltage report message is send back by unit Jj Example VBAT 10 typed by user DAT V_BAT 10 08 15 returned by unit 10 AQUA METRE R300 R3000 User Manual Page 64 95 Doc N 0112 801 011 www plsm eu K Where The batteries voltage in Volts always positive between 00 0 and 12 00 Refer to chapter describing report message for detail of content 8 2 2 8 VEMI jj command This command allows reading of the emitter voltage of the unit jj Gj between I and 31 An emitter voltage report message is send back by unit Jj Example VEMI 10 typed by user DAT V EMI 10 07 50 returned by unit 10 x Where The emitter voltage in Volts always positive between 00 0 and 12 00 Refer to chapter describing report message for detail of content 8 2 2 9 TEMP jj command This command allows reading of the intern
11. 011 www plsm eu 10 Specifications TBC To Be Confirmed TBD To Be Defined Weight base R300 lt 4 kg TBC including interferometric frame pointer R300 lt 2 5 kg TBC base R3000 lt 6 kg TBC including interferometric frame pointer R300 lt 4 5 kg TBC Dimensions base TBD see previous chapter for predefinition pointer TBD see previous chapter for predefinition Distance Range radius up to 150m up to 200m in good acoustical propagation conditions inclination Range 20 for each axis Resolution radial distance 2mm angle 0 01 inclination 0 01 Heading 0 1 Accuracy not included celerity measurement error radial distance 2cm rms if distance lt 50m 4cm if lt 100m Angular accuracy 0 1 both azimut and elevatio n angles Inclination accuracy 0 1 Heading accuracy 3 if not closed to iron str ucture sound celerity measurement accuracy error max 3 m s 1 5 m s typical Standard deviation radial distance lt 10mm if distance lt 50m 25mm If lt 100m angle lt 0 05 inclination lt 0 05 Heading lt 1 0 Acoustic Bandwith 65 to 75 kHz full bandwidth used by signals Measurement rate Up to 40 points per minute Autonomy base min 10 hours in full active mode one interrogation every 2 seconds or at least 10 days in sleeping mode 6 hours in full active mode pointer at least 20 higher compared to Base autonomy Charge adaptater inpu
12. Base working in Pointer mode using the Base unit nn nn between I and 31 must be a Base the Base inclination is compensated in order to give Z coordinates along zenith axis The capture process includes interrogation of unit Zu and 4jj 16 modulo32 by unit nn providing that unit nn is a Base computation of angles and distance by unit nn with inclination measurement and compensation accordingly and emission of coordinate messages from the unit nn The inclination can be compensated if and only if the absolute inclination angle is less than 15 0 from vertical If the inclination is greater than 15 0 an error message will be reported When using compensated capture make sure that the mode of the Base is properly set see SETMOD and REQMOD commands later in this chapter AQUA METRE R300 R3000 User Manual Page 67 95 Doc N 0112 801 011 www plsm eu gt SM The interrogation message is reported by the CM except if the Base which interrogates is also the CM and if capture successful the coordinate message also In case of capture failure a capture error message is reported separately for each interrogated unit Example when capture successful DCAPI 05 10 typed by user COORD PNT 21 AZ 105 32 EL 090 87 DIST 167 564 returned by unit 10 COORD PNT 05 AZ 023 55 EL 110 25 DIST 138 578 returned by unit 10 The following message is reported by CM when the tilt angle is out of range MSG UNIT 10
13. P N 0112 200 000 it also describes the specific ROV Pointer serial communication protocol described in a previous chapter the commands specific to the ROV Pointer are described in the chapter dedicated to it 8 1 Interface description serial port 0 The interface is a regular RS232 serial communication line with 3 wires TX RX and Ground with the following characteristics Baud rate 9600 Baud Data length 8 bits Parity none Start bit 1 value 1 Stop bit I value 0 This serial port is internally opto coupled to ensure proper isolation ground loop Handshaking every character send to the CM unit will be echoed no other protocol are expected due to the low average data rate less than 50 bytes per second modern PC have large serial COM buffer typically 1024 bytes allowing several seconds without missing message It is then possible to control every unit Base or Pointer using a simple terminal emulator terminal exe or hyperterminal exe of windows package This feature is especially useful when checking and or servicing the units A basic interface tool may be provided by PLSM to allow connection to a surface PC equipped with a serial RS232 COM port this tool supply the unit with a DC DC converter plugged to main VAC 100 to 240 VAC 47 to 63 Hz 8 2 Monitor commands description 8 2 1 Monitor mode When switched on a unit Base or Pointer not ROV Pointer enters in sleeping mode after a self test sequence ho
14. Pointer do not have the ability to work as a base due to hardware limitation Base 1 Master Slave FRASI By Z Acoustic measurement 1 Acoustic Communication Data link through the N SE E i ROV umbilical measurement N N N ae N N Spy Pointer Communication me System Management andacoutic 20 Base 2 N Communication Control measuremenf fis d Master Slave emm Reess eg ES EEE 3 d i ROV Illustration of AQUA METRE R300 R3000 in flange to flange metrology configuration A specific document described the spool amp jumper metrology application please contact PLSM to get it AQUA METRE R300 R3000 User Manual Page 14 95 Doc N 0112 801 011 www plsm eu SM 3 3 Dam survey configuration AQUA METRE R300 This specific configuration provides metrology class 3D ROV positions within a range of 150 meters all around the acoustic Base reference point Thanks to its full stand alone wireless design the small acoustic MiniPointer can be installed very easily on almost all types of ROV without vehicle modification and basically requests no electrical connexion ROV positions are permanently computed into the Base from acoustical signals exchanged between the Base and the MiniPointer then transmitted from the Base to the positioning system computer via a simple cable or optionally via the radio link By running the P L S M AQUA CAD software ROV positions are displayed in real ti
15. R300 R3000 User Manual Page 83 95 Doc N 0112 801 011 www plsm eu gt SM MSG info MESSAGES 8 2 4 33 MSG UNIT jj TILT gt 10 report message This message is reported by CM when the tilt angle of the unit Zu jj between 1 and 31 included is greater than 10 This message is only send if compensated coordinate are expected Example MSG UNIT 10 TILT gt 15 send by unit 10 8 2 4 34 MSG UNIT jj CAPT NO ANSWER report message This message is reported by CM when the unit Zu jj between I and 31 included do not succeed in getting any answer to interrogation This message is only send if a capture request was send to this unit Example MSG UNIT 10 CAPT NO ANSWER send by unit 10 8 2 4 35 MSG UNIT jj CAPT CALC ERROR report message This message is reported by CM when the unit Zu jj between I and 31 included do not succeed in computing coordinate solution following capture measurement This message is only send if a capture request was send to this unit Example MSG UNIT 10 CAPT CALC ERROR send by unit 10 8 2 4 36 MSG UNIT jj CAPT MULTIPATH ERROR report message This message is reported by CM when the unit Zu jj between I and 31 included do not succeed in computing coordinate solution due to multipath environment This message is only send if a capture request was send to this unit Example MSG UNIT 10 CAPT MULTIPATH ERROR send by unit 10 8 2 4 37 MSG UNIT jj S
16. THRESHOLD 10 V1 4 0 51 0 47 0 55 0 51 returned by unit 10 Where The receiver measured threshold in Volts is always positive between 0 0 and 2 5 Refer to chapter describing report message for detail of content 8 2 2 13 PARAM jj command This command allows reading of celerity taken into account by unit Zu as well as heading jj between I and 31 A parameter report message is send back by unit jj Example PARAM 10 typed by user PARAM UNIT 10 C0 1498 54 HEAD 274 8 returned by unit 10 K Where The sound celerity in metre per second is always positive between 1200 and 1800 The heading is an angle between 000 00 and 359 99 degrees always positive This command is equivalent to command REO COU and HEAD but in a single command Refer to chapter describing report message for detail of content 8 2 2 14 SETCO jj command This command allows setting of celerity taken into account by unit Zu jj between 1 and 31 A celerity report message is send back by unit JJ Example SETCO 10 1545 87 typed by user DAT CO 10 1545 87 returned by unit 10 x Where The sound celerity in metre per second is always positive between 1200 and 1800 Refer to chapter describing report message for detail of content 8 2 2 15 SLEEP jj command This command forces the unit Zi in sleeping mode jj between I and 31 A sleeping report message is send back by unit jj AQUA METRE R300 R3000 User Manual Page 66 95 D
17. Y axis North oriented and Z axis vertical In red underwater unit coordinate system Inclination angles definition here Gx is negative and Or positive Note these angles are not mathematically equivalent to the definition of pitch and roll angles 8 2 4 22 DAT HEAD jj report message This message is reported by CM when a heading angle data is send from the unit Zu J between I and 31 included This message is often send after a heading request Example DAT HEADING 10 096 67 returned by unit 10 Where The heading is an angle between 000 00 and 359 99 degrees always positive AQUA METRE R300 R3000 User Manual Page 79 95 Doc N 0112 801 011 www plsm eu gt SM The heading is measured from the X axis that is defined as the axis X after the single rotation angle Qz in the space that makes the Z axis being vertical Z and Z are identical after this rotation 7 grr or xX Y DON x y HEADING Y In blue local geographic coordinate system with Y axis North oriented and Z axis vertical In red underwater unit coordinate system HEADING definition 8 2 4 23 DAT CO jj report message This message is reported by CM when a sound celerity data is send from the unit Zu jj between I and 31 included This message is often send after a sound celerity request or setting refer to REQCO or SETCO monitor command Example DAT CO 10 1452 36 returned by unit 10 where CO u
18. cap supports the two connectors description hereafter one being connected to the interferometric frame the other to the ROV interface or to a dummy plug in case of an acoustic remote unit The bottom housing also acts as the mechanical interface for field and or ROV installation This interface is centered and an indexing hole lock the rotation allowing a perfect known offset from the interferometric frame then the local Cartesian coordinate system associated with the measurements AQUA METRE R300 R3000 User Manual Page 25 95 Doc N 0112 801 011 www plsm eu SM R3000 Mechanical interface Drawing of the mechanical interface cross section appears below fully compatible with R300 Base version ig to S Kik Ge TER O CH D UV NG l i E Referenc 0 0 0 origin e top frame ad ea a a Se ME age Gr Zar SR 127 mm ol TH PO The origin of local coordinate system associated with the Base and Interferometric frame is located 727 mm above the reference surface In other word the reference surface is located at z 0 727 m according to origin of local coordinate system associated with acoustic measurements 727 mm from reference surface of mechanical interface to the centre of the top hydrophone origin of measurements AQUA METRE R300 R3000 User Manual Page 26 95 Doc N 0112 801 011 www plsm eu
19. eu MODB 0 typed by user blank between MODB and address Mode 0 returned by unit CM This command is intended for system set up only It is not recommended to use it during underwater operation It is not possible to set the mode of another Base through acoustic link only the CM unit through the serial electrical link The current configuration may be checked using the DISPO command 8 2 3 3 DISPO command This command just return the full identification of the unit Example in case of an AQUA METRE R300 Base DISPO typed by user BASE AQUA METRE R300 DISPO 17 returned by unit CM BASE AQUA METRE R300 DISPO 17 device identification returned by unit CM Version Logiciel 305 embedded software release returned by unit CM Version Materiel 203 hardware version returned by unit CM Numero Serie 101 serial number returned by unit CM Mode 0 mode defined by previous MODB command returned by unit CM Adresse 10 current unit address returned by unit CM This command is information only and does not affect current setting 8 2 3 4 LERR command This command just return the list of reported error and warning Example LERR type by user NBM A 57 returned by unit M A 00001 ERREUR 0 ALERTE 6008 returned by unit M A 00002 ERREUR 0 ALERTE 6008 returned by unit M A 00003 ERREUR 0 ALERTE 6008 returned by unit M A 00004 ERREUR 0 ALERTE 6008 returned by unit M A 00035 ERREUR
20. gravity axis as the Z axis If the distance permits the Base is connected to the Interface Unit using the data power cable otherwise one must use the radio link option composed of the Beacon and the Modem Radio module 1 km range In this case the Base is fed by the Beacon battery bank which provides three days autonomy instead of being permanently powered through the cable Note Cable and Radio links are mutually exclusive AQUA METRE R300 R3000 User Manual Page 16 95 Doc N 0112 801 011 www plsm eu SM Details of operation The PC s operator using the AQUA CAD software commands a Transponder acoustic interrogation from the Base The Base executes the command measures the distance the vertical and horizontal angles 3D interferometric scheme and sends the results back to the PC through the data link cable or radio The AQUA CAD software running on the PC automatically transforms the local coordinates received into the global coordinate system associated with the building and updates the AutoCAD document and the video overlay This process is automatically iterated until user pause or stop the system Local to absolute coordinate system calibration Measuring the acoustic coordinates of two reference points named pivot and lever these points being defined in the final coordinate system performs the transformation from the local acoustic coordinates into an absolute cartographic coordinate system The a
21. is send to announce the wake up window Code alerte 0 MSG UNIT 12 SLEEPING first sleeping period of 30 seconds CM WAKE UP 2s output by unit then type to exit sleeping MONITOR MODE CM monitor mode 4 4 2 Base in acoustic remote mode If the Base is expected to work in acoustic remote mode make sure it is well charged just before survey plug the dummy on off connector in the interface bulkhead wait until unit beeps two short beeps means initialisation is successful and unit is then in sleeping mode one medium about second beep means warning encountered and a long beep means error s occurs Check the unit if warning or error occurs On Off dummy plug for remote acoustic mode AQUA METRE R300 R3000 User Manual Page 32 95 Doc N 0112 801 011 www plsm eu Plugging On Off dummy plug for remote acoustic mode AQUA METRE R300 R3000 User Manual Page 33 95 Doc N 0112 801 011 www plsm eu 5 AQUA METRE R300 Pointer description 5 1 Bloc diagram The Pointer is the basic unit used to receive interrogations from Base s and respond to them The main functionality of this unit is to reply to Base interrogations The Pointer internal bloc diagram appears below RX0 TX0 he Hydrophone Ext supply ON OFF Charge supply Pointer bloc diagram This bloc diagram is similar to the Base but there is only one pass band filtered receiving channel with more tha
22. it automatically switches the Base on ON OFF input signal used to switch the Base on or off when floating Base is switched off must be grounded to switch the Base on driven by open drain open collector or switch for instance R3000 specific when external power and ON OFF signal are active simultaneously then the Base enters charge mode this is done automatically using the R3000 charger interface Use MCIL 8 MP connector from Impulse for interface cable Important feature since the connector are not mechanically differentiated pinout of respective bulkhead have been chosen in order to avoid any damage in case of connector crossing Acoustic remote mode if the unit is not connected to the ROV interface a dummy plug will be used to switch it on before the dive this plug simply grounds ON OFF pin and protects all the pins from sea water When switched on the unit performs self tests and emits an audible tone using the top hydrophone and enter a sleeping mode waiting for incoming acoustic PING wake up message Power consumption in sleeping mode is lowered allowing several days of autonomy AQUA METRE R300 R3000 User Manual Page 30 95 Doc N 0112 801 011 www plsm eu of SM 4 4 Base switch on 4 4 1 Base externally powered and connected to the serial link CM mode If the Base is the Communication Master unit and then externally powered simply apply power supply to switch it on If already connected to a term
23. of Report messages snesesssssseeeeesssssssssssseecrereresssssssssssssssssecctereesssssssseeetreeresssssssssseeeeses 73 8 2 4 1 NOISE DEMOD ERR report message mrrrrrnnrrrnnnrrrnnnvrrnnnvrrnnnvrrnnnrrrrnvrrnsnvrrnsnvnennn 74 8 2 4 2 INTERR PNT jj report messdge 74 8 2 4 3 COORD PNT jj report mesedge 75 5 2 4 4 PARAM UNIT jj report message cceccccccccccscccesscecsseesesseesssseeesseeeesseeessseeeesseeesas 75 8 2 4 5 REQ CAPT PNT jj FROM BASE nn report message srrrrnnrrrnnrnrnnrrrnnrrrnnre 76 8 2 4 6 REQ PING jj report mesgdge 76 8 2 4 7 REQ INCLIN jj report mesgegdge 76 5 2 4 8 REQ HEAD Jj report message rrrnnrrrnnnrrnnnnvrnnnnrrrnnvvrrnnvrrrnnvrrrsnvrersnvrrrsnvrsssnvnenene 76 6 2 4 9 REQ PARAM jj report miessdge 76 5 2 4 10 REQ CO jj report messdge 76 6 2 4 11 REQ THRESHOLD jj report messgge 77 2412 REQ V TR 77 AQUA METRE R300 R3000 User Manual Page 4 95 Doc N 0112 801 011 www plsm eu O2415 REO V BAT Jj report CSSA CC vesen 77 6 2 4 14 REQ TEMP jj report mesedge 77 2415 REO REC LEVELT report MESSaALE aust 77 8 2 4 16 REQ INIT jj report messgdge 77 Sadd SECO NNN 78 5 2 4 18 SET SLEEP jj report mesedge 78 6 2 4 19 SET THRESHOLD jj report message mmrrrrrrnnrrnnnnrrnnnnrrrnnnvrrnnvrrnnnvrrrsnvrenenvrennn 78 5 2 4 20 SET V EMI jj report miessdge 78 2421 DAT INCLIN Jj report MeSSACS gaar 79 6 2 4 22 DAT HEAD jj report mesgdge
24. per second h 100 0 P d g The pressure P is supposed to be referenced to the surface 0 0 bar at 0 0 metre The above equation is in fact an approximation because the density depends on pressure temperature and salinity which are depth dependent In first approximation density can be evaluated as 1 0 for fresh water 0 C to 30 C and 1 027 for seawater 0 C to 30 C salinity around 35g 1 For a better estimation refer to EOS80 water density estimation formulae The gravity is latitude and altitude dependent In first approximation it can be evaluated by the following formula g 9 7804 0 0517 sin latitude 57 7 10 sin 2 latitude 3 086 10 H where Latitude is the geographic latitude in degrees H is the altitude in km G is about 9 81 m s at 45 latitude and sea level AQUA METRE R300 R3000 User Manual Page 95 95 Doc N 0112 801 011
25. plsm eu 4 2 1 Interferometric frame description The interferometric frame appears below Interferometric frame 3D CAD view cable and connector not drawn This is a tetrahedral structure made of aluminium 7075 hard anodised junction parts and glass fibre FR5 rods These rods are cemented using epoxy resin The four hydrophones are over moulded with polyurethane resin The mould shape has been studied to prevent direct hurt to piezo ceramic tube faces The hydrophones are filled with a special liquid with special acoustic properties in order to cope with static pressure up to 350 bars Interferometric frame for R3000 and R300 systems are identical even if R300 mechanical housings only withstand 30 bars AQUA METRE R300 R3000 User Manual Page 20 95 Doc N 0112 801 011 www plsm eu The overall dimensions appear below 414 I y I Interferometric Frame drawing The maximum height is 414 mm and radius 199 mm Weight is about 1 4 kg 0 1 kg including cables and connector AQUA METRE R300 R3000 User Manual Page 21 95 Doc N 0112 801 011 www plsm eu 4 2 2 AQUA METRE R300 Base electronic housing description The electronic mechanical housing appear below Interferometric frame thread M10 Interferometric frame base plate A 4 Interface connector Interferometric frame connector Top cap with upper sleeve Main housing PVC Bottom alumi
26. that unit nn is a Base computation of angles and distance by unit nn with inclination measurement and compensation accordingly and emission of coordinate message from the unit nn The inclination can be compensated if and only if the absolute inclination angle is less than 15 0 from vertical If the inclination is greater than 15 0 an error message will be reported When using compensated capture make sure that the mode of the Base is properly set see MODB command later in this chapter or SETMOD and REQMOD commands if you are using units with embedded software version 3 06 and later The interrogation message is reported by the CM except if the Base which interrogates is also the CM and if capture successful the coordinate message also In case of capture failure a capture error message is reported Example when capture successful CAPI 15 10 typed by user INTERR PNT 15 returned by unit 10 COORD PNT 15 AZ 105 32 EL 90 87 DIST 167 564 returned by unit 10 This message is reported by CM when the tilt angle is out of range MSG UNIT 10 TILT gt 15 send by unit 10 the Base when over inclinated Example when capture not successful AQUA METRE R300 R3000 User Manual Page 62 95 Doc N 0112 801 011 www plsm eu gt SM CAPT 15 10 typed by user MSG BASE 10 CAPT NO ANSWER returned by unit 10 This message occurs when Pointer does not answer Example when unit nn 1s not a Base th
27. the unit Zu jj between 1 and 31 included This message is often send after a request to unit jj Example DAT MEAS THRESHOLD 10 V1 4 0 51 0 47 0 47 0 55 returned by unit 10 where The measured thresholds are the actual noise level for each receiver channel This is a voltage outputted from a logarithmic amplifier with 25 mV per dB In case of Pointer only channel 1 is relevant the other channel measured threshold will be 0 00 The tuned receiver threshold is 1 0 if measured receiver threshold are less or equal to 1 0 A typical measured value is between 0 35 and 0 75 if greater than 1 0 the tuned receiver threshold will be set above 1 0 and the range will be affected 8 2 4 27 DAT THRESHOLD jj report message This message is reported by CM when a receiver threshold data is send from the unit Zu jj between 1 and 31 included This message is often send after a request or setting to unit jj Example DAT THRESHOLD 10 1 02 returned by unit 10 where The tuned receiver threshold is 1 0 if measured receiver threshold are less or equal to 1 0 A typical measured value is between 0 35 and 0 75 if greater than 1 0 the tuned receiver threshold will be set above 1 0 and the range will be affected 8 2 4 28 DAT V EMI jj report message This message is reported by CM when an emitter voltage data is send from the unit Zu Gj between 1 and 31 included This message is often send after a request or setting to unit jj
28. 0 ALERTE 4008 returned by unit This command is information only and does not affect current setting It is detailed in the chapter dedicated to BIT functions Build In Tests AQUA METRE R300 R3000 User Manual Page 71 95 Doc N 0112 801 011 www plsm eu 8 2 3 5 MODECHO command This command sets the CM unit echo to commands mode The syntax is MODECHO j typed by user blank between MODECHO and argument j Where j stands for the echo mode j 0 1 or 2 0 no echo of command 1 echo to command after the carriage return character the full command is then echoed in a single stream 2 full echo to every character send by user this is the default mode when unit is switched on the setting is not stored in flash configuration memory exemple MODECHO 1 typed by user blank between MODECHO and 1 MODE ECHO 1 SINGLE ECHO returned by unit CM Note the echo mode 1 single echo is recommended when operating the CM unit through a radio modem link because it reduces the global time to send a command the radio modem do not have to switch from receiver to emitter for each character echoed the echo is sent in a single radio packet AQUA METRE R300 R3000 User Manual Page 72 95 Doc N 0112 801 011 www plsm eu of SM 8 2 4 List of Report messages The report messages list appear in the next table and are detailed along the next chapters All messages that start with REQ are request messages Th
29. 2 2 1 MODREP command This command activates or deactivates the forced reply mode MODREP 0 blank between MODREP and 0 to deactivate the mode MODREP 1 blank between MODREP and 1 to activate the mode This setting is saved in non volatile memory then used until next setting When forced reply mode is active the Pointer will always interpret incoming acoustic messages as an interrogation to him and then reply and report an interrogation Before activation of this mode make sure that there is only one Pointer and a Base working on the site this is often the case during dam survey for instance An excessive noise level may also generate a lot of reply messages that may lead to erroneous positioning This mode is very useful when working in highly reverberant conditions do not hesitate to contact PLSM for advice when using this mode Reply delay and MODREP From embedded software 3 06 and later the Pointer is able to operate in dual capture mode see DCAPT and DCAPI commands in chapter describing Base R300 commands Thus address setting range is 1 to 31 instead of I to 15 When in forced reply mode MODREP 1 a Pointer with address from 01 to 15 reply with normal delay and a Pointer with address from 16 to 31 reply with additional delay of about 250 ms It is then possible to work with forced reply mode and two Pointers in dual capture mode 7 5 2 2 2 MODROV command This command activates or deactivates the reporting of naviga
30. 50 95 Doc N 0112 801 011 P sm vw NEOPRENE GLASS REINFORCED EPOXY INSERT MCBH6 FSS FRONT VIEW 2 016 O RING S A 181 HEX O RING 2 014 7 16 20 UNF 2A BRASS STAINLESS STEEL 12 TEFLON LEADS Hydrophone s Connector Pinout ar ne Ve am Hydrophone installation To install the top hydrophone plug the hydrophone connector and gently screw the locking sleeve then screw the mini mast on the top of the MiniPointer Hydrophone and Mini mast installation AQUA METRE R300 R3000 User Manual Page 51 95 Doc N 0112 801 011 www plsm eu gt SM 7 1 2 Interface amp Power Connector Type MCBH8 FS bulkhead from IMPULSE Bottom Interface amp Power Supply Connector EPOXY INSERT MCBH8 FSS FRONT VIEW O RING 2 014 7 16 20 UNF 2A BRASS STAINLESS STEEL 12 TEFLON LEADS Interface amp Power Connector Pinout Function GND_RS RX_RS TX_RS EXT_SUPPLY RX_RS TX_RS RS232 RX TX signals opto isolated internally Nota RX_RS ts the Pointer input downlink TX_RS is the Pointer output uplink AQUA METRE R300 R3000 User Manual Page 52 95 Doc N 0112 801 011 www plsm eu gt SM GND_RS return path for RX_RS and TX_RS signals EXT_SUPPLY GND external power supply input voltage must be between 12 and 34 Volts 24 Volts nominal Curent maximum 300mA 12V typically I100mA 24V When the e
31. 79 VE REE DINE GE SEO SO REE EE 80 5 2 4 24 DAT DISPO jj amp WARNING report mesedge 80 5 2 4 25 DAT DISPO jj amp ERROR report message mrrrrrnnnrrnnnnvrrnnnvrrnnvvrnnnvrrnnnnrenennrennns 81 6 2 4 26 DAT MEAS THRESHOLD jj report message n 8 6 2 4 27 DAT THRESHOLD jj report message mrrrrrrnnrrrnnnrrnnnnvrrnnnvrrnnvrrrnnvrrrsnvrerenvnennn SI 6 2 4 28 DAT V EMI jj report mesgdge SI 8 2 4 29 DAT EE RR EE 82 6 2 4 30 DAT TEMP jj report messgge 82 8 2 4 31 DAT ROVNAV jj report miegsdge EE 82 6 2 4 32 DAT MODE jj report mesedge 82 6 2 4 33 MSG UNIT jj TILT gt 10 report mesedge 84 8 2 4 34 MSG UNIT jj CAPT NO ANSWER report message rrrrravvrnnrvrnnvrrsnvrrnnrrnr 84 8 2 4 35 MSG UNIT jj CAPT CALC ERROR report mesgegge 84 8 2 4 36 MSG UNIT jj CAPT MULTIPATH ERROR report mesgedge 84 5 2 4 37 MSG UNIT jj SLEEPING report messe 84 H System maintenance build in tests asnxxnernnnnnnnvennnnnnnnnnnnnnnnnnennnnnnnnnennnnnnnnnennnnnnnnennnnnnnnnnnnnnnnnneen 85 9 1 System EO EEE EE EE 85 LNR 85 91 2 R300 Base Pomier b e ud h 85 9 1 3 R3000 Base Pointer batteries charge 86 9 1 4 Base Pointer connector maintenance RAOOUR2OUU 88 92 Build in tests software update Unit preparation rrrrnnnnnnnnnnnrrrrnvnvvvrnnnnnnnnnnnnnnennnnrnnnrrrrrrnnnnnnnnssssne 89 92 1 Connection to a unit using the basic interface rrrrrrrrrrnnnnnnnnrrnnnrrrrrrrrrrrvr
32. C Optional units are The Surface Radio modem Buoy used as a radio relay between the Base and the positioning computer when the Base to computer distance is too long for a cable link radio UHF 869 MHz licence free band for Europe other frequencies available like 915 MHz for US and Canada System set up The MiniPointer must be mechanically installed such as its hydrophone remains unmasked and always visible from the Base during all the operations The MiniPointer can be either powered by its own batteries or fed from the ROV through a connector It may also communicate and transmit the ROV navigation data Heading and Depth to the surface via the umbilical RS232 interface The MiniPointer may also be operated without any connection to the ROV umbilical in this case it is supplied by the internal batteries and switch on before the dive by simply plugging an ON OFF dummy plug Depends on the case there are many ways to position the Base among others The Base can be installed on a mast and then the assembly is suspended in mid water attached to a cable taut between the banks or suspended to a mast horizontally plugged into the building etc The mast Base assembly may also be plugged into a concrete bloc lying on the firm bottom No tuning level mechanism is necessary since the Base includes a biaxial inclinometer which enables vertical corrections of 15 0 1 accuracy of the mast so the Base gets the
33. CHG 12 typed by user NEW ADR 12 returned by unit CM K This command is intended for system set up only It is not recommended to use it during underwater operation It is not possible to set a new address through acoustic link only the CM unit through the serial electrical link MAKE SURE THAT THERE IS NETHER TWO UNITS WITH SAME ADDRESS IT WILL LEAD TO DEMODULATION MESSAGE ERROR AND IMPROPER WORK The current configuration may be checked using the DISPO command 8 2 3 2 MODB command This command has been replaced by SETMOD and REQMOD commands in embedded software version 3 06 and later These new commands allow setting of units through acoustics This command defines 1f the unit is working up or reversed a confirmation message is echoed This setting remains in non volatile memory and define the working mode of the unit until the next setting This setting is very important when using a Base and the CAPI command because in this case the inclination of the Base will be compensate to always output a coordinate with X Y axis in the local horizontal plane and Z vertical MODB 0 define a unit working up typically the case when a Base is set up on the sea bed at the top of a mast for instance MODB 1 define a unit working reversed typically the case when a Base is hanged from a taut wire from the surface during dam survey for instance Example AQUA METRE R300 R3000 User Manual Page 70 95 Doc N 0112 801 011 www plsm
34. D 279 6 where where CU unity is metre per second m s between 1200 and 1800 m s The heading is an angle between 000 00 and 359 99 degrees always positive refer also to DAT CO and DAT HEADING message for full explanation of content AQUA METRE R300 R3000 User Manual Page 75 95 Doc N 0112 801 011 www plsm eu REQUEST MESSAGES 8 2 4 5 REQ CAPT PNT jj FROM BASE nn report message This message is reported by CM when a capture request is send to the unit finn nn between I and 31 included This message is in fact rarely reported because this is often the CM that sends this message following the monitor command CAPT Example REQ CAPT PNT 10 FROM BASE 15 8 2 4 6 REQ PING jj report message This message is reported by CM when a PING request is send to the unit ffjj jj between I and 31 included This message is in fact rarely reported because this 1s often the CM that sends this request Example REQ PING 10 8 2 4 7 REQ INCLIN jj report message This message is reported by CM when an inclination angles request is send to the unit Zu jj between I and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ INCLIN 10 8 2 4 8 REQ HEAD jj report message This message is reported by CM when a heading angle request is send to the unit j jj between I and 31 included This message is in fact rarely reported because this is
35. LEEPING report message This message is reported by CM when the unit Zu jj between I and 31 included enters sleeping mode This message is only send if a sleeping mode request was send to this unit Example MSG UNIT 10 SLEEPING send by unit 10 AQUA METRE R300 R3000 User Manual Page 84 95 Doc N 0112 801 011 www plsm eu 9 System maintenance build in tests 9 1 System maintenance 9 1 1 Fresh water rinsing After use in salted or polluted water a complete rinsing must be achieved before drying Drying without prior rinsing would lead to salt deposit Should it happen dive the system in fresh water for at least one hour Flush the water and repeat until all salt traces are dissolved 9 1 2 R300 Base Pointer batteries charge AQUA METRE R300 Base or Pointer Charge plug Plug the charger on the base Pointer connectors located on the housing cap then plug the charge adapter into the wall main AC supply 100 to 260VAC 47 to 63 Hz After about 30 seconds indicators will light to confirm that the batteries charge started Warning The charge is automatic provided that the battery charger is actually plugged on and that there is required electrical current The On plug nor basic interface should not be used during the battery charge Note The battery charge adapter may be fitted with different plug adaptors to be used in several countries Europe US UK Australia Please contact PLSM support plsm inst
36. P L S M www plsm eu BP 18 78354 Jouy en Josas CEDEX France Phone 33 1 6019 3445 Fax 33 1 7024 7281 AQUA METRE R300 R3000 for local underwater metrology USER MANUAL Document reference 0112 801 011 Date of issue April 2 2013 www plsm eu Document history Document Date of Modifications and comments number issue 0112 801 000 June 14 Draft issue for review 2004 0112 801 001 June 30 Correction of errata concerning mechanical offset of Base 727 mm 2004 instead of 722 mm 0112 801 002 September RS 232 interfaces opto coupled input supply range extended 5 2004 0112 801 003 October 15 Additional command CAPI for compensated capture available since 2004 firmware 3 04 0112 801 004 January 12 Description of AQUA METRE R300 accessories including Surface 2005 radio modem buoy and interface Unit to PC Description of the special ROV Pointer Description of dam survey application using these new devices 0112 801 005 January 12 Minor corrections 2005 0112 801 006 May 09 New special ROV Pointer software version 3 05 with new functions 2005 ROVNAV message added in the list of reported messages Appendix added pressure definition pressure to depth conversion explanation 0112 801 007 September Correction of error concerning calculation of depth versus measured 19 2005 pressure chapter 12 2 0112 801 008 December New Base Pointer R300 and ROV Pointer software version 3 06 with 9 2005 du
37. R300 R3000 potential mode of operation 3 1 Basic configuration This is the simplest configuration closed to the current AQUA METRE D100 diver operated system way of working The Base is attached at the top of a mast height being about 2 metres which lies on seabed A Pointer is attached to the ROV and connected to the umbilical communication channel it will act as the Communication Master CM One or several other Pointers are spread on the working field at strategic locations depending on the type of survey to be defined by the survey engineer Acoustic measurement 1 CR R1 61 ol Gg ES ez ei 7 i e ef KE e Communication and e acoustic measurement Data link through the R3 83 9 ROV umbilical et A ef e N se Spy Pointer ef N communicat ion sy stem control I ei Acoustic measurement 2 N Ae R2 62 92 ROV V Illustration of Basic AQUA METRE R300 R3000 configuration Initialisation of the units The remote units will be switch before dive and remain in sleeping mode The first step is to wake up every unit by sending PING commands refer to monitor command chapter Then each unit will be initialised using INIT command and especially the Base that will measure sound celerity After initialisation Typical command executed in this configuration will be the CAPT jj nn command CAPTURE command where nn stands for Base address and jj for the Pointer address refer to later cha
38. ROVNAV jj report message This message is reported by CM when a ROV Pointer Zu has been interrogated and configured to send navigation message through the acoustic after an interrogation see chapter describing the ROV Pointer for more details Only a R300 R3000 Base or Pointer with embedded software 3 04 or later can report this message The message is send according the format DAT ROVNAV xx HEAD yyy yy PRE 2z zzz Where xx is the address of the ROV Pointer yyy yy is the ROV Pointer heading from 000 00 to 359 99 72Z ZZz 18 the static pressure measured in bars Newton per cm Example DAT ROVNAV 06 HEAD 158 23 PRE 12 758 Please refer to appendix to find how to transform pressure in bars to water depth 8 2 4 32 DAT MODE jj report message This message is reported by CM when a mode of operation data is send from the unit j jj between 1 and 31 included This message is send after a mode request or set to unit jj Only a R300 R3000 Base or Pointer with embedded software 3 06 or later can report this message The message is send according the format DAT MODE jj yyy Where jj is the address of the unit AQUA METRE R300 R3000 User Manual Page 82 95 Doc N 0112 801 011 www plsm eu gt SM yyy is the mode of operation of unit jj between 0 and 255 see SETMOD command for explanation of different modes of operation Example DAT MODE 10 0 returned by unit 10 AQUA METRE
39. TILT gt 15 send by unit 10 the Base when over inclinated Example when dual capture not fully successful DCAPI 05 10 typed by user COORD PNT 21 AZ 105 32 EL 090 87 DIST 167 564 returned by unit 10 MSG BASE 10 CAPT NO ANSWER returned by unit 10 This message occurs when Pointer 05 does not answer for instance Example when unit nn is not a Base then not able to initiate a capture CAPT 15 10 typed by user CM CM UNIT 10 NOT ABLE TO CAPTURE returned by unit 10 K Refer to chapter describing report message for detail of content Details of dual capture versus addresses A dual capture does not consist of sending two times a simple interrogation message through acoustic Only one message is sent to address ut the unit Zi will receive the interrogation and process to answer immediately the unit 4 1J 16 modulo32 also receives the interrogation but emits the reply after an additional delay of about 250 ms compared to unit jj The Base processes both replies and send the coordinates results of unit jj 16 modulo32 first immediately followed by coordinates of unit jj Note that a simple interrogation to each unit remains possible however using CAPT and CAPI commands DCAPI 05 10 command will perform a dual capture of addresses 05 and 21 When DCAPI 21 10 command will perform a dual capture of addresses 21 and 05 21 16 modulo32 05 Important constrain Dual capture has been introduced in embedde
40. ages V_EMI message which gives emitter voltage actual setting THRESHOLD message indicating actual receiver threshold setting HEADING message for unit heading CO message indicate the sound celerity setting for the unit V_BAT which gives batteries voltage STATUS message indicates unit reference number and warning or error status example INIT 10 typed by user DAT V_EMI 10 07 79 returned by unit 10 DAT THRESHOLD 10 1 00 returned by unit 10 DAT HEADING 10 265 80 returned by unit 10 DAT CO 10 1500 00 returned by unit 10 DAT V_BAT 10 07 57 returned by unit 10 DAT DISPO 10 0x20 WARNING 0x000000 returned by unit 10 ik Refer to chapter describing report message for detail of content 8 2 2 2 PING jj command The PING command of unit Zu jj between I and 31 forces the unit Zu to send the status message It also wake up the unit Zu if it was sleeping and was trying to wake up for two seconds every 30 seconds Then if user want to wake up a specific unit this message has to be send every 2 seconds until unit wake up example PING 10 typed by user DAT DISPO 10 0x20 WARNING 0x000000 returned by unit 410 x Refer to chapter describing report message for detail of content 8 2 2 3 CAPT jj nn command This command forces the capture of unit Zu jj between and 31 Pointer or Base working in Pointer mode using the unit nn nn between 1 and 31 must be a Base The capture
41. al capture capabilities and address range extension to 31 New commands added DCAPT DCAPI REQMOD SETMOD to replace MODB CM only command New DAT MODE reported messages New CM command MODECHO 112 801 009 October 15 Addition of R3000 units description 2006 0112 801 010 October 10 Modification of Radio Modem buoy characteristics and charger 2008 ROVPointer replaced by the versatile MiniPointer model 0112 801 011 April 2 Minor update 2013 AQUA METRE R300 R3000 User Manual Page 2 95 Doc N 0112 801 011 www plsm eu SUMMARY 1 AQUA METRE R300 R3000 presentation x rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnennnnnnennnnnnennnn 6 1 1 AQUA METRE R300 R3000 basic configuration ccc eee cece cece cee ssssseeeeeeeeeceeeeeeeeeeeaaaaaesseseeeeeeeeeess 6 1 2 Accessories specific to the AQUA METRE ROU 7 1 3 AQUA METRE R300 R3000 system confgeuratons 8 2 AQUA METRE R300 R3000 technical characteriStiCS sswwnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 10 D Geometry associated with measurement sseeeeeeeessssssssseeeetteeeerosssssssssssstetteerresssssssssssseeeerresessssss 10 22 System constrains and limitations ororrrrvvrrrnnnnnnrrrrrrrrrrrrrvrrrrnnnnnnnnneeneeessrrrrrnennnnnnnnnnssessssssssenensssnnnnnne 1 21 Minm EE 11 EE die El Re e EE 11 22S E ee eh e WE 11 2 2 4 Operational area EE 12 229 Basestability Sv 12 2 2 6 Base reversed hang
42. al operation when external power is applied it automatically switches the Base on ON OFF input signal used to switch the Base on or off when floating Base is switched off when grounded switches the Base on Use MCIL 8 MP connector from Impulse for interface cable when not using the cable provided by PLSM at delivery JP6 Video in BNC female connector Video input for the Video overlay unit PAL or NTSC depending on option chosen JP7 Video out BNC female connector Video output for the Video overlay unit PAL or NTSC depending on option chosen This video signal is the copy of the input video signal with the overlaid information related to positioning JP8 Earth ground 4mm female plug Must be connected to the local electrical earth path in order to provide the best protection against conducted lightning coming from UHF antenna ROV interface and direct cable interface AQUA METRE R300 R3000 User Manual Page 43 95 Doc N 0112 801 011 www plsm eu 6 1 2 Surface Interface front panel description The front panel with all switches and led indicators is described below AQUA METRE R300 R3000 USB Interface CM Cable Link RA A odem ROV interface RX Ven Vest On Of Ke AE TX OWON op Closed Surface Interface Front Panel The unit is powered by plugging the DC input supply which immediately feeds the USB interfaces and ROV RS485 RS232 interfaces The other functions can be activated using t
43. al temperature of the unit Zu jj between I and 31 A temperature report message is send back by unit jj Example TEMP 10 typed by user DAT TEMP 10 24 7 returned by unit 10 Where The temperature is given in degrees Celsius between 35 and 90 8 2 2 10 REQCO jj command This command allows reading of celerity taken into account by unit Zu jj between 1 and 31 A celerity report message is send back by unit Jj Example REQCO 10 typed by user DAT CO 10 1498 54 returned by unit 10 x Where The sound celerity in metre per second is always positive between 1200 and 1800 Refer to chapter describing report message for detail of content 8 2 2 11 REORT jj command This command allows reading of Receiver Threshold RT taken into account by unit Zu jj between 1 and 31 A Receiver Threshold report message is send back by unit jj Example REQRT 10 typed by user AQUA METRE R300 R3000 User Manual Page 65 95 Doc N 0112 801 011 www plsm eu gt SM DAT THRESHOLD 10 1 00 returned by unit 10 K Where The receiver threshold in Volts is always positive between 0 5 and 1 8 Refer to chapter describing report message for detail of content 8 2 2 12 REQMT jj command This command allows reading of receiver Measured Threshold MT of unit Zu jj between I and 31 A receiver Measured Threshold report message is send back by unit jj Example REQMT 10 typed by user DAT MEAS
44. all issues that lead to a system failure state batteries too low for instance The warning and error code will be detailed later It is recommended to use AQUA CAD in order to automatically check BIT reports 9 2 3 Base or Pointer preparation The preparation only consists of address assignation Make sure that all units have a different address between I and 31 To change a unit address Connect the unit for service with surface connection tool see chapter above When in monitor mode type the command ADDCHG jj ADDress CHanGe jj a two digit number between and 31 Example AQUA METRE R300 R3000 User Manual Page 91 95 Doc N 0112 801 011 www plsm eu MONITOR MODE CM d ADDCHG 12 type by user NEW ADR 12 returned by unit d end of command returned by unit Once setting the new address is stored in non volatile flash memory then the preparation must only be performed once 9 2 4 Base or Pointer embedded software update To update the Pointer or Base embedded software You must first have received the software update file maj file from PLSM There one separate file for each unit device and serial number sensitive update Connect the unit for service with surface connection tool see chapter above When in monitor mode note the COM port number and continue software update using AQUA CAD refer to AQUA CAD user manual AQUA METRE R300 R3000 User Manual Page 92 95 Doc N 0112 801
45. bsolute coordinates of these two reference points must be already known and identified in the CAD drawing and directly peek by the user from the CAD software thanks to the real time CAD driver layers with bi directional data exchanges Then the calibration just consists of moving successively the ROV to each reference point pick up their respective positions in the CAD drawing and wait for the acoustic measurement completion During dam survey for instance the reference points are often chosen along the seal between two concrete blocks which position is well known critical vertical lines to be surveyed The calibration takes few minutes and remains valid until the next Base translation It can be saved in a configuration file in order to recall it when starting in the morning in order to be quickly ready AQUA METRE R300 R3000 User Manual Page 17 95 Doc N 0112 801 011 www plsm eu 4 AQUA METRE R300 R3000 Base description 4 1 Bloc diagram The Base is the key element of the system it interrogates the Pointer s measures the Pointer s response to interrogation using an interferometric signal capture scheme using four hydrophones The Base internal bloc diagram appears below RX0 TX0 lt gt RX1 TX1 lt gt le Hydrophone 1 Hydrophone 2 Hydrophone 3 P Hydrophone i4 Ext supply ON OFF Charge supply Base bloc diagram There are four independent pass band filtered receivin
46. cription AQUA METRE R300 R3000 User Manual Page 37 95 Doc N 0112 801 011 www plsm eu Mechanical interface Drawing of the mechanical interface cross section appears below fe O 323 lt p Sr T gj gt ER 0 Ou E S I I tt gt o eT Referenc 0 0 0 origin ad U S Pointer Sg d Es LS ALT zg AN 50 430 mm ok PO MO The actual point of measurement associated with the Pointer is located xxx mm above the reference surface It is a bit different than R300 version 430 mm from reference surface of mechanical interface to the centre of the Pointer hydrophone actual point of measurements AQUA METRE R300 R3000 User Manual Page 38 95 Doc N 0112 801 011 www plsm eu gt SM 5 3 R300 R3000 Pointer electrical interface description The Pointer is equipped with only one underwater connectors IMPULSE MCBH 8 bulkhead located on the top cap This connector 8 pins connector being used for ROV interface and ON OFF functions Interface connector description Identical to Base interface connector please refer to chapter describing Base connector Acoustic remote mode if the unit is not connected to the ROV interface a dummy plug will be used to switch it on before the dive this plug simply grounds ON OFF pin and protects all the pins from sea water When switched on the unit performs self tests and e
47. ctrical silicon oil 1s recommended for the proper contact and to ease connector insertion PLSM recommend the following oil Manufacturer ELECTROLUBE reference OSL DO NOT USE ANY GREASE EVEN RECOMMENDED FOR ELECTRICAL CONTACT ONLY SILICON OIL AQUA METRE R300 R3000 User Manual Page 88 95 Doc N 0112 801 011 www plsm eu 9 2 Build in tests software update Unit preparation 9 2 1 Connection to a unit using the basic interface PLSM provide a specific tool in order to allow connection to a unit Base or Pointer R300 or R3000 from the surface This tool includes an IMPULSE MCIL 8MP male wet plugable connector a small aluminium case with green led indicator DC input and RS232 DB9 female connector RS232 DB9 or connector Green LED indicator Se k DC Input MCIL 8 MP plug Basic Interface for R300 R3000 To set up a connection follow the steps run hyperterminal or any terminal emulator with the characteristics 9600 b s 1 start bit one stop bit no parity no protocol plug the MCIL 8 male connector of the connection tool into the interface bulkhead of the unit Base or Pointer plug the AC DC converter to the main wall supply then and only then plug the DC connector into the DC input of the basic interface the unit will then send a messagelike may change with software version Pointeur AQUA METRE R3000 DISPO 032 Version Logiciel 302 Version Materiel 202 Num ro s rie 101 Mode 000
48. d software version 3 06 and later to address ROV heading measurement without compass which gives better accuracy especially when working near steel structures But for internal timing issues Pointers AQUA METRE R300 R3000 User Manual Page 68 95 Doc N 0112 801 011 www plsm eu gt SM distances difference must be less than 40 metres A greater distance difference may lead to erroneous coordinates 8 2 2 19 DCAPT jj nn command Same command as DCAPI but without internal compensation of the Base inclination thus the coordinates are output according interferometric frame Refer to previous DCAPI command description for details 8 2 2 20 SETMOD jj nn command This command sets the mode of operation of unit Zu jj between I and 31 The mode is an 8 bits integer mode range 0 255 in embedded software version 3 06 only the bit 0 is used and define the acoustic head up or down option This setting is very important when using a Base and the CAPT or DCAPI command because in this case the inclination of the Base will be compensate to always output a coordinate with X Y axis in the local horizontal plane and Z vertical SETMOD jj 0 define a unit Zu working up typically the case when a Base is set up on the sea bed at the top of a mast for instance SETMOD jj 1 define a unit working reversed typically the case when a Base is hanged from a taut wire from the surface during dam survey for instance Example SETMOD 10 0
49. dem video overlay and AQUA CAD software This AQUA METRE R300 configuration is typically used for metrology of submerged building like bridge dam pier The dam survey application is described later in this manual as a good sample of AQUA METRE versatility and ease of set up and use AQUA METRE R300 R3000 User Manual Page 9 95 Doc N 0112 801 011 www plsm eu 2 AQUA METRE R300 R3000 technical characteristics 2 1 Geometry associated with measurement The system measures the 3D coordinates of Pointer hydrophone in a local Cartesian coordinate system K Ze i M This local Cartesian coordinate system being REVE associated with the interferometric frame The two 7 angles are measured using a 3D interferometric scheme and distance is measured using transit time assuming a measured celerity celerity is measured Y by each Base on demand and can also be set by user to a specific value A biaxial inclinometer measures unit inclination up to 20 with an accuracy better than 0 1 The origin of the local coordinate system of a specific Base is the top hydrophone The picture on the right shows the coordinate system associated with the interferometric frame A point M is given by the distance d from the origin the azimuth angle in the horizontal plane the elevation angle 0 from vertical spherical coordinate system A locking pin allows rotation indexation when the frame is screwed on the Base hou
50. ect acoustic path between the Base and the Pointer this is an advantage compared to long baselines system which requires several free paths A mask may affect the accuracy and or stability of the measures or may simply vanish the acoustic wave The following rule of thumb must be followed keep at least one meter and a half clear from the direct virtual line between the Base and the Pointer as described below in gt 1 S tre PA NIER Seaf l oor Base to Pointer acoustic path requirement This value clearance distance is obviously Base to Pointer distance dependant The choice of the Base location is one of the most critical steps of the system set up AQUA METRE R300 R3000 User Manual Page 11 95 Doc N 0112 801 011 www plsm eu 2 2 4 Operational area Warning the interferometric frame does not allow proper measurement in the blind area described below Operational Description of the operational and blind area The measurements taken in this area may be affected by inaccuracy The maximum recommended distance from the Base is 150 meters 300 metres area diameter even if the system may still operate up to 200 250 meters in case of good acoustic propagation conditions When using the system make sure that the acoustic path conditions described before are met 2 2 5 Base stability and tilt If the measurement have to be gravity referenced meaning that local Z axis is vertical the initial Base tilt setting
51. ed from fesurtacel 12 3 AQUA METRE R300 R3000 potential mode of operation n nxxernnnnnnnvennnnnnnnvennnnnnnnvennnnnnnneennnnnnnn 13 3 1 Te Et Te EEE REE RE 13 32 offshore flange to flange metrology copnfgeuraton 14 3 3 Dam survey configuration AQUA METRE R300 rrrrrrrrrrrnnrrrrrrrrrrrvrnvvvrvrnnnnnnnnnnnnersrssrrrnnnvrssnnnnnnn 15 4 AQUA METRE R300 R3000 Base descriptiOn asnxxrnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnennnnnnennnnnnnnnnnnnnennnnnn 18 4 1 Tv 18 4 2 Base mechanical description edda Sonaisecansaonedaasnesiweansonsbocsscuadissaanids 19 42 1 Interferometric frame descriptiOn wics sesev cascasicceacasacnegeasddereoisacanedacdcaracwsessesenseedenetveranadacdeasessoes 20 4 2 2 AQUA METRE R300 Base electronic housing descrpton 22 4 2 3 AQUA METRE R3000 Base electronic housing descrpton 25 4 2 4 Interferometric frame and Base assembly R2OOUR2OO0O 28 4 3 Base electrical interfaces description OR 2OOUR2OO0 29 4 4 Re NE A A A 31 4 4 1 Base externally powered and connected to the serial link CM mode 31 4 4 2 Base in acoustic remote mode siscecioc sss dssevsencdenenccesacsscwadaseiniedane een Saaasdvideasiatesianasderssenas 32 5 AQUA METRE R300 Pointer description nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 34 5 1 Bo UT 34 52 Ponce dvs 35 5 2 1 AQUA METRE R300 Pointer electronic housing descrpton 35 5 22 AQUA METRE R3000 Pointer electronic housing description
52. en not able to initiate a capture CAPT 15 10 typed by user CM CM UNIT 10 NOT ABLE TO CAPTURE returned by unit 10 Refer to chapter describing report message for detail of content 8 2 2 5 INCL jj command This command allows measurement of two axis inclination of the unit Su jj between I and 31 The inclination report message is send back by the unit jj Example INCL 10 typed by user DAT INCLIN 10 X 09 45 Y 12 01 returned by unit 10 Where X is the angle between the X axis of the unit and the horizontal plane and Y the angle between the Y axis of the unit and the horizontal plane The angles are positive when the axis goes below the horizontal plane see illustration below In blue local geographic coordinate system with Y axis North oriented and Z axis vertical In red underwater unit coordinate system Inclination angles definition here Ax is negative and Or positive Note these angles are not mathematically equivalent to the definition of pitch and roll angles AQUA METRE R300 R3000 User Manual Page 63 95 Doc N 0112 801 011 www plsm eu 8 2 2 6 HEAD jj command This command allows measurement of magnetic north heading of the unit jj Gj between I and 31 The heading is measured from the X axis that is defined as the axis X after the single rotation angle iz in the space that makes the Z axis being vertical Z and Z are identical after this rotation 7 grr or
53. ese messages are usually send by the CM to a remote unit and are often followed by the answer that is normally a data DAT message This request messages are not reported by the CM because they are send by it but they can be reported by a passive listen only secondary CM unit All messages that start with DAT are data messages These messages carry information and are generally send as an answer to request messages All messages that start with SET are setting messages These messages set some parameters of remote units These messages are usually send by the CM to a remote unit and are often followed by the answer that is normally a data DAT message This request messages are not reported by the CM because they are send by it but they can be reported by a passive listen only secondary CM unit All messages that start with MSG are information messages These messages carry state of the unit NOISE DEMOD ERR Demodulation error or incoming noise on CM receiver INTERR PNT jj Reports an interrogation of unit jj REQ CAPT PNT jj FROM BASE nn Reports a capture request of Pointer jj using Base nn COORD PNT jj Reports the coordinates measured of the Pointer jj following an interrogation EG gin wee EE weder PA REQ V BAT jj Reports a request of batteries voltage of unit Zu REQ TEMP jj Reports a request of internal temperature of unit Zu REQ REC LEVEL jj Reports a request of measured receive
54. ften try to increase the receiver threshold example NOISE DEMOD ERR 8 2 4 2 INTERR PNT jj report message This message is reported by CM when an interrogation is send to the unit Zu jj between 1 and 31 included It is also a confirmation that the Base that interrogates has received the capture request message Example INTERR PNT 10 AQUA METRE R300 R3000 User Manual Page 74 95 Doc N 0112 801 011 www plsm eu gt SM 8 2 4 3 COORD PNT jj report message This message is reported by the unit that performed the capture interrogation of unit jj coordinates computations and emission of coordinate message Example COORD PNT 10 AZ 182 32 EL 95 37 DIST 012 368 where AZ is the azimuth angle in degrees of the unit jj in the local coordinate system of the Base unit refer to interferometric frame geometry definition 000 00 lt AZ lt 359 99 EL is the elevation angle in degrees of the unit jj in the local coordinate system of the Base unit refer to interferometric frame geometry definition 000 00 lt EL lt 179 99 EL is the distance in metres of the unit Zu in the local coordinate system of the Base unit refer to interferometric frame geometry definition 000 000 lt DIST lt 262 140 8 2 4 4 PARAM UNIT jj report message This message is reported by CM when a parameter message is send from the unit j jj between I and 31 included Example PARAM UNIT 10 C0 1487 36 HEA
55. g channels with more than 80 dB dynamic range each channel being associated with a dedicated interferometric capture unit with a digital phase metre allowing 1 resolution The top hydrophone also act as the acoustic emitter The driver allows power adjustment with at least 40 dB dynamic range up to about 25 watts peak power emitted power may be changed in case of very reverberant conditions Among sensors 3D compass M3XA from PNI Inc 2 axis inclinometer SCA600 from VTD temperature sensor 1 C accuracy mainly used for batteries charge Real Time Clock RTC with better than 20 ppm drift A 12 MIPS microcontroller manage the whole Base system A 2 MB flash memory holds the embedded software and calibration data The embedded software is fully field upgradeable using a standard PC and the RS232 serial link or infrared interface AQUA METRE R300 R3000 User Manual Page 18 95 Doc N 0112 801 011 4 2 Base mechanical description The Base is made of two main components the electronic housing with the masthead and the interferometric frame These two components have to be assembled before operation the interferometric frame being simply screwed on the top of the masthead Base configuration Frame connector not plugged This configuration is compact giving a good acoustical environment less affected by mechanical housing reflections AQUA METRE R300 R3000 User Manual Page 19 95 Doc N 0112 801 011 www
56. g is send to the unit j jj between 1 and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example SET SLEEP 10 8 2 4 19 SET THRESHOLD jj report message This message is reported by CM when a receiver threshold setting is send to the unit j jj between 1 and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example SET THRESHOLD 10 1 23 8 2 4 20 SET V EMI jj report message This message is reported by CM when an emitter voltage setting is send to the unit jj Qj between 1 and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example SET V_EMI 10 07 69 AQUA METRE R300 R3000 User Manual Page 78 95 Doc N 0112 801 011 www plsm eu DATA MESSAGES 8 2 4 21 DAT INCLIN jj report message This message is reported by CM when an inclination angles data is send from the unit Zu Qj between I and 31 included This message is often send after an inclination request Example DAT INCLIN 10 X 09 45 Y 12 01 returned by unit 10 Where X is the angle between the X axis of the unit and the horizontal plane and Y the angle between the Y axis of the unit and the horizontal plane The angles are positive when the axis goes below the horizontal plane see illustration below Y In blue local geographic coordinate system with
57. he front panel switches All functions are clearly separated switches and indicators are grouped by functions in separate coloured areas It is preferable to avoid applying the DC supply when the unit is not in use 6 1 2 1 Video overlay activation To activate the video overlay just switch it on then the ON indicator will be active red led The RX TX indicators report the internal serial COM port signals states and may be used to check dialog The In indicator green led is active when there is not video signal at the video input If a video signal is applied at the video input the In indicator will be off The video overlay is drive by the AQUA CAD software and does not require any other user attention When use of AQUA CAD is not expected user can drive the video overlay module by sending appropriate commands through the serial link The video overlay module included in the Surface Interface is a BOB3 unit from Decade Engineering USA www decadenet com with firmware version 3 3 The BOB3 user manual may be provided by PLSM please contact PLSM support The BOB3 support PAL or NTSC please choose the version suited to your need when ordering the AQUA METRE R300 configuration 6 1 2 2 ROV interface activation There is no switch to activate the ROV interface since it is directly powered when applying external DC supply to the unit AQUA METRE R300 R3000 User Manual Page 44 95 Doc N 0112 801 011 www plsm eu g
58. inal emulator the unit will then output the following messages Icharge 0 0 Pointeur AQUA METRE R3000 DISPO 032 Version Logiciel 302 Version Materiel 202 Num ro s rie 101 Mode 000 Adresse 10 Mode 0 CM TYPE TO ENTER MONITOR MODE Then type a question mark rapidly you have about 4 seconds in order to enter monitor mode Before it will activate the build in surface tests with the following messages being displayed Basse tension mission 7 75 Test du DAC et comparateurs Resultat test DAC 0 Mesure du seuil de reception Seuil Voie 1 0 51 V Seuil recepteur final 1 00 V Calibration du recepteur en phase Mesure Cap Cap mesure 263 8 deg Celerite par defaut 1500 m s Tension batteries 7 49 Fin de la calibration initialisation Code erreur 0 Code alerte 0 MONITOR MODE CM X The unit is then in monitor mode and able to execute monitor commands see chapter hereafter AQUA METRE R300 R3000 User Manual Page 31 95 Doc N 0112 801 011 www plsm eu SM Before entering in monitor mode the Base will beep two times if initialisation successful or just once if error or warning occurs These beeps are mainly dedicated to switch on in remote mode with dummy plug see next chapter If you did not enter monitor mode directly by typing the question mark when prompted the unit will enters sleeping mode after initialisation A wake up windows occurs for 2 seconds every 60 seconds and the following message
59. ing shallow water survey of underwater building typically dam survey Surface radio modem buoy with high capacity battery pack left Surface Interface with USB link below A surface interface to PC that includes the radio modem to communicate with the surface buoy and moreover a video overlay A T frame with Cardan joint to stabilize a reverse Base hanged from the surface These components are described later in this manual as well as the dam survey application where these components speed up the system set up and use Nota these accessories are compatible with R3000 version AQUA METRE R300 R3000 User Manual Page 7 95 Doc N 0112 801 011 www plsm eu gt SM 1 3 AQUA METRE R300 R3000 system configurations The AQUA METRE R300 R3000 configuration is made of at least one unit that acts as the Communication Master CM and is connected to the serial link up to the surface With only one unit lets say a Pointer it is possible to monitor heading and inclination of an underwater ROV or structure for instance in case of construction More sophisticated configuration will require two Bases and two Pointers like a full flange to flange connection metrology The configurations are not limited and may be adapted to specific needs contact PLSM engineers to get advice about the best configuration suited for your needs A typical ROV operated configuration could be as follow AQUA METRE R300 R3000 underwater
60. l M 75 HEX a 4 7 16 20 UNF 2A a 8 CONTACT STAINLESS STEEL Female bulkhead Pinout Signal Signal function function HYD1 4 connection to hydrophone 1 to 4 GND1 4 return ground path for hydrophone 1 to 4 There are separated ground path for each hydrophone in order to allow high cross channel isolation Use MCIL 8 MP connector from Impulse for interface cable AQUA METRE R300 R3000 User Manual Page 29 95 Doc N 0112 801 011 www plsm eu gt SM Interface connector JP2 description Type MCBH 8 FS type bulkhead see description and comment above Pinout Signal Signal function function RX RS0 TX_RSO RX TX signals of main serial port port 0 RS232 electrical level MAX232 interface this serial port is internally opto coupled to ensure proper isolation RX_RS1 TX_RS1 RX TX signals of ancillary serial port port 1 RS232 electrical level MAX232 interface this serial port is internally opto coupled to ensure proper isolation NOTE RX Ra or RX RSI are downlink and must be connected to TX line of the PC and TX RSO or TX RSI as uplink to the RX line of the PC cross Rxi Txi between two equipment GND RS signal return path for both serial ports EXT SUPPLY external supply used to powered the Base with following characteristics Voltage level between 12 and 34 Volts 24 Volts recommended Maximum current 300mA 12V input When external power is applied
61. ly plugging the Configuration cable male connector into the female buoy connector activates the surface Radio Modem Buoy 6 2 2 Surface Buoy charge Always use the charger delivered with the Surface Buoy P N 0108 500 xxx this charger is especially designed to charge the NiMh batteries pack included in the Surface Buoy 10 x 1 2V 9500 mA h NiMh cells The charger switches automatically from fast charge to trickle charge by detection of negative dV dT or maximum timeout for a total safety The charger male connector must be plugged first into the female buoy connector do not leave the configuration cable it will not allow charger to operate Plugging the charger male connector into the female Radio Modem Buoy female connector Then plug the charger in the main supply 100 240 VAC 50 63Hz different international plugs may be provided by PLSM Europe US CANADA UK A A green LED indicator on the charger indicates the charge completion status AQUA METRE R300 R3000 User Manual Page 48 95 Doc N 0112 801 011 www plsm eu 7 MiniPointer for AQUA METRE R300 This Pointer has been designed to address a large range of applications including light survey ROV like those used during dam survey Moreover the MiniPointer includes an accurate pressure gauge that is used to counter thermocline effects on vertical coordinate when using the AQUA METRE in fresh water lake river The MiniPointer like other R300 units
62. me on the operator s screen while simultaneously processed by a CAD software Generating only one Base to Transponder acoustical path the system is less sensible to reflection While a two unit system also means a fast and easy deployment Options include A licence free Radio modem link for Base to onshore equipments long distance communications 868 MHz for Europe or 915 MHz for CANADA USA A video module to overlay position data into the ROV video images NTSC or PAL format UHF ANTENNA UHF CABLE VIDEO IN VIDEO OUT p WE s S DN Gef AQUA METER RS232 LINK TO 7 USB INTERFACE ROV POINTER OPTIONAL RADIO MODEM BUOY T FRAME i 10 to 200m R UNDERWATER fb CABLE I MiniPointeur R300 d R300 BASE UNIT Dam survey configuration AQUA METRE R300 R3000 User Manual Page 15 95 Doc N 0112 801 011 www plsm eu SM System description for dam survey The basic system includes four components The MiniPointer and its hydrophone which must installed on the ROV The measurement Base which defined the reference point Cartesian coordinate 0 0 0 which position must be chosen in accordance with both the geometry of the underwater building to be investigated and the Aqua Metre 150 m range The onshore Interface Unit that feeds the Base and interfaces it with the computer PC dedicated to the positioning operations The PLSM AQUA CAD software package installed in this P
63. mit an audible tone using the top hydrophone and enter a sleeping mode waiting for incoming acoustic PING wake up message Power consumption in sleeping mode is lowered allowing several days of autonomy 5 4 Pointer switch on Identical to Base please refer to chapter dedicated to Base switch on AQUA METRE R300 R3000 User Manual Page 39 95 Doc N 0112 801 011 www plsm eu 6 Surface buoy and surface interface description The surface buoy and surface interface are optional but useful devices when operating the CM directly from the surface They are dedicated to shallow water then more oriented to AQUA METRE R300 applications even if they are compatible with R3000 version due to the same electrical and mechanical interface between these two versions The surface interface is a powerful device that includes a licence free radio modem to operate the CM up to 2 3 km away from the PC a direct cable interface to operate the CM up to 200 metres from the PC a ROV Pointer interface and a video overlay PAL or NTSC on demand This is the perfect tool for light survey operation by ROV The surface buoy is required when direct cable link with the CM is no allowed or not easy due to distance It includes the licence free radio modem as well as a high capacity battery pack in order to provide autonomy of one week 6 1 Surface interface description The Surface Interface is a versatile unit enclosed in a small 170x100x50 mm aluminium h
64. must be lower than 15 from vertical in order to allow the compensation by internal inclinometer The dynamic oscillation of the Base must be limited to 2 cm peak to peak and the maximum frequency of oscillation limited to 1 Hertz If it is not expected to reference the measurement to gravity and then work in pure relative mode then there is no Base position constraint But Base stability will directly affect the final accuracy and must be compensate by external MRU Motion Reference Unit if necessary 2 2 6 Base reversed hanged from the surface It is also possible to get gravity referenced measurement meaning that local Z axis is vertical when the Base is reversed and hanged from the surface however the initial Base axis tilt setting must again be lower than 15 from vertical in order to allow the compensation by internal inclinometer A specific Base parameter has to be set in order to indicate the reverse position see description later in this manual then the internal coordinate compensation routine compute the final coordinate with Z axis being always vertical The dynamic oscillation of the Base remains limited to 2 cm peak to peak and the maximum frequency of oscillation limited to 1 Hertz PLSM offers a specific frame structure with a Cardan joint in order to attenuate the oscillation keeping the rotation unchanged AQUA METRE R300 R3000 User Manual Page 12 95 Doc N 0112 801 011 www plsm eu 3 AQUA METRE
65. n 80 dB dynamic range this channel being associated with a dedicated capture unit with a digital phase metre allowing 1 resolution The single hydrophone also act as the acoustic emitter The driver allow power adjustment with at least 40 dB dynamic range up to about 25 watts peak power radiated power is automatically reduced depending on distance between Base and Pointer after first measurement obviously Among sensors 3D compass M3XA from PNI Inc 2 axis inclinometer SCA600 from VTD temperature sensor 1 C accuracy mainly used for batteries charge Real Time Clock RTC with better than 20 ppm drift to be confirmed A 12 MIPS micro controller manages the whole Base system A 2 MB flash memory holds the embedded software and calibration data and also gives the capacity to store measurement data if needed The embedded software is field upgradeable using a standard PC and the RS232 serial link AQUA METRE R300 R3000 User Manual Page 34 95 Doc N 0112 801 011 www plsm eu SM 5 2 Pointer mechanical description The Pointer mechanical housing is very similar to the Base The single hydrophone just replaces the small Frame mast A specific hydrophone mast including a spring prevents the hydrophone from being hurt There is also a polyurethane over moulded protection to protect it 5 2 1 AQUA METRE R300 Pointer electronic housing description The Pointer is described below Hydrophone with over moulded
66. nit then type to exit sleeping AQUA METRE R300 R3000 User Manual Doc N 0112 801 011 www plsm eu MONITOR MODE CM monitor mode 9 2 2 Build In Tests BIT functions During normal operation Built In Test functions BIT are activated when Base or Pointer are switched on There is then a specific start up tests procedure Some tests are also activated regularly batteries charge voltage for instance The results of BIT functions are summarised within two code numbers the warning code and error code Both are 24 bits long and also output as 6 hexadecimal characters from 0x000000 up to OXFFFFFF It is also possible to activate the BIT functions to check the Base or Pointer unit on surface Connect the unit for service with surface connection tool see chapter above When in monitor mode type the command LERR List of ERRor the warning and error list appears as follow MONITOR MODE CM d LERR type by user NBM A 57 returned by unit M A 00001 ERREUR 0 ALERTE 6008 returned by unit M A 00002 ERREUR 0 ALERTE 6008 returned by unit M A 00003 ERREUR 0 ALERTE 6008 returned by unit M A 00004 ERREUR 0 ALERTE 6008 returned by unit M A 00035 ERREUR 0 ALERTE 4008 returned by unit S end of command returned by unit The warning code includes all potential issues not critical for unit functionalities but that may affect accuracy and or limit some functions The error code includes
67. nit and activates the Vext indicator User may also use the ON OFF switch that switch the CM unit using the internal batteries this will then start the CM unit and activates the On Off indicator The CM unit will consume batteries energy as long as the ON OFF switch is on Do not switch both switches on simultaneously it will not damage the unit but the CM will still on even if external supply is removed and continue to work on batteries The RX TX indicators report the internal serial COM port signals states and may be used to check dialog AQUA METRE R300 R3000 User Manual Page 45 95 Doc N 0112 801 011 www plsm eu gt SM 6 2 Surface radio modem buoy description The surface radio modem buoy is intended where distance from host PC and CM unit may not be set up using a direct cable this may be due to excessive distance typically greater than 100 metres or by difficult site configuration In this case a radio modem link may be set up between a surface buoy itself connect to the CM through an underwater cable and the Surface Interface previously described 5 metres coaxial cable Radio modem Buoy Configuration 10 to 200m Underwater Cable R300 Base Unit Configuration when using a radio modem link The distance between the surface buoy and the Surface interface antenna may be as far as 3 km providing that direct line of sight is provided at least 500 metres in case of masked path The radi
68. nity is metre per second m s between 1200 and 1800 m s 8 2 4 24 DAT DISPO jj amp WARNING report message This message is reported by CM when a warning status data is send from the unit Zu Gj between 1 and 31 included This message is often send after PING to unit jj Example DAT DISPO 10 0x20 WARNING 0x000000 returned by unit 10 where Dispo code is the device code 0x10 for D3000 Base and 0x20 for a D3000 Pointer and warning code includes all warnings set during the last initialisation to be listed later Note all warning codes are also stored in flash memory and can be read using the AQUA TOOL or AQUA CAD software AQUA METRE R300 R3000 User Manual Page 80 95 Doc N 0112 801 011 www plsm eu gt SM 8 2 4 25 DAT DISPO jj amp ERROR report message This message is reported by CM when an error status data is send from the unit jj jj between I and 31 included This message is often send after PING to unit jj Example DAT DISPO 10 0x20 ERROR 0x000000 returned by unit 10 where Dispo code is the device code 0x10 for D3000 Base and 0x20 for a D3000 Pointer and error code includes all error set during the last initialisation to be listed later Note all error codes are also stored in flash memory and can be read using the AQUA TOOL or AQUA CAD software 8 2 4 26 DAT MEAS THRESHOLD jj report message This message is reported by CM when measured threshold data is send from
69. nium sleeve Bottom housing with indexation pin aligned with X axis Infrared interface window The electronic housing parts are made of plastic or hard anodised 7075 T6 aluminium The top cap supports the two connectors description hereafter one being connected to the interferometric frame AQUA METRE R300 R3000 User Manual Page 22 95 Doc N 0112 801 011 www plsm eu SM the other to the ROV interface or to a dummy plug in case of an acoustic remote unit It also support charge connectors 316L stainless steel Simply plugging the charge adaptor charges the batteries Batteries charge is fully managed by internal processor switched on when plugging the batteries charger and switched to steady charge state at the end of charge The bottom housing also acts as the mechanical interface for field and or ROV installation This interface is centered and an indexing hole lock the rotation allowing a perfect known offset from the interferometric frame then the local Cartesian coordinate system associated with the measurements Mechanical interface Drawing of the mechanical interface cross section appears below Lf keck s W I aS DAF od DW Se A I I ig G pr Referenc 0 0 0 origin e top frame Co RIE MIP Of Last 50 127 mm ol PO PO The origin of local coordinate system associated with the Ba
70. o modem is a licence free UHF type 868 MHz for European applications 915 MHz type for USA Canada and Australia The output power is limited to 500 mW peak Refer to the Surface buoy labelling for the precise characteristics and approval ID AQUA METRE R300 R3000 User Manual Page 46 95 Doc N 0112 801 011 www plsm eu Flotation foam Batteries nack U W Connector Go Attache rop The battery pack is sealed and cannot be changed by user contact PLSM for a battery pack renewal The flotation foam is a low density polyethylene type it is not intended for a permanent water sun exposure The U W connector is a MCIL 8 FS connector from IMPULSE it is recommended to lubricate it using silicon oil spray from 3M or equivalent do not use silicon grease The surface radio modem buoy must be connected to a small Male Female configuration cable onfiguration Cable Radio Modem Buoy Configuration cable This small cable is intended to switch on the Radio Modem and select the mode of operation wake up by radio for instance AQUA METRE R300 R3000 User Manual Page 47 95 Doc N 0112 801 011 www plsm eu The Surface Buoy can be linked to the CM unit using the basic 10 metres underwater cable provided by PLSM at delivery PLSM can also provide Male Female cable extension up to 100 metres it is not recommended to use a longer cable between CM unit and Surface Buoy 6 2 1 Surface Buoy activation Simp
71. oc N 0112 801 011 www plsm eu gt SM Example SLEEP 10 typed by user MSG UNIT 10 SLEEPING returned by unit 10 8 2 2 16 SETRT jj command This command sets the Receiver Threshold RT taken into account by unit Zu Gj between I and 31 A Receiver Threshold report message is send back by unit jj Example SETRT 10 1 2 typed by user DAT THRESHOLD 10 1 18 returned by unit 10 x Where The receiver threshold in Volts is always positive between 0 5 and 1 8 The returned value may differ from the setting because it is the actual measured value DO NOT SET THE RECEIVER THRESHOLD TO A TOO HIGH VALUE BECAUSE IT CAN MAKE THE UNIT BECOMING DEAF refer to chapter describing system set up for proper use of this command Refer to chapter describing report message for detail of content 8 2 2 17 SETVE jj command This command sets the emitter voltage of the unit Zu jj between I and 31 An emitter voltage report message is send back by unit jj Example SETVE 10 6 2 typed by user DAT V_EMI 10 06 10 returned by unit 10 x Where The emitter voltage in Volts is always positive between 00 0 and 12 00 The emitter voltage returned may be different because it is the actual measured value after setting Refer to chapter describing report message for detail of content 8 2 2 18 DCAPI jj nn command This command forces the dual capture of unit Zu and 4j 16 modulo32 jj between I and 31 Pointer or
72. of Pointer Zu using Base nn with inclination compensation 3 05 Q W Get the batteries voltage of unit Zu Get emitter voltage of unit Zu TEMP jj Get the internal temperature of unit jj el lt lt P Kal Fail Ei a 2 gt gt 2 ELEN wi Wy GW Q Cy O Heading magnetic north measurement of unit jj wi Wl QI QI Q D Cl O SLEEP jj Force the unit jj in sleeping mode SETRT jj Force the receiver threshold to be taken into account by unit jj SETVE jj Force the emitter voltage of unit ffjj 3 0 DCAPT jj nn 3 06 Dual Capture of Pointer jj and 4j 16 modulo 32 using Base nn without inclination compensation DCAPI jj nn Dual Capture of Pointer jj and 4j 16 modulo 32 using Base nn 3 06 with inclination compensation for both Pointers SETMOD jj Force the mode of operation of unit Zu 3 06 REQMOD jj Get the mode of operation of unit 3 06 Gel Sal Ce AQUA METRE R300 R3000 User Manual Page 60 95 Doc N 0112 801 011 www plsm eu 8 2 2 1 INIT jj command This command activates self tests and calibration of unit Zu between I and 31 If the unit is a Base it also activates sound celerity measurement In case of Pointer default celerity of 1500 m s is set Pointer does normally not use the celerity but it is expected to be used for future features like distance measurement by Pointer During the tests and calibration the unit jj sends the following report mess
73. often the CM that sends this request Example REQ HEAD 10 8 2 4 9 REQ PARAM jj report message This message is reported by CM when a parameters request is send to the unit j jj between I and 31 included This message is in fact rarely reported because this 1s often the CM that sends this request Example REQ PARAM 10 8 2 4 10 REQ CO jj report message This message is reported by CM when a sound celerity request is send to the unit j jj between I and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ C0 10 AQUA METRE R300 R3000 User Manual Page 76 95 Doc N 0112 801 011 www plsm eu gt SM 8 2 4 11 REQ THRESHOLD jj report message This message is reported by CM when a receiver threshold request is send to the unit Zu jj between 1 and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ THRESHOLD 10 8 2 4 12 REQ V_EMI jj report message This message is reported by CM when a emitter voltage request is send to the unit Zu jj between 1 and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ V_EMI 10 8 2 4 13 REQ V_BAT jj report message This message is reported by CM when a batteries voltage request is send to the unit Zu jj between 1 and 31 included This message i
74. ointer hydrophone will always be in line of sight from the Base If masked by the ROV flotation the MiniPointer will not operate or may lead to erroneous measurements in order to use the internal compass the MiniPointer must be installed vertically MiniPointer Z axis being vertical with the MiniPointer X axis oriented to the forward ROV direction see Chapter 7 2 for an explanation of Z and X MiniPointer axis 7 4 MiniPointer Charge In active mode the MiniPointer autonomy is around 14 hours more than a full working day Then when operated on batteries it is recommended to charge the batteries at the end of the working day The charger is made of two parts the charger interface a and the AC DC adaptor b To charge the batteries of the MiniPointer make sure the AC DC adaptor is not powered not plugged in the wall plug plug the charge interface MCIL8 MP type of connector in the bottom bulkhead connector of the MiniPointer if not already done plug the DC connector in the charge interface AQUA METRE R300 R3000 User Manual Page 55 95 Doc N 0112 801 011 www plsm eu then power the AC DC adaptor and check that the green LED 1s activated after 1 or 2 seconds wait about 15 seconds then the yellow LED will flash few times indicating the charge is in progress Charge Status During the batteries charge the yellow LED flashes every 30 seconds indicating the charge process Status 1 shor
75. ousing Surface Interface for AQUA METRE R300 It includes four functions A radio modem unit to interface with Surface buoy see next chapter A video overlay module PAL or NTSC on demand An interface to ROV using RS232 or RS 485 A direct cable interface to CM unit AQUA METRE R300 R3000 User Manual Page 40 95 Doc N 0112 801 011 www plsm eu SM These functions are interfaced to the host user PC using a USB to serial COM port converter then each function may be addressed independently through virtual Windows COM ports then accessible with a simple terminal emulator up to the AQUA CAD software from PLSM User can also build is own interface or adapt it to is current ROV environment The Surface Interface synoptic appears below RS485 232 from ROV DB9 male Video in out 2x BNC female UHF Antenna TNC female Cable to CM 8 pins MCBH 8FS SS bulkhead Surface Interface Synoptic 6 1 1 Surface Interface rear panel description The rear panel with all interface connector is described hereafter gp zz Base Foinier Ss direct link UNF 0 Antenna JP1 Power supply AQUA METRE R300 R3000 User Manual Page 41 95 Doc N 0112 801 011 www plsm eu gt SM 2 5 mm DC plug in centre 10 to 36 Volts maximum 10 VA depending on functions activated JP2 USB plug USB type B connector USB1 1 type interface the unit is not powered by USB JP3
76. polyurethane protection Stainless steel flexible spring Interface connector _ m Cam mi i H Top cap with aluminium sleeve Electronic housing PVC tube Bottom housing with aluminium sleeve AQUA METRE R300 Pointer description AQUA METRE R300 R3000 User Manual Page 35 95 Doc N 0112 801 011 Mechanical interface www plsm eu Drawing of the mechanical interface cross section appears below Lf we ee S 9 gj EH DV SL 4 p 2 4 le z j Referenc SE Up ER Origin 4 e r g w U S Pointer Sg d Es S FULT GE EE V Ke op SIS 5 0 be 430 mm U eat PL L The actual point of measurement associated with the Pointer is located 430 mm above the reference surface 430 mm from reference surface of mechanical interface to the centre of the Pointer hydrophone actual point of measurements AQUA METRE R300 R3000 User Manual Page 36 95 Doc N 0112 801 011 www plsm eu 5 2 2 AQUA METRE R3000 Pointer electronic housing description The AQUA METRE R3000 Pointer description appears below Hydrophone with over moulded polyurethane protection E Stainless steel flexible spring Interface connector i Er s Top cap with plastic sleeve Electronic housing aluminium tube Bottom housing with plastic sleeve AQUA METRE R3000 Pointer des
77. process includes interrogation of unit Zu by unit nn providing that unit nn is a Base computation of angles and distance by unit nn and emission of coordinate message from the unit nn The interrogation message is reported by the CM except if the Base which interrogates is also the CM and if capture successful the coordinate message also In case of capture failure a capture error message is reported Example when capture successful CAPT 10 typed by user INTERR PNT 15 returned by unit 10 AQUA METRE R300 R3000 User Manual Page 61 95 Doc N 0112 801 011 www plsm eu gt SM COORD PNT 15 AZ 105 32 EL 90 87 DIST 167 564 returned by unit 10 Example when capture not successful CAPT 15 10 typed by user MSG BASE 10 CAPT NO ANSWER returned by unit 10 X This last message occurs when Pointer do not answer Example when unit nn is not a Base then not able to initiate a capture CAPT 15 10 typed by user CM CM UNIT 10 NOT ABLE TO CAPTURE returned by unit 10 Refer to chapter describing report message for detail of content 8 2 2 4 CAPI jj nn command This command forces the capture of unit Zu jj between 1 and 31 Pointer or Base working in Pointer mode using the unit nn nn between I and 31 must be a Base the Base inclination is compensated in order to give Z coordinates along zenith axis The capture process includes interrogation of unit by unit nn providing
78. pter for detailed presentation of this command this command will give access to coordinates measurement of Pointer with reference to the Base interferometric frame In this configuration the CAPTURE command will be executed as follow AQUA METRE R300 R3000 User Manual Doc N 0112 801 011 Page 13 95 www plsm eu SM 1 command transmitted from the surface to the Master Pointer 2 addresses decoded and command transmitted acoustically to the Base if jj is a valid Base address 3 the Base receives the command and interrogates the Pointer address nn The Pointer reply and allows an interferometric 3D coordinates measurement which is transmitted back to the Master Pointer then back to the surface through the umbilical communication channel 3 2 offshore flange to flange metrology configuration This is the typical configuration envisaged for flange to flange metrology where distances and respective orientation angles are required to produce the final spool piece Using a single Base does not give access to the full set of required angles and distance then two Bases are used one attached to each flange Base 1 and Base 2 for instance The Communication Master is a Pointer with address 3 for instance and will be attached to the ROV like in previous configuration The original feature is that each Base acts as Base and Pointer simultaneously a Base is able to act as regular Base or Pointer if needed but a
79. r level of unit Zu REQ INIT jj Reports a request of initialisation of unit Zu REQ V_EMI jj Reports a request of emitter voltage of unit jjJ SET CO jj Reports a celerity setting for unit Zu SET SLEEP jj Reports a sleeping mode activation for unit jj SET THRESHOLD jj Reports a receiver threshold setting for unit jj SET V_EMI jj Reports a voltage emitter setting for unit Zu AQUA METRE R300 R3000 User Manual Page 73 95 Doc N 0112 801 011 www plsm eu Reports device code and warning status of unit Zu a Reports activation of sleeping mode for unit 21 PARAM UNIT jj Reports parameters of unit jj COORD PNT jp Reports coordinates of unit jj 8 2 4 1 NOISE DEMOD ERR report message This message is reported when a demodulation error occurred in the CM acoustic receiver This may be due to the reception of a real acoustic message in very reverberant environment which leads to demodulation error It also may come from an incoming acoustic noise or induced electrical noise IMPORTANT When initialisation of an underwater Base unit occurs it will induce the NOISE DEMOD ERR message when trying to measure local celerity it is normal and last for about one minute or less A NOISE DEMOD ERR message may also be displayed after an interrogation message due to unit acoustic answer short multi frequencies pulse not interpreted as a message Except for the above reasons if this message is displayed too o
80. real time interface to Intellicad range of CAD tools The simplest AQUA METRE system configuration able to measure 3D coordinates underwater is made of at least two main components The measurement Base which constitutes the local reference Cartesian coordinate system 0 0 0 At least one Pointer which replies to Base interrogations R300 regular Pointer left and R300 Base right frame connector unplugged Basically the system is dedicated to 3D measurement of Pointer s location in the local coordinate system s defined by the Base s The AQUA METRE R300 R3000 allows a very flexible system configuration made of several stand alone units a unit is a Base or a Pointer all units communicate using acoustic messages one unit allows underwater system management from surface through a serial data link RS232 compatible This specific unit that can be any Base or Pointer is called the Communication Master CM later in this manual AQUA METRE R300 R3000 User Manual Page 6 95 Doc N 0112 801 011 www plsm eu 1 2 Accessories specific to the AQUA METRE R300 PLSM offers since end 2004 new AQUA METRE R300 components to extends the system versatility for shallow water operation among them Specific light MiniPointer for survey by ROV this Pointer including a precision depth gauge bh A D lt J SE See Pointer specific to light ROV survey Surface radio modem buoy to interface a remote hanged Base dur
81. rrrnnnnnnnneerrrrrrrrrrrrrrnnnnn 89 922 Buildin Tests BIT funcions eege 91 923 BP PPT 91 9 2 4 Base or Pointer embedded software update 92 10 SPENNE canpa E re ne ere eee eee oer ee emer nore ese ae eenen 93 11 ENN 94 12 POO CN EEE EN MP NE 95 12 1 Ee EE 95 122 Pressure to water depth Convergion baein dini eniaint a ieii kaaria tannin ia 95 AQUA METRE R300 R3000 User Manual Page 5 95 Doc N 0112 801 011 www plsm eu 1 AQUA METRE R300 R3000 presentation 1 1 AQUA METRE R300 R3000 basic configuration The AQUA METRE R300 R3000 is a local underwater positioning system based on an acoustical interferometric scheme mainly known as Ultra Short Base Line or USBL It is particularly well suited to accurate local 3D locating within the range of up to 150 metres 500 feet from the reference point the Base The system may be ROV operated and managed from the surface using acoustical networking features The AQUA METRE R300 is dedicated to shallow water operation down to 300 metres like dam survey for instance the AQUA METRE R3000 has been designed for deep offshore metrology The two systems are compatible as far as electrical and mechanical interface are concerned The R3000 only differs by an aluminium housing instead of plastic and modified battery charge scheme to avoid external plugs They also share the same set of commands monitor commands and acoustic commands Both may be operated using the AQUA CAD software that allows
82. rumentation com if you don t have the right plug During the battery charge the battery led twinkle about every 30 seconds indicating the charge processing step 1x red 5x green Charge in progress about 80 CH 2x red 4x green Charge in progress about 65 Ee 3x red 3x green Charge in progress about 50 4x red 2x green Charge in progress about 30 5x red 1x green Charge in progress about 15 6x green Charge completed steady charge AQUA METRE R300 R3000 User Manual Page 85 95 Doc N 0112 801 011 www plsm eu 0 0 0 AO OW 6x red Charge error When the charge is completed the system automaticaly reduce the current to a steady charge thus it is recomended to unplug the battery charger even if there is no risk of batteies dammage Then the base will shut down automatically In case of charge error cycles of 6 red twinkling lights unplug the battery charger and have the base rest for at least two hours Then try again the battery charge The battery charge error may come from over temperature greater than 40 excessive charge duration more than 12 hours or a too high batteries voltage DO NOT PLUG A CHARGER NOT DEDICATED TO THE AQUA METRE R300 THIS MAY DAMAGE THE UNIT Advanced users it is possible to get batteries charge status using the infrared link and a PC with a terminal emulator like hyperterminal of Windows 9600 N 1
83. s in fact rarely reported because this is often the CM that sends this request Example REQ V_BAT 10 8 2 4 14 REQ TEMP jj report message This message is reported by CM when a internal temperature request is send to the unit jj jj between I and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ TEMP 10 8 2 4 15 REQ REC LEVEL jj report message This message is reported by CM when a receiver level request is send to the unit Zu jj between I and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ REC LEVEL 10 8 2 4 16 REQ INIT jj report message This message is reported by CM when an initialisation request is send to the unit j jj between I and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example REQ INIT 10 AQUA METRE R300 R3000 User Manual Page 77 95 Doc N 0112 801 011 www plsm eu SETTING MESSAGES 8 2 4 17 SET CO jj report message This message is reported by CM when a sound celerity setting is send to the unit Zu jj between I and 31 included This message is in fact rarely reported because this is often the CM that sends this request Example SET CO 10 1489 36 8 2 4 18 SET SLEEP jj report message This message is reported by CM when a sleeping mode activation settin
84. se and Interferometric frame is located 727 mm above the reference surface In other word the reference surface 18 located at z 0 727 m according to origin of local coordinate system associated with acoustic measurements 727 mm from reference surface of mechanical interface to the centre of the top hydrophone origin of measurements AQUA METRE R300 R3000 User Manual Page 23 95 Doc N 0112 801 011 y www plsm eu SM A bottom aluminium sleeve is also delivered in order to facilitate mechanical interface production This sleeve drawing appears below D 4 2 SN 2x45 X ss En 49 0 NNN Q e SSS SASSASSS AN kg SSES 100 0 Bottom sleeve drawing AQUA METRE R300 R3000 User Manual Page 24 95 Doc N 0112 801 011 www plsm eu 4 23 AQUA METRE R3000 Base electronic housing description The AQUA METRE R300 mechanical housing appear below RS i Interferometric frame thread M10 W Interferometric frame base plate E Main housing hard anodised aluminium Bottom sleeve thread for mechanical interface The main differences compared to R300 version are hard anodised aluminium housing instead of plastic plastic DELRIN sleeves instead of aluminium no specific charge connector charge through interface connector no led indicator nor infrared interface The electronic housing parts are made of hard anodised 7075 T6 aluminium The top
85. sing This pin indexation is associated with the X axis positive direction and is also aligned with the bottom mechanical interface see chapter describing Base and Pointer mechanical housing Rotation lock pin Warning The precise geometry of the interferometric frame guarantees the accuracy of the system It is very important to prevent frame from being hurt Any deformation of the frame may definitely affect the accuracy by introducing bias error AQUA METRE R300 R3000 User Manual Page 10 95 Doc N 0112 801 011 www plsm eu gt SM 2 2 System constrains and limitations 2 2 1 Minimum depth The system required at least 5 meters depth to operate well in this case the A interferometric frame must be set up at mid depth i e 2 5 meters GE If operated in no more than 5 meters deep the accuracy may be affected by severe multipath environment when distance from i ee A BASE Base to Pointer exceeds 30 meters To A operate well up to 150 meters the system EN 1 meter requires at least 20 meters deep minimum minimum When measuring coordinates near seafloor make sure that the Pointer is operated with Yy Uy a minimum vertical offset of I meter 2 2 2 Maximum depth The R300 maximum operating depth is 300 metres The R3000 maximum operating depth is 3000 metres maximum hydrostatic pressure 350 bars 2 2 3 Acoustic path To operate the AQUA METRE R300 R3000 requires a dir
86. t SM The RX TX indicators report the internal serial COM port signals states and may be used to check dialog 6 1 2 3 Radio modem activation Before any radio modem activation make sure that the antenna is connected on the rear panel through the coaxial cable direct connection of the antenna on the rear panel may induced RF power on the USB cable that may lead to USB error To activate the radio modem just switch it on then the ON indicator will be active red led The RX TX indicators report the internal serial COM port signals states and may be used to check dialog The In range is always activated because the AEROCOMM module included is set as server To check the radio modem use the surface buoy connected to the Base refer to chapter dedicated to Surface Buoy 6 1 2 4 Direct Cable link activation The direct cable link function can be used when short distance between the host PC and CM unit is expected typically less than 100 metres In this case a cable fitted with two MCIL 8 MP IMPULSE connectors can be used to connect the CM unit Base or Pointer to the Surface interface The CM can then be powered by the Surface interface recommended but also just switched ON using the internal batteries Cable with two MCIL 8 MP male connector from IMPULSE Configuration when using a direct cable link To power the CM unit just switch the Vext switch on Vext like external Voltage this will then start the CM u
87. t 100 to 250 VAC 50 to 63 Hz charge duration lt 12 hours managed by software Serial Data link RS232 compliant ESD protected Environment Depth down to 300 meters salt or fresh water for R300 version 3000 metres for R3000 version Operating charge temperature OG to 40T Storage temperature 30T to 700 AQUA METRE R300 R3000 User Manual Page 93 95 Doc N 0112 801 011 www plsm eu 11 Carrying case A basic system including one Pointer and one Base is delivered in a PELICAN 1620 case a special custom protection foam prevents them from being hurt AQUA METRE R300 in PELICAN 1620 case This case is fitted with rollers to facilitate system manoeuvrability The overall dimensions are 65 cm x 45 cm x 35 cm length x width x height Total weight with the case is less than 20 kg for the R300 version and 22kg for R3000 AQUA METRE R300 R3000 User Manual Page 94 95 Doc N 0112 801 011 www plsm eu 12 Appendix 12 1 Pressure definition The pressure measured by the ROV Pointer gauge is output in bar One bar equal 10 Pa Pa Pascal I Newton m One bar is equal to 10 Newton per cm One psi equal 0 6895 Newton per cm One bar 14 5038 psi 12 2 Pressure to water depth conversion The following equation gives the water depth h in metre function of the measured pressure P in bar water relative density d 1 0 for fresh water at 4 C and local acceleration due to gravity g in metre per second
88. t flashs Charge in progress about 10 2 short flashs Charge in progress about 20 3 short flashs Charge in progress about 40 4 short flashs Charge in progress about 60 5 short flashs Charge in progress about 80 6 short flashs Charge completed When completed the charger process switches to steady charge then no risk for the batteries when you leave the charger activated for a long time AQUA METRE R300 R3000 User Manual Page 56 95 Doc N 0112 801 011 www plsm eu gt SM 7 5 ROV Pointer serial link protocol amp commands 7 5 1 Interface description The interface is a RS232 serial communication line with 3 wires TX RX and Ground with the following characteristics Baud rate 9600 Baud Data length 8 bits Parity none Start bit 1 value 1 Stop bit I value 0 This serial port is internally opto coupled to ensure proper isolation ground loop Handshaking every character send to the ROV Pointer unit will be echoed no other protocol are expected due to the low average data rate less than 50 bytes per second modern PC have large serial COM buffer typically 1024 bytes allowing several seconds without missing message It is then possible to control the ROV Pointer using a simple terminal emulator terminal exe or hyperterminal exe of windows package This feature is especially useful when checking and or servicing the units 7 5 2 Monitor commands description 7 5 2 1 Monitor mode When s
89. tallation on ROV sccccscancscncacscacestsvasvecnsacas sasencaseosnnrdssdbocevatasncmandpeaasecaucsecddbosaxecesncstes 55 7 4 E re Seel E 55 7 5 ROV Pointer serial link protocol amp Commandes 57 L ST 732 Monitor commands GESCH PION ssen 57 7 5 2 1 MN 57 AR List of specific ROV Pointer Monitor Commande 57 8 CM serial interface protocol R300 R3000 anrnnnnnnrnnnnnnennnnnnennnnnnnnnnnnnnennnnnnennnnnnennnnnnnennnnnnennnnnn 59 8 1 Interface description serial port Q usnuuasmnmmndanden im denmenidnji iymenaniskusdrevenddete 59 8 2 Monitor commands e E 59 8 2 1 leren ege ee 59 822 Leis OF Monitor Commands EE 60 6 2 2 1 INIT NNN 6l 6 2 22 FPC ITOO E 6l 8 2 2 3 CAPT jj nn commande 6l 8 2 2 4 CT 62 8 2 2 5 INCL NN 63 8 2 2 6 Eege 64 S202 VBAT command EE 64 8 2 2 8 VENT CO see 65 6 2 2 9 TEMP jj command EE 65 8 2 2 10 VPN NN 65 8 2 2 11 REORT jj commande 65 8 2 2 12 REOMT commande 66 8 2 2 13 PARAM Jf Orm soei EEEE EEA EE EEA geed 66 8 2 2 14 FIT NN 66 6 2 2 15 VEPS 66 8 2 2 16 SETRT J command imeisessarassrevsnvsnrsnanesensvvnnsnnnnsvavnevvansnnnevavasevnsnnnsnvavssesnevnnseensasevsssnnseee 67 e EE K NN EE 67 8 2 2 18 DION EE EH 67 8 2 2 19 DCAPT J nn commande 69 8 2 2 20 SETMOD J nn commande 69 8 2 2 21 REOMOD jj command sad 69 SEE LCM CG ANG EEE T EE 70 6 2 3 1 ADDGCHG 31404000 EE 70 G22 GE MOB Nede 70 8 2 3 3 DN EG REE EEE 71 8 2 3 4 ET CONO U e E ess ence ase ee 71 8 2 3 5 MODECHO commande 72 8 24 List
90. the Base unit to confirm that the batteries charge started Note The battery charge adapter may be fitted with different plug adaptors to be used in several countries Europe US UK Australia Please contact PLSM support plsm instrumentation com if you don t have the right plug During the battery charge the unit beeps about every 30 seconds indicating the charge processing step 5 short bips Charge in progress about 80 4 short bips Charge in progress about 65 3 short bips Charge in progress about 30 2 short bips Charge in progress about 15 1 short bips Pre charge in case of deep discharge 1 long bips Charge error When the charge is completed the system automaticaly reduce the current to a steady charge thus it is recomended to unplug the battery charger even if there is no risk of batteies dammage Then the base will shut down automatically In case of charge error unplug the battery charger and have the unit rest for at least two hours Then try again the battery charge The battery charge error may come from over temperature greater than 40 excessive charge duration more than 12 hours or a too high batteries voltage DO NOT PLUG A CHARGER NOT DEDICATED TO THE AQUA METRE R3000 THIS MAY DAMAGE THE UNIT 9 1 4 Base Pointer connector maintenance R300 R3000 Before plugging the electrical connector make sure that no dust nor any solid particles can be entrapped inside the socket The use of ele
91. tion message through acoustic MODROV 0 blank between MODROV and 0 to deactivate the mode MODROV 1 blank between MODROV and 1 to activate the mode This setting is saved in non volatile memory then used until next setting When active the Pointer will send a navigation message through the acoustic each time it is interrogated This is a way to get these navigation data without any electrical link with the Pointer The message is received and reported by the CM unit The navigation message is a quite long message then not easy to transmit in highly reverberant conditions it is why it is recommended to use a serial link to report navigation data from the ROV Pointer The navigation message is reported by the CM as follow also described in chapter 8 DAT ROVNAV xx HEAD yyy yy PRE 2z zzz Where xx is the address of the Pointer yyy yy is the ROV Pointer heading from 000 00 to 359 99 ZZ ZZZ iS the static pressure measured in bars For instance DAT ROVNAV 06 HEAD 158 23 PRE 12 758 Please refer to appendix to find how to transform pressure in bars to water depth AQUA METRE R300 R3000 User Manual Page 58 95 Doc N 0112 801 011 www plsm eu 8 CM serial interface protocol R300 R3000 This chapter describes the protocol associated with Communication Master unit CM providing that CM unit is a R300 Base P N 0112 100 000 a R3000 Base P N 0114 100 000 R3000 Pointer P N 0114 200 000 or R300 Pointer
92. wever In this mode the unit wait for external incoming command through acoustic or serial link To wake up the CM unit just type question mark until sleeping mode exit This is possible during a time window of about 2 seconds every 30 secondes Thus me maximum time to unit wake up is 30 secondes If user switches the unit with the terminal already connected it is possible to jump directly to monitor mode without entering sleeping mode A message is displayed when the unit is switch on and allows user do it for 4 seconds Hereafter are described the Monitor commands send from surface through serial link Incoming command from acoustic link are not described here because not directly accessible to user The CM unit also reports all incoming acoustic messages on the serial link All report messages are described hereafter AQUA METRE R300 R3000 User Manual Page 59 95 Doc N 0112 801 011 www plsm eu P sm 8 2 2 List of Monitor Commands The monitor commands list appear in the next table and are detailed along the next chapters Description from soft version D Initialisation test and full calibration of unit tj 3 a Z op O Zz O S 3 LUE O jj Test the presence and or wake up of unit tj CAPT jj nn Capture of Pointer jj using Base nn without inclination compensation 3 0 A 0 0 INCL jj Get the inclination angles X and Y axis angle from horizontal of unit Su 3 CAPI jj nn Capture
93. witched on the ROV Pointer performs initialisation and if no error encountered bips two times If powered by internal batteries it enters directly in sleeping mode waiting for wake up from the acoustic or RS232 link if connected If powered by an external supply it will just enters the monitor modes IMPORTANT FEATURE During first initialisation the ROV Pointer measures the static pressure and assumes that it is the static pressure at the surface All navigation messages reported including the current static pressure are referenced to this initialisation pressure Then switching on the ROV Pointer underwater will lead to an erroneous reference pressure then erroneous current static pressure Other INIT command will initialise the Pointer again but not the reference pressure again This was implemented to counter atmospheric pressure variation when working in high altitude lake Hereafter are described the Monitor commands that are specific to the ROV Pointer For other commands please refer to the chapter 8 describing monitor commands of R300 units 7 5 2 2 List of specific ROV Pointer Monitor Commands The monitor commands list appears in the next table and are detailed below Command Description MODREP Command to force Pointer acoustic answer MODROV Command to allow navigation message to be reported by acoustic AQUA METRE R300 R3000 User Manual Page 57 95 Doc N 0112 801 011 www plsm eu gt SM 7 5
94. xternal power supply is applied it switches the MiniPointer on no need to use ON OFF pin in this case ON OFF a short circuit between ON OFF and GND pins switches the MiniPointer on using internal batteries PLSM offers ON OFF plug for the MiniPointer DO NOT short ON OFF and GND when you want to supply the MiniPointer using an external power supply it will put it in charge mode GPI opto isolated general purpose digital input 0 5 V maxi the state of this input may be read and transmitted by acoustic Return path is the GND_RS pin GPO sortie num rique 0 5V opto coupl es l tat de cette sortie 0 ou 1 peut tre lue et ou modifi e par commande acoustique Le signal de retour est GND_RS broche 1 Recommended Connector for the Interface amp Power Type MCIL8 MP from IMPULSE MCIL8 MP Connector locking sleeve not shown AQUA METRE R300 R3000 User Manual Page 53 95 Doc N 0112 801 011 S ki S 3 I characteristics Ica ter mechani In iPo Min 7 2 5 3002 106 GIR CHA UI IP O 4Ha ME S i el E OS SUOISUSWIK SHIA AS dA FIA NOYSA0O USLUIOGIUllA OVSHA Wd 4 BHAA 438 dW fv Een al Page 54 95 AQUA METRE R300 R3000 User Manual Doc N 0112 801 011 www plsm eu 7 3 MiniPointer Installation on ROV When installed on a ROV two main constraints must be kept in mind make sure the MiniP

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