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Kongsberg Seapath 200 Position Sensor Installation Manual

1. 42 Seatex Seapath 200 Installation Manual rev 9 Appendix A Installation worksheet 5 APPENDIX A INSTALLATI ON WORKSHEET Vessel Vessel Geometry Vessel Dimension Length m Centre of Gravity CG Location From CG to AP Aft Point m From CG to CL Centre Line m From CG to the Keel m positive forward of CG positive to starboard of CG positive below CG Vessel Description Vessel Data Vessel Type and Name Country of Origin Management Manager Phone Number Seapath Seapath Owner Seapath Manager GPS Antenna Geometry Antenna Lever Arm from CG to Antenna 1 X m positive forward of CG Y m positive to starboard of CG Z m positive below CG 43 Seatex Seapath 200 Installation Manual rev 9 Appendix A Installation worksheet GPS Antenna Processing Settings Height Aiding and SV Masking Aid Mode default Off Aided Height m default 0 Elevation Mask deg default 10 Range Rate Corrections RTK Search Mode default 2 enabled default 2 Normal GPS Reference Stations Only Stations G
2. 38 Installation drawings Seatex Seapath 200 Installation Manual rev 9 0 9q ponouddy RN q ubiseg abosn paxoayo d Oli alos 7 0u eH panss uonaefo4g ANTE Y enu E UBIS avog eH Y TIBI VN SOd mE juo 39 Seatex Seapath 200 Installation Manual rev 9 Installation drawings Sign Date ga A Date Xref e RO 40 uonduosaq Installation drawings IVISILVIA WIG 3dAL NAVN SOd LNY 4178947 OSI 39u Seatex Seapath 200 Installation Manual rev 9 DID Xi L Ko Si tay 41 Installation drawings Seatex Seapath 200 Installation Manual rev 9 ou Bumbag 18 qns eni ABM
3. ecce etna notet a se ae iode tte ed enne 84 Stop Antenna Callbraton nulo 85 Page 3 of GPS Antenna Configuration i 85 Edit Calibration Data odores Eee 86 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 Figure 61 Figure 62 Figure 63 Figure 64 Figure 65 Figure 66 Figure 67 Figure 68 Figure 69 Figure 70 Figure 71 Figure 72 Figure 73 Figure 74 Figure 75 Figure 76 Page 4 of GPS Antenna Configuration i 87 GPS Attit ude Progessn el 87 MRU Geometry ii 88 Step tof MRU Axis Orientation ana ae 89 Step 2 of Manual MRU Axis Orientation i 90 Step 3 of Manual MRU Axis Orientation 91 Positive offset angles rotations anna 921 Step 2 of Auto MRU Axis Orientation i 92 Step 3 of Auto MRU Axis Orientation eese eene nenne enne enne ennnee 93 MRU Heave Filtet viu ilaele 95 Measurement Pots eones 96 Common Host A A G A hei 96 Common Network Sins 97 Data Interface Input Configuration its 98 Serial Port SEINE ah cp ters ah Aerea ee aes 98 O 99 RTCM Format Decoding siii AI bp kai 99 Formats available for device type Gyro eese 100 Data Interface Output Configuration iii 100 NetWork Seit lies a Sais aea oou aam manta Aue aa diu UE 101 Analog SUING ss cose LE EE
4. unsigned short blkcrc unsigned char bufptr message buffer unsigned long len number of bytes unsigned char i unsigned short data unsigned short crc Oxffff if len OL return crc do for i 0 data unsigned short 0xff bufptr i lt 8 i data gt gt 1 if crc amp 0x0001 data amp 0x0001 cre crc gt gt 1 POLY else cre gt gt 1 while len cre crc data crc crc cre lt lt 8 data gt gt 8 amp Oxff return crc Fortran code SUBROUTINE blkcrc inbuffer len crc T INTEGER 2 len i bit INTEGER 4 crc data poly CHARACTER inbuffer poly 16 8408 crc 16 FFFF data 0 60 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath IF len EQ 0 THEN cre 0 RETURN END IF DO i 1 len data ICHAR inbuffer i i DO bit 1 8 data IAND data 16 FF IF IAND crc 16 01 EQ IAND data 16 01 THEN crc ISHL crc 1 ELSE Qro ISHE GP O L crc IEOR crc poly END IF data ISHL data 1 END DO END DO data IEOR crc 16 FFFF cre IOR ISHL data 8 IAND ISHL data 8 16 FF END 61 Seatex Seapath 200 Installation Manual rev 9 Appendix C Installation of coax connectors 7 APPENDI X C INSTALLATION OF COAX CONNECTORS ON SUPERFLEX CABLE Thi
5. 1 Hader Unsigned 1 90Hex Roll is positive with port side up Pitch is positive with bow up Heave is positive up The status byte can have the following values Interpretation Reduced performance Invalid data Invalid data are also indicated by values outside the specified ranges When the status is AO the values which are within specified ranges can be assumed to have valid but reduced quality 52 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath 6 5 Calibration format The calibration format is a columnar ASCII text format for use when calibrating the GPS antenna installation Format 0 0 86399 9 10 15 0 00 359 99 Baseline 26 31 mewes 3 Height 34 38 metres 2 Tem 39 40 CRIP Each record consists of numbers on ASCII format separated by spaces and terminated by carriage return and linefeed values 10 and 13 Leading spaces are used so the numbers are separated by two or more spaces and spaces may occur before the first number on the record Time is counted since last midnight UTC time Heading is true heading from the GPS phase measurement which is not the same as the heading output on the other formats Gyro heading is from an external gyro 0 00 if no gyro is connected Baseline is the slant range between the antenna centres from the GPS phase measurement Height is the height difference between th
6. 55 lever arm 26 echo sounder 52 57 light diode 25 editing 77 Electric 97 Load from file 105 EM1000 50 EM3000 51 M Manual setup 88 measurement points 94 108 Seatex Seapath 200 Installation Manual rev 9 misalignment 35 mounting angles 87 mouse pointer 76 MRU lever arm 87 MRU Mounting Wizard 87 multipath 11 N network 22 99 NMEA 47 NMEA messages 28 O offline mode 72 offset angles 90 Option 101 output 99 output of data 28 P parameter 77 parameter file 69 pitch 34 positive offset angle 89 power supply 25 PPS 22 printed out 106 Processing Unit 12 protocols 95 R range rate 80 RDI format 53 reference heading 85 reference station 27 80 reference system 29 repeater format 55 report 106 roll 34 RS232 20 RS 232 97 RS422 20 RS 422 97 109 Index S Safety 10 Save on file 104 SCC 67 serial 99 serial lines 20 Setup 26 70 Ship location 10 Station ID 81 Submetrix format 57 SV Masking 80 Synchronised 22 T Temperature changes 12 time tag 55 tolerance 30 tool buttons 74 TP cables 22 tune 92 U UDP 22 Upload 103 UTC 3 V vector 26 79 87 94 vessel 77 Vessel 3D View 75 Vibrations 12 Video Display Unit 13 25 View 73 W wiring 19 Wizards 73 Y yaw 35 91 Seatex Seapath 200 Installation Manual rev 9 Reader s comments Reader s comments Please help us t
7. alignment Is the process of adjusting the current internal navigation frame g h or b frame in the instrument to the true external frame antenna bracket Is the arrangement for mounting the GPS antennas antenna holder Is the arrangement on board the vessel for mounting the antenna bracket to attitude The orientation relative to the vertical axis of a vehicle Heading is not included If heading is included the word orientation for the vehicle is used heading The direction of the main axis bow direction of the vehicle as opposed to course which is the direction of motion of the vehicle Yaw angle as defined here is the same as heading heave The vertical dynamic motion of a vehicle and defined positive down Heave position and velocity are dynamic motion variables with a certain lower cutoff frequency host system In this manual defined as Navigation computers Dynamic Positioning Systems etc receiving data from Seapath pitch A rotation about the pitch axis is positive when the bow moves up Normally pitch means the dynamic pitch angle motion roll A rotation about the roll axis is positive when starboard side of the vehicle moves down Normally roll means the dynamic roll angle motion starboard When looking in the bow direction of a vehicle this is the right hand side of the vehicle yaw A rotation about the vertical axis is positive when turning Eastward Clockwise when the vehicle cruises in North direction Normally y
8. eese 20 3 42 3 Ethernet connection enisi pes ddaDidercts oes ot pact lieti 22 3424 IPPS signal connecting 22 3 4 2 3 Analog output a sk nn 23 3 4 2 6 Installation procedure irradia ii 24 3 4 3 Setup of configuration parameters enne ener 26 3 4 3 1 Lever arm vector determinations ii 26 345 2 AUG datdsas A Ni idees pieds 27 343 3 Serial data OUEDUL 2 222822 2 ie IE 28 3 43 47 Setup procedure ans 29 SAA O leale ario ne 29 3 4 4 1 Calibration of the GPS antenna installation sees 29 3 4 4 2 Typical calibration procedure eene 30 3 4 4 3 Calibration of MRU Axis gesehn 34 VII 4 INSTALLATION DRAWINGS iaia 37 5 APPENDIX A INSTALLATION WORKSHEET 2200000000000000000000000000000000000000000000 43 6 APPENDIX B OUTPUT PROTOCOLS FROM SEAPATH eeeeeeeeennne 47 6 1 NMEA formati a A i NT Un Pes a eu ore Ru le 47 6 2 Binary format 3 2er 50 6 3 Binary format Simrad EM1000 950 compatible seen 51 6 4 Binary format Simrad EM3000 EM300 and HiPap compatible 32 6 5 Calibration formal au Het lab 53 6 0 Echo sounder AA O A E E E 53 67 RDCADCP TO Malos iia 54 0 8 Binary formal ernste se eier ee 54 6 9 Lehmkuhl gyro repeater format scene 56 6 10 IPPS time tag NMEA ZDA message un rec oneri a denda dracone ees 56 6 11 IPPS time tag Trimble
9. 38 Page 2 of GPS Antenna Calibration Click the Back or Cancel button at any time if you want to stop the calibration process see the window in Figure 40 Accept to stop the calibration by clicking Yes or click No to continue Click Next during the calibration process will also bring up the stop window If accepted the calibration process will stop and the GPS Antenna Calibration page 3 appears 84 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC SCC Seapath Control Center e This will stop the calibration process Are you sure about this Figure 39 Stop Antenna Calibration e Click Next after the calibration process has finished and the wizard continues to page 3 GPS Antenna Calibration Wizard Page 3 e P GPS Antenna Calibration page 3 Step 5 HE DUE ibrati Number of S amples elow is the result of the antenna calibration measurements oie 5 Time Heading Gyro Baseline Height Diff sen Ponde 0 12346 00 150 01 171 27 2 490 0 940 1 12347 00 155 85 169 60 2 498 0 940 61 7 sec 2 12348 00 158 23 174 93 2 489 0 940 3 12349 00 157 11 170 27 2 435 0 900 pa ene 4 12350 00 150 81 167 29 2 487 0 910 er 5 12351 00 159 89 168 91 2 485 0 900 Delete line s B 1235200 150 09 167 56 2 507 0 930 7 1235300 156 02 172 14 2 488 0 930 Edit line 8 12354 00 154 51 167 04 2 483 0 930 3 12355 00 157 83 176 05 2 506 0 920 Revert to las
10. ROM into the CD or DVD drive on the local PC 2 From the Start menu select Settings Then select Control Panel and Install program Follow the instructions on the screen in order to complete the installation of the SCCSetup exe program 3 When the installation of files is finished the window shown in Figure 17 appears Choose to restart the computer now or later Click Finish and the setup is complete Remove the diskette SCC Seapath Control Center Setup InstallShield Wizard Complete The InstallShield Wizard has successfully installed SCC Seapath Control Center Before you can use the program you must restart your computer vant to restart my computer now No will restart my computer later Remove any disks from their drives and then click Finish to complete setup Back Finish Bancel Figure 17 Installation Complete 68 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 2 How to get started 8 2 1 Starting the program Power up Seapath if not already running Connect a null modem cable from a free serial port on the PC coml or com2 to the front panel connector on Seapath A null modem cable is delivered with Seapath Start Microsoft Windows Start SCC by double clicking on the SCC icon The Seapath SCC start window shows the software version and a rotating Seatex logo indicates a running application To continue click one of three butt
11. Unsigned 2 0 2 Roll rate 2 90degreesseccond Integer 2 2 2 Pitch rate 2 27 90degrees second Integer 2 2 2 Yaw rate 2 90degreessecond Integer 2 2 2 Statusword Bitfieds 2 Checksum Unsigned 2 Checksum is calculated as a 16 bit Block Cyclic Redundancy Check of all bytes between but not including the Header and Checksum fields The CRC algorithm is described in a separate section Time is divided in an integer seconds part and a fractional second part The integer seconds part of time is counted from 1970 01 01 UTC time ignoring leap seconds Latitude is positive north of the Equator Longitude is positive east of Greenwich Height is above the ellipsoid Heave is positive down Roll is positive with port side up Pitch is positive with bow up NINININ N The status word consists of 16 single bit flags numbered from 0 to 15 where 0 is the least significant bit A 1 value true means 0 Reduced horizontal position and velocity performance 6 Reduced heading performance ___________ The remaining bits in the status word are reserved for future expansion 55 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath 6 9 Lehmkuhl gyro repeater format The Lehmkuhl gyro repeater format is used when outputting heading from Seapath to Lehmkuhl gyro repeaters The message is similar to the
12. antenna type labelling on the antenna housing arrow or text or connector location is used to determine direction Figure 2 shows the antennas oriented with connectors pointing in the same direction The antennas are not marked and are interchangeable but called no 1 or 2 for reference The normal orientation of the Antenna Bracket is along ship with antenna no 1 aft It can however be mounted in any orientation provided it is approximately horizontal Note Both GPS antennas have to be mounted on the Bracket oriented in the same direction otherwise the system will have degraded heading performance lesse een me Figure 2 Top view of the Antenna Bracket The screws for mounting the GPS antennas to the Bracket must be secured with washers 3 Connect the antenna cables to both GPS antennas The connection between the antenna and the antenna cable should be sealed against water penetration preferably by using 14 Seatex Seapath 200 Installation Manual rev 9 Installation waterproof self vulcanising tape The GPS antenna cables are then strapped inside the Antenna Bracket as shown in Figure 4 4 Lift the Antenna Bracket in the preferred direction on the holder Figure 3 The different components for mounting of the Antenna Bracket Ensure that the delivered insulation plate is used between the Antenna Bracket and the holder and that the four bushings are placed in the mounting holes before the screws are entered The nuts sho
13. consider the following e The unit is designed for indoor installation and should not be exposed to heavy vibrations transformers or similar e tis recommended that ventilation or air conditioning is provided in order to keep the ambient operating temperature around 20 C The best location is typically in the instrument room or on the bridge mounted into a 19 inch rack with good ventilation 12 Seatex Seapath 200 Installation Manual rev 9 Installation e Itis recommended that the area around the unit is kept free from dust and static electricity e The air inlet and outlet on the unit must not be blocked The unit has an internal fan and requires free airflow from the rear and out to the sides of the unit e All connections to the unit are on the rear side and available space for cable connections and service must be provided 3 3 4 The Video Display Unit For location of the table mounted Video Display Unit consider the following e The unit is designed for installation in an indoor environment and for operation within the temperature range The best location is typically on a table in the instrument room or on the bridge mounted close to the Processing Unit e It is recommended that the area around the unit is kept free from dust and static electricity 3 4 Procedures 3 4 1 Mechanical installation The mechanical installation consists of e Making a holder for the Antenna Bracket and having it fastened in a suitable loc
14. data to Submetrix equipment It consists of a fixed length message using single byte and 2 byte unsigned integer data elements For the 2 byte elements the most significant byte is transmitted first 58 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath Format Startbyte J 1 Status byte 360 deg N Rol 2 rad rad Pitch 2 rrd xrd N Vertical velocity 2 10ms 10m s e e Li The scale of the unsigned integers is such that the minimum value is output as 0 and the maximum value is output as 65535 FFFF Hex N Roll is positive with port side up Pitch is positive with bow up Heave and vertical velocity are positive down The start byte is ASCII Unused elements are output as 0 The checksum byte is calculated as a sum modulo 256 of all bytes transmitted excluding the checksum byte The status byte indicates the heave roll pitch and heading status using the following ASCII values BYR NGN Lem IN _ R__IN 59 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath The codes are N Normal R Reduced accuracy I Invalid NR Normal or reduced accuracy 6 15 Cyclic redundancy check algorithm The 16 bit Block Cyclic Redundancy Check algorithm used to calculate the checksum in some formats is described in C and Fortran source code below C code define POLY 0x8408
15. for the RS 422 DB 9 connector updated Installation Worksheet with RS232 422 selection 2003 02 12 Updated to correspond with Seapath FOS sw version 2 02 and SCC version 2003 06 10 Updated with the possibility to FOS disable range rate corrections and the change to LCD monitor BEEN LU 2000 11 22 Updated to correspond with latest version of the Processing Unit with Blank page VI Table of contents 1 INTRODUCTION aghi 1 Ll About this manual aaa en ae 1 1 2 LT ole NA ee 2 1 3 Definitions abbreviations and acronymS essen nennen 2 T T Definitions ii ein aeu dert Ie tUa i tl qe oup do pastus 2 1 3 2 Abbreviations and acronyms eerte rente iii 3 2 SPECIFICATIONS apra ea 5 A de illo 5 2 2 POwer Sem 6 2 3 EOS 6 pr dM rl m area 7 3 INSTALLATION picca 9 3 1 Gener l information sea ten iet areata 9 3 2 uu estt een ee arresi 10 3 3 Location of the system parts kan 11 S l The GPS antennas epu eve eor vidt ua nn ei 11 3 3 2 The MIR GS c 12 3 3 3 The Processing Unit eos eiie tt e CAUSAM reads Pen ree E Ue 12 334 The Video Display Unitaria ia pagis 13 3 4 Procede ia iia as 13 3 41 Mechanical installation rai 13 3 4 1 1 Installation procedi eo IE 14 3 4 2 Electrical installation iii iit n EDI Rd serta c E I ES bi 18 3 4 2 1 MRU to Processing Unit cable wiring eee 19 3 4 2 2 External input and output serial lines
16. on appears Choose wanted location and click Save 105 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 4 6 4 Load from file Seapath parameters stored on file in the SCC computer can be loaded back into the workspace area for further editing or and downloaded to Seapath In the Configuration Folder List select Parameter Management Load from file and the window below appears Figure 73 Load from file Click the Load from file button and the standard open window Select file to open parameters from appears Choose wanted location and click Open 8 4 6 5 Undo If the editing of Seapath parameters for some reason fail it is possible to overwrite the SCC workspace with the last saved parameters from Seapath at any time In the Configuration Folder List select Parameter Management Undo and the window below appears Click Undo to get the last saved parameters Figure 74 Undo 106 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 4 6 6 Generate report A report with a list of all the configuration settings in the connected MRU or a configuration read from file is generated by clicking the Generate configuration report button as shown in Figure 75 Figure 75 Generate configuration report The MRU configuration report as shown in Figure 76 can be saved to file or printed out Seapath Configuration Report Seapath Co
17. st n st 8 st 1 0 CG s 0 esot Oo oo pop p Host Out 2 NN wr pL LL LLL wt LL LLL wt LILLO feet D LL LL LLL poti LIT l1 l1 lll o Data Interface Digital Network Output Configuration 0 CG EN EN 0 pp osi Bi pi per Husos NN TNNT d Network Out 6 Network Out 7 Network Out 8 Data Interface Analog Output Configuration Device Gain Offset MP Format V Physical Unit Physical Unit 0 CG 46 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath 6 APPENDIX B OUTPUT PROTOCOLS FROM SEAPATH The available output data formats are as follows no Simrad EM3000 Hipap 6 Simrad EM3000 300 and Hipap compatible Echo Sounder fmt9 9 Echo sounder format Submetrix format 6 1 NMEA format The NMEA format is an ASCII text format using the ZDA GGA GLL VTG HDT GST GSA and GRS messages defined in 1 and the proprietary PSXN 20 PSXN 21 PSXN 22 and PSXN 23 messages conforming to the same specification Format INZDA time day month year csum term INGGA time lat NIS long E W gga qual nsat hdop height M M age stn csum term INGLL at NIS long El W time gll qualynode csum term INVTG course T M speed N K mode csum term INHDT head T csum term INGST time semi maj semi min ell orient sd lat sd long sd height csum term INGSA gsa mode gsa status id id id id id id i
18. vessel window are as follows e Point and left click with the mouse pointer in the upper right vessel window and the mouse arrow changes into a rotation symbol The vessel model can then be rotated in all directions e Press SHIFT and simultaneously point and left click with the mouse pointer in the upper right vessel window and the mouse arrow changes into a zoom symbol The vessel model can then be zoomed both out and in e Press CTRL and simultaneously point and left click with the mouse pointer in the upper right vessel window and the mouse arrow changes into a move symbol The vessel model can then be moved around within the window e Point and right click with the mouse pointer in the upper right vessel window and a drop down menu with the below options appears The options are self explanatory Tick off for wanted features Reset Viewpoint Ghost Vessel 4Wireframe Vessel Vessel Properties NA Light properties NA Show lights Show OGL Axis 4Show Vessel Axis Change FOV mode Change Background Colour Camera Properties Figure 30 Vessel Drop Down Menu 77 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 4 Editing parameter values When contact with the Seapath Processing Unit is established parameter values are loaded from Seapath into the local memory in the SCC computer where they can be inspected and modified After editing the parameters a
19. 55 0 e The NMEA ID A two letter talker identifier in NMEA messages as defined in 1 Default is IN Integrated Navigation e A token number Numerical token in binary messages The token number is selected in the area 0 to 255 Proceed as follows to set the common network parameters e Inthe Configuration Folder List select Data Interface Network Common e Inthe IP Network Address field enter the port ID e Inthe IP Network Mask field input the mask e Inthe NMEA Identification field enter a two character identification text e Inthe Binary message token field enter a token number to be output in the Seapath binary formats Common Network Settings IP Network Address 192 168 1 10 IP Network Mask 255 255 255 0 NMEA Identification fi a0 Binary message token 42 0 255 Figure 54 Common Network Settings Check with the network administrator on board the vessel for the correct selection of network address and mask 8 4 5 3 Input In this folder list all the input interface to the Seapath unit is selected The following four devices can be input to the unit e The GPS antenna signals and the MRU communication The settings for the interface with these devices are fixed in the system and cannot be changed by the user 97 Seatex Seapath 200 Installation Manual rev 9 r Data Interface Input Configuration Appendix D Seapath configuration software SCC External gyro in
20. Center Starbord Cancel_ Figure 63 Measurement Point e Click in the wanted Interval cell belonging to the Host Out or Network Out and the Message Interval Settings dialogue box below appears Activate the pull down menu and choose the wanted Interval The optional intervals are fixed values between 0 01 and 300 seconds When finished click OK 101 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Message Interval Settings Ei Interval 010 s Canes Figure 64 Message Interval Settings e Click in the Option cell to select the NMEA messages standard The selection 0 will give NMEA output messages according to version 2 3 and the selection 2 will give messages as implemented in Seapath software version 2 0 or earlier The default selection is 0 Input Option number Option number m Cancel Figure 65 Selection of NMEA output standard e Click in the wanted Format cell belonging to the Host Out or Network Out device and the Select Format dialogue box below appears Select the wanted format and click OK Select Format NMEA Simrad EM1000 950 Seapath binary fmt3 Simrad EM3000 Hipap Attitude calibration z MEE Properties Figure 66 Format Settings The options for Format settings are NMEA lt other gt 0 e Click in the wanted Format cell belonging to an Analog Out device and the dialogue box below appears Sele
21. Configuration Folder List select Vessel Geometry e Set Vessel Dimension and Centre of Gravity Location Look at the sketch of the vessel co ordinate system in the menu in order to enter correct signs on the distance to CG 78 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC moon f 2oo fem 50000 Figure 31 Vessel Geometry 8 4 1 2 Vessel description In this folder vessel data for the specific Seapath configuration file are entered This information is helpful to identify the correct configuration file at a later stage Proceed as follows e Inthe Configuration Folder List select Vessel Description e Set general vessel data and management information MV Nautilus Face 12 34 56 78 33 Figure 32 Vessel Description 19 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 4 2 GPS sensor settings 8 4 2 1 GPS geometry The lever arm vector from the centre of gravity to GPS antenna no 1 has to be measured or calculated based upon drawings or previously measured points and entered into the software The antenna cable connected to ANT 1 at the back of the Processing Unit will be GPS antenna no in the installation This vector is to be measured within an accuracy of 0 5 metres Proceed as follows e Inthe Configuration Folder List select Sensor GPS Geometry e Set the Antenna Lever Arm for
22. HDT message output in the standard NMEA format from Seapath The main differences are lower resolution and no checksum When heading is output to devices which are compliant to the NMEA specification 1 it is recommended to use the standard NMEA format and not the Lehmkuhl format 6 10 1PPS time tag NMEA ZDA message The 1PPS time tag message is output once per second approximately 0 5 seconds before the time pulse The message format is ASCII text using the ZDA message defined in 1 The message contains the UTC time when the message is output The next time pulse appears at the first integer second after the time in the message Format INZDA time day month year csum term Explanation time UTC time on format hhmmss ss where hh is hours 00 23 mm is minutes 00 59 and ss ss is seconds 00 00 59 99 day Day of month 01 31 month Month of year 01 12 year Year on format yyyy csum Checksum exclusive or of all characters between but not including the preceding and hexadecimal 00 FF term CR LF two bytes values 13 and 10 This format is recommended used together with 1PPS signal output on the BNC connector at the rear of the Processing Unit This since the message is output synchronised with the 1PPS signal and is easier faster to decode than the standard NMEA output with a number of NMEA messages included 6 11 1PPS time tag Trimble compatible The 1PPS time tag message is output once per s
23. Junction box MRU E JB1 with three metres MRU E CS1 cable e Two GPS antennas e A 2 5 metre aluminium Antenna Bracket e Setup software power cable a null modem configuration cable and documentation Seatex Seapath 200 Installation Manual rev 9 Installation In addition to the above delivered parts the following is needed e GPS antenna cables and the cable between the Processing Unit and the MRU junction box e A 19 inch rack for mounting of the Processing Unit e Gyro compass data on a serial line recommended e DGPS corrections on one or more serial lines for improved position accuracy recommended e Additional cables for input of Gyro compass data and DGPS corrections and for output lines to external equipment e Devices for reference measurements of roll pitch and heading for calibration e Anexternal IBM compatible PC with MS Windows for setup and calibration General arrangement drawings of the ship should be acquired to simplify determination of offsets between the GPS antennas the MRU and the ship s centre of gravity CG Locations for the various parts of the system must be decided and mounting arrangement for the Antenna Bracket and sufficient lengths of cable made available For external interfaces electrical characteristics and data formats must be decided and the necessary cables and connectors made available Power supply for the Processing Unit and an external computer for setup and calibration ar
24. OM6 COM9 Z MOUSE LPT1 COM7 COM10 f gt 90000000 IALA KEYB ER ANT3 AUX SERIAL Input 100 240VAC 47 63Hz 100VA Fuse 2A NET Class1 Must be connected to F grounded outlet only N Figure 9 Rear panel of the Processing Unit If the antenna cables are not delivered by Seatex make sure that the cables meet the following electrical specifications Insertion loss max 15 dB at 1 6 GHz Characteristic impedance 50 ohm nominal DC resistance max 0 5 ohm ground braid and centre conductor The antenna connectors on the Processing Unit and the GPS antennas are N type female 3 4 2 1 MRU to Processing Unit cable wiring The cable from the MRU junction box or the MRU itself is connected to the Processing Unit by a DB 15 male connector The wiring for this cable is Pin no Colour Pin no Pin no screen chasis x3side A 7 PGND lbw 2 xlsie B 14 24V ird l xlsie R 9 TX 2bhe 4 lsid T 10 RX 3bhe 6 xisid P 5 LGND 4ble 24 xlside a The MRU is supplied with 24 VDC power from the MRU port on the Processing Unit Note The shield around each pair in the cable has to be individually isolated in the DB 15 connector The outer shield is connected to pin 1 screen in this connector 19 Seatex Seapath 200 Installation Manual rev 9 Installation which is an open end not connected to earth In the MRU junction box both the sh
25. OP on format x x Height above ellipsoid in metres on format m mm Age of DGPS corrections in seconds on format s s DGPS reference station ID 0000 1023 Geographic position quality A valid D GPS used normal or reduced performance V dead reckoning or invalid position Positioning mode A GPS used D DGPS used E dead reckoning N invalid position velocity Course over ground degrees true on format d dd 0 00 359 99 Speed over ground knots on format k k Heading degrees true on format d dd 0 00 359 99 Standard deviation of the semi major axis of the position error ellipse in metres on format m mm Standard deviation of the semi minor axis of the position error ellipse in metres on format m mm Orientation of the semi major axis of the position error ellipse in degrees 0 180 Standard deviation of latitude error in metres on format m mm Standard deviation of longitude error in metres on format m mm Standard deviation of height error in metres on format m mm GPS position mode setting A height aiding enabled M 3D only GPS position mode used 1 no GPS position 2 height aided 3 satellites 3 3D Satellite ID number PRN 01 32 PDOP on format x x VDOP on format x x GPS range residual in metres on format m m no fraction if the value is greater than 99 9 metres Horizontal position and velocity quality 0 normal 1 reduced performance 2 invalid data Height and
26. PS Antenna Configuration Baseline length Heading offset Height difference standard 2 500 m Reference Seapath reading deg standard 0 00 m GPS Antenna Attitude Processing Settings Max Pitch and Roll Angles deg default 15 Max Average Pitch and Roll Angles deg default 7 MRU Geometry MRU Lever Arm From CG to MRU X m positive forward of CG Y m positive to starboard of CG Z m positive below CG MRU Mounting Angles used Roll deg Pitch deg Yaw deg 44 Seatex Seapath 200 Installation Manual rev 9 Appendix A Installation worksheet MRU Heave Configuration Filter Mode Average period s Measurement Points 0 4 CG not counted Offset from CG to each measurement point Point no Active X positive if MP Y positive if MP Z positive if MP Name of MP forward of CG m starboard of CG m below CG m 1 2 Data Interface Common Host Settings NMEA Identification 2 characters Binary Message Token 0 255 Data Interface Common Network Settings IP Network Address IP Network Mask NMEA Identification Binary Message Token 2 characters 0 255 Data Interface Input Configuration Device Line Electric Baud rate Parity Data bits Stop bits Format com 232 422 standard n st 8 st 1 DGPS Link 4 OpCom default Com1 45 Seatex Seapath 200 Installation Manual rev 9 Appendix A Installation worksheet com 232 422
27. Seatex Seapath 200 Installation Manual Issued 2003 06 10 Blank page Notice All rights reserved Reproduction of any of this manual in any form whatsoever without prior written permission from Kongsberg Seatex AS is forbidden The contents of this manual is subject to change without notice All efforts have been made to ensure the accuracy of the contents of this manual However should any errors be detected Kongsberg Seatex AS would greatly appreciate being informed of them The above notwithstanding Kongsberg Seatex AS can assume no responsibility for any errors in this manual or their consequences Copyright 2003 by Kongsberg Seatex AS All rights reserved Kongsberg Seatex AS Pirsenteret N 7462 Trondheim Norway Telephone 47 73 54 55 00 Facsimile 47 73 51 50 20 Duty phone 47 73 50 21 11 E mail firmapost seatex no www kongsberg seatex no III Blank page IV Revision log sign 1 1998 05 04 Added to description of installing FOS coax connector on superflex cable new output data formats and some corrections 2 1998 12 14 Upgraded with new MRU mounting FOS bracket and to correspond with Seapath version 1 02 03 and MRU version 2 53 3 1999 11 30 Updated to correspond with the MRU 3 00 software version 4 1999 12 30 Updated to include the new HW platform 5 2000 06 06 Updated to Seapath version 2 0 software analog output channels 7 2000 12 18 Corrected polarity
28. able Flange Fiste Connections ATE re Ni Can cr be use Io Sepa 200 BT Hor long baseknes NORMAL ATE Semch Hode NUOFRMSL Figure 34 GPS Processing Settings For more information on how to select the best values for GPS Processing see the User s Manual 3 chapter 5 Operating Instructions 8 4 2 3 GPS reference stations If data from more than one reference station are available on the DGPS correction links Seapath combines data from up to six reference stations to obtain the best solution The default configuration is to automatically use the six nearest stations available The Seapath can be configured to ignore a number of stations or forced to use some selected stations in addition to the automatically selected stations or disable the automatic selection by filling in a number of stations in the Only Stations List In order to change the reference stations used in the solution proceed as follows e Inthe Configuration Folder List select Sensor GPS Reference Stations 81 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC e Select the Station ID and add or remove this station from one of the three station fields by selecting the Station List to be changed Set the Age Limit for Differential Corrections GPS Reference Stations Differential Corrections Station ID m Change Station List laz Only Stations List Waming Consul Force Stations List documentati
29. amples 290 pom qp I AMM o 0 0 Seapath Heading 720 0 720 0 Antenna Baseline 0 0 Height Difference 720 0 12635 00 159 37 177 19 2 528 0 930 lt Back Cancel Figure 13 Page 2 of GPS Antenna Calibration 8 Click Next to proceed to page 3 for information about the calibration result 32 Seatex Seapath 200 Installation Manual rev 9 Installation GPS Antenna Calibration Wizard Page 3 MECA GUI BILE Figure 14 Page 3 of GPS Antenna Configuration 9 Inspect the logged calibration data in the file Seapath cal for any wild points by selecting the command Show Graph Correct the wild points found or delete the whole line s and perform a recalculation of the calibration data 10 When the Seapath calibration result has been found acceptable click Next to proceed to page 4 Input the mean value for the vessel heading reference in this example logged on a separate PC and found to be 7 83 degrees and click on Compute in order to calculate the heading offset 33 Seatex Seapath 200 Installation Manual rev 9 Installation GPS Antenna Calibration Wizard Page 4 Figure 15 Page 4 of GPS Antenna Configuration 11 Click Finish to accept the result and exit the antenna calibration wizard 3 4 4 3 Calibration of MRU axis The MRU axes must be calibrated to the vessel axes after the mechanical install
30. ant bit A 1 value true means 0 Reduced horizontal position and velocity performance 6 Reduced heading performance Invalid heading data The remaining bits in the status word are reserved for future expansion 6 3 Binary format Simrad EM1000 950 compatible The Simrad EM1000 format consists of a fixed length message using single byte unsigned 2 byte unsigned and 2 byte two complement integer data elements For the 2 byte elements the least significant byte is transmitted first Format Header Unsigned 1 j 00Hex Hader Unsigned 1 90Hex 0 01 degrees 17999 to 17999 999 to 999 0 01 degrees 0 to 35999 Roll is positive with port side up Pitch is positive with bow up Heave is positive up Invalid data are indicated by values outside the specified ranges 51 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere The difference appears in the roll angle where roll gy arcsin sin roll cos pitch 6 4 Binary format Simrad EM3000 EM300 and HiPap compatible The Simrad EM3000 format consists of a fixed length message using single byte unsigned 2 byte unsigned and 2 byte two complement integer data elements For the 2 byte elements the least significant byte is transmitted first Format Status byte Unsigned
31. anual rev 9 Introduction Blank page Seatex Seapath 200 Installation Manual rev 9 Specifications 2 SPECI FI CATIONS 2 1 Physical dimensions Processing Unit Wilson 482 mm 19 inch rack Heiohtr anstehen 132 mm 3 U Dpr 430 mm b icr MM HP 12 kg I KOLU i a eE Front anodised black NN gia 343 mm A ode e rici i pl Et lina i AM Li ice 310 mm Ih ed eM T EN a E TE 170 mm MUT hib aoo E A S aa EONS 3 7 kg COLOUR Black MRU 5 loi ls nn 204 mm Diamele an as energie 105 mm A pr EE PEDE 2 5 kg Colour ud ioci tut mta ii Blue MRU Mounting Bracket MRU M MB3 Length OP unse 265 mm Wi E 119 mm Heights cedars 119 mm MIB Ga neo ead GU eR ME ls Din MU US alal aa 1 6 kg li d L Black Maicol POM H MRU Junction Box MRU E JB1 gua 226 mm a M PA 126 mm L OLIO D ECC M 90 mm Valar lee 2 0 kg COLA la RI a Black Length i ai 2560 mm IGT isa c 40 mm hf 2 T T 75 mm Weight for the 2 5 metre aluminium versioni eri a 6 6 kg CS viti cM Ptr CEDE EE Grey RAL 7035 Seatex Seapath 200 Installation Manual rev 9 Specifications 2 2 Power Processing Unit Voltage nas 85 to 135 and 180 to 265 V AC POWEE consumpto rada 100 W max Battefl s osa Hi e E EE E None conn
32. ard Auto Offset Angles r Step 2 Auto R Please input the actual roll and pitch angles of the vessel Y P zn d Input also the mounting yaw angle that is the angle FROM the vessel roll axis R TO the projection of the MAU roll axis R onto the vessel horizontal plane R Yaw deg 0 000 PY Press Next to start the amp uto Mount process coca He Figure 49 Step 2 of Auto MRU Axis Orientation e First input the actual roll and pitch angles of the vessel A positive vessel angle is from the red to the green co ordinate system or gt Positive pitch angle if the bow is up gt Positive roll angle if the starboard right side facing downward e Secondly input the MRU mounting angle in yaw positive clockwise The yaw angle is found by projecting the MRU R arrow to the horizontal plane The yaw angle is then the angle between the longitudinal axis of the ship and the projected R arrow in the horizontal plane It is important that this angle is measured accurately and input correctly to avoid degradation in the performance of the roll and pitch measurements from the MRU 92 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Note Before starting the Auto Mount process be sure that the ship motion has stabilised and that the harbour conditions are calm e Then click Next to start the Auto Mount process The window in Figure 50
33. ation To achieve the specified roll and pitch accuracy the offset angles between the MRU axes and the vessel axes have to be calculated to an accuracy better than 0 5 degrees These offset angles are input to the Seapath configuration as mounting angles For multibeam echo sounder applications an accuracy better than 0 1 degrees is required to ensure satisfactory performance A typical calibration consists of calibrating the MRU axes to an external reference Type of reference must be determined according to the required accuracy 34 Seatex Seapath 200 Installation Manual rev 9 Installation The reference for roll and pitch calibration must be carefully selected depending on the intended application It may be the hull or a sensor like a multibeam echo sounder or a USBL acoustic system Some sensors have internal calibration routines and accurate calibration of the MRU is not required In Appendix D Seapath configuration software SCC a procedure for automatic setup of MRU mounting angles is described An accurate alignment of the MRU R arrow with respect to the vessels longitudinal axis yaw orientation is of crucial importance If not properly aligned the performance of the roll and pitch measurements from MRU will be degraded The easiest way to ensure a correct yaw orientation of the MRU is to mount the unit on the vessel s longitudinal or transversal bulkheads Figure 16 illustrates that a misalignment of 1 degree of the MRU in ya
34. ation in a mast e Mounting the Antenna Bracket with the GPS antennas on a holder in the mast e Mounting the MRU bracket and the MRU near the user equipment for which attitude data is wanted or near the vessel s centre of gravity e Mounting the Processing Unit in a rack in the instrument room or bridge e Mounting the VDU close to the Processing Unit The installation procedure described below assumes that the Antenna Bracket delivered by Seatex is used and that a holder for this Antenna Bracket is prepared in accordance with the antenna holder drawing in chapter 4 13 Seatex Seapath 200 Installation Manual rev 9 Installation 3 4 1 1 Installation procedure The mechanical installation of the various parts is performed in the following steps 1 First the user has to make a holder for the Antenna Bracket the holder is not part of the Seapath delivery and have it properly fastened to the mast in the preferred orientation horizontal or vertical When the Antenna Bracket is mounted vertically the drawings in Figure 2 Figure 3 and Figure 4 are not correct lu Figure 1 Dimensional drawing for the antenna holder 2 Bring the Antenna Bracket the two GPS antennas and the antenna cables as close as possible to the location of the antenna holder While both the GPS antennas and the Antenna Bracket are down on deck mount the GPS antennas on the Bracket with both antennas oriented in the same direction Depending on
35. aw means the dynamic yaw motion Seatex Seapath 200 Installation Manual rev 9 Introduction 1 3 2 Abbreviations and acronyms Body frame An orthogonal frame fixed to the MRU housing or to the vehicle where the MRU is fixed Circular Error Probability Centre of gravity The mass centre of a vessel This is normally the location with least linear acceleration and hence the best location for measurements of roll and pitch The time in the GPS system The GPS time is within UTC time 180 nsec 95 per cent plus leap seconds Inertial Measurement Unit A system consisting of gyros and accelerometers Motion Reference Unit model 5 This is the IMU within the Seapath measuring dynamic linear motion and attitude This axis is fixed in the vehicle and points in the forward direction horizontally when the pitch angle is zero Positive rotation about this axis is starboard side of the vehicle down Seapath Control Centre is special software used to set configuration parameters in Seapath The software runs under Microsoft Windows version 95 98 NT 4 0 or compatible on a PC Universal Time Co ordinated This is the official time in the world and has replaced GMT Greenwich Mean Time as the official time This axis is fixed in the vehicle and points in the downward direction when the vehicle is aligned horizontally Positive rotation about this axis is turning the bow of the vehicle to starboard Seatex Seapath 200 Installation M
36. axis is measured in degrees e Height Difference The height difference between the two antennas is measured in metres It is of crucial importance to calibrate the heading offset correctly During this calibration several accurate reference measurements of the vessel heading must be read logged simultaneously with the heading output from the Seapath The data logging should continue for at least two hours under calm conditions alongside a quay The best results are achieved if continuous logging of both the reference system and the Seapath measurements can be performed during the calibration period If simultaneous logging of the two systems is not 29 Seatex Seapath 200 Installation Manual rev 9 Installation possible one reading from both systems should be done at least every 30 seconds for a minimum of two full hours The long calibration time is necessary in order to cancel out errors in the Seapath measurements caused by multipath effects which may be particularly pronounced in the static conditions of a harbour area Before calibration measure the baseline length between the GPS antennas to within a tolerance of one centimetre or better If the standard antenna bracket is used the baseline is 2 500 metres Enter the measured baseline length into the Processing Unit by using the SCC software The observations from each of the two different systems are then averaged and the offset between the two systems reference minus Seapath r
37. compatible near ae aaa 56 6 12 Atlas Hansweep as 57 6 13 Echo sounder format 18 eeu ae ea aaa 58 6 14 S UBI E X OF MIAN kei 58 6 15 Cyclic redundancy check algorithan tee lait 60 7 APPENDIX C INSTALLATION OF COAX CONNECTORS ON SUPERFLEX 60 3 1 3 I om 62 8 APPENDIX D SEAPATH CONFIGURATION SOFTWARE SCC 68 Sil Software installation eoi di ibid 68 8 2 Howto SU started er na leale 69 82 1 Starine the pr sta a ses 69 8 2 2 Setting the serial port parameters cual ana 71 8 2 3 Establishing Connection A aller 71 8 3 General user Interface ae roi 713 8 5 13 Elemen tenunan a dan aa e ol re 713 caldi Deore ate aces dda lap ee 73 Sl ale cei An aes 73 do Wizards MEN esse Nein leise 74 8 3 3 VIEW DEN are 74 8 34 Help menu a aaa 75 8 30 Evo Rollo Ep 75 8 3 6 Seapath Control Centre button oeste ee ann 76 8 3 2 Mouse operation zn a sale T7 8 4 Editing parameter values iran aaa 78 84 1 Vessel set ngs iier EPI IS UTI nt 78 8 4 1 IN seo eredi O I 78 VIII 8 4 1 2 Vessel description riali deal 79 542 GPS SENSOR SEI 80 8 4 2 1 GPS geometria ica 80 5 522 GPS PEORES einen 80 8 4 2 3 GPS reference stati ns salariati 81 8 4 2 4 GPS antenna CONSUL ION AAA 82 8 4 2 5 GPS attitude processing lele 87 8 4 3 MRU sensor settings innne inse aa ai as i E a ie 88 8 4 3 1 MRU BEOMEIEY re reach a ann 88 8 4 3 2 MRU heave configurati
38. cons Click the Seapath Configuration icon to activate the Seapath configuration folder list Click the Vessel 3D View button to expand the vessel part of the configuration window to maximum size 74 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 3 4 Help menu Pull down the Help menu Click on the About SCC option and the About SCC window below appears A scroll window contains information about Company software version and the software application About SCC x Kongsberg Maritime KONGSBERG Seapath Control Centre gt FT Version 2 1 0 Basic IT Control Application for Seapath system Kongsberg Seatex AS Pirsenteret N 7462 Trondheim Norway Phone 47 7354 55 00 Send E mail to us Go to our Seapath Web site Figure 25 About SCC 8 3 5 Tool buttons e R S tw i X eu Figure 26 Tool Buttons Description of tool buttons from left to right Open Configuration Self explanatory Save Configuration Self explanatory Connect to Seapath Establishes data communication from SCC to Seapath Disconnect from Seapath Disconnects data communication between SCC and Seapath SCC Seapath Port Configuration See chapter 8 2 2 Setting the serial port parameters MRU Configuration Wizard See chapter 8 4 3 1 MRU geometry GPS Antenna Calibration Wizard See chapter 8 4 2 4 GPS antenna configuration Print Configuratio
39. ct the wanted format and click OK 102 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Select Format disabled a Mod Roll rad y sinfhind Rall f 1_1 dte PIGET ce Figure 67 Analog Format Settings The options for Analog Format settings are lt Disabled gt Roll rad Pitch rad Mod Roll rad sin Mod Roll 1 to 1 sin Pitch 1 to 1 Constant Heave Velocity m s In order to output Datawell Hippy or Piro compatible analog signals the following variables gains and offsets must be selected Fi Ansiog Du Ei Analog Channeti 1000 00 00 CG MA nimodo 1 1 DF system FI insbg Dut EZ Analog Chanel 910000000 0 DG M Ka e 1_1 DF miem Ara ES Arado Channel 1000000 O CG MA MA Hesse m DE ruderi Figure 68 Datawell Hippy compatible analog output signals Note Negative gain and the value 1 has to be used for Heave in order to make the variables positive according to the Datawell co ordinate system The variable sin Mod Roll is to be selected for roll and sin Pitch for pitch Both variables to be selected with positive gain 10 in order to achieve analog Hippy roll and pitch output The analog format Constant can be selected to test one of the analog channels When Constant is selected as analog format the Test Analog Channels dialog shown in Figure 69 appears by clicking in the Properties f
40. ctual mounting orientation of MRU within bracket 17 Junetion DOMO UTI Spas het chins a ii nl 18 Rear panel of the Processing Unit 22a re eee all 19 The offset vectors between the different components eese 27 GPS Antenna Configuration itinere licia ii 31 Page 1 of GPS Antenna Calibration i 31 Page 2 of GPS Antenna Calbratien usa ariana 32 Page 3 of GPS Antenna Configuration nennen 33 Page 4 of GPS Antenna Configuration rennen 34 The value of the roll error as a function of the vessel pitch angle as parameter and t and 2 gt yvawmisaliszninenis sa ilaele 35 Installation Complete merino ann 68 SEC Start Window anal 69 Im Hal Offline Didot rl 70 Seapath Control Centre Main WindoW con enn 70 Communication Seprio lia 71 Connect Status ua eek Mensen 12 Connected TOS Cap Allie aao ipe een a cde dci 22 SETUP ICONS un RENI E V ani Reli ali 74 LE RR Ep RR 75 Tool Buttons ela der Mee INI UNE 75 Keep Polder List Open oo qe ti ea 76 Close Polder Asc ecto dali data tagli 76 Vessel 3D View Ghost mode ener eren 76 Vessel Drop Down MED lariana roi T11 Vessel EM 79 Vess l IDDESCEIDUDI alert 79 GPS Geometry aio iaia ai alia aaa 80 GBS Processing Set llego socis AA AA a le 81 GPS Reference MAI sele Lei 82 GPS Antenna Configuration sura A as 82 Page 1 of GPS Antenna Calibration csi 83 Page 2 of GPS Antenna Calibration
41. d id id id id id pdop hdop vdop csum term INGRS ime l res res res res res res res res res res res res csum term PSXN 20 horiz qual hgt qual head qual rp qual csum term PSXN 22 eyro calib gyro offs csum term PSXN 23 roll pitch head heave csum term PSXN 24 roll rate pitch rate yaw rate vertical vel csum term PSXN 21 event csum term 47 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath 48 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath Explanation time day month year lat long gga qual nsat hdop height age sin gll qual mode course speed head semi maj semi min ell orient sd lat sd long sd height gsa mode gsa status id pdop vdop res horiz qual hgt qual head qual rp qual UTC time on format hhmmss ss where hh is hours 00 23 mm is minutes 00 59 and ss ss is seconds 00 00 59 99 Day of month 01 31 Month of year 01 12 Year on format yyyy Latitude on format ddmm mmmmmm where dd is degrees 00 90 and mm mmmmmm is minutes 00 000000 59 999999 Longitude on format dddmm mmmmmm where ddd is degrees 000 180 and mm mmmmmm is minutes 00 000000 59 999999 GPS quality indicator 0 invalid position 1 GPS SPS used 2 DGPS used 3 GPS PPS used 4 GPS RTK used 5 GPS float RTK used 6 dead reckoning Number of satellites in use 00 99 HD
42. e antennas from the GPS phase measurement Height is positive if antenna 1 is above antenna Ze The data are intended for calibration of the antenna installation so no data are output unless the GPS phase measurements are valid 6 6 Echo sounder format 9 The echo sounder format is a proprietary ASCII text format with fixed length records used when connecting Simrad EA500 and other echo sounders Format Header 1 7 f 00000 sdddd Warning 14 space or Tem 26 27 CRIF Heave is positive up Roll is positive with port side up Pitch is positive with bow up 53 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath The zeroes in the header occupy the columns used for acceleration when this format is output from other systems Seapath does not output acceleration s is the sign character space if positive and if negative dddd is a decimal number with leading zeroes where appropriate The warning character is space if data are normal if data are invalid or of reduced quality Columns between elements are filled with spaces The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere The difference appears in the roll angle where Fall arcsin sin roll cos pitch echo sounder 6 7 RDI ADCP format The RDI format is a proprietary ASCII text format used when connecting RDI ADCP equipmen
43. e also needed An external heading reference for example a surveyed quay is required for heading calibration For some applications pitch and roll reference for calibration is also needed The MRU unit is shipped in a specially designed transportation container Keep the MRU within the container until everything is ready for installing the unit in the mounting bracket Note After the installation please save the transportation container The MRU must be shipped in this container for service or repair to maintain the warranty 3 2 Logistics Safety General safety guidelines to be followed when working in mast and on deck Personnel qualifications Trained electrical workers Minimum number of personnel 2 especially when mounting the Antenna Bracket to the Holder Ship location The GPS antennas have to be mounted such that blocking of the GPS signal is avoided The MRU 5 unit is preferably mounted low in the ship or close to the system to be compensated The Processing Unit can be mounted on the bridge or in the instrument room Special tools required A PC with Microsoft Windows 95 98 NT version 4 0 or compatible 10 Seatex Seapath 200 Installation Manual rev 9 Installation 3 3 Location of the system parts The following sections contain hints regarding mounting of the various system parts 3 3 1 The GPS antennas For the GPS antennas consider the following The space above the antennas has to be free of obstructions
44. e ter 101 Measurement Pot iii 101 Message Interval Sets cis il aiii 102 Selection of NMEA output standard ii 102 Format CHIN 102 Analog Format Settings u a sinnlosen 103 Datawell Hippy compatible analog output signals eene 103 Input of test voltage for the selected analog channel sss 104 Download Pararmetets 2 ooa top nel 104 E 105 Save Om fie ansehe dii ei sali 105 Eoad Tom A Adele een ee eine line ND EE 106 WO seco zizi li illa 106 Generate configuration TODOLL uos nein ata 107 Configuration r pOLL u eee isis aed dis SS ie ndun 107 XII List of drawings 1438 ma 010 HW platform Enclosure dimensions hs 003 a MRU housing External dimension 3 gt 38120 md 007 Seapath 200 Antenna Holder hs 016 b MRU M MB3 bracket Hydrographic version hs 014 a MRU junction box MRU E JB 1 Layout and 1 ext dimensions XIII Blank page XIV Seatex Seapath 200 Installation Manual rev 9 Introduction 1 INTRODUCTION 1 1 About this manual This manual contains the information necessary to install the Seapath 200 on a ship For all other product information please consult the User s Manual reference 3 The Seapath 200 is a precise heading attitude and position sensor based on a sophisticated combination of DGPS carrier phase measurements and inertial sensor technology To achieve the specified accuracy of the p
45. e this length has to be measured manually with 1 cm accuracy and this value entered For the Heading Offset input an approximate value or input zero if you are uncertain For the Height Difference input an approximate value Then click on the Calibration Wizard button to prepare the calibration Figure II GPS Antenna Configuration 4 In the GPS Antenna Calibration Wizard Page 1 step 1 check that the baseline length has been entered correctly GPS Antenna Calibration Wizard Page 1 ha fo Bexanca oe Figure 12 Page 1 of GPS Antenna Calibration 31 Seatex Seapath 200 Installation Manual rev 9 Installation 5 Instep 2 input 120 minutes two hours as the calibration period and the logging interval as 10 seconds Log the calibration data to the file Seapath cal on a preferred folder on the PC 6 Before pressing Next and start logging of Seapath GPS it is recommended to start recording data of the vessel reference heading on another PC or by manual readings When logging of the reference heading has started click Next in order to proceed to page 2 7 The progress of the calibration process is then shown on the screen with a graphical presentation of the measured data for the Seapath heading the gyro compass if connected the antenna baseline length and the height difference GPS Antenna Calibration Wizard Page 2 GPS Antenna Calibration page 2 Step 4 Time left 430 s Calibration progress S
46. eading is the Seapath heading offset If heading offset was not entered as zero in the SCC software on beforehand the calibration value should be added to the existing offset value The baseline length and height difference should be determined within an accuracy of 10 centimetres in height difference and 1 mm in baseline length These values should be entered into the Seapath through the SCC software By using the calibration wizard in the SCC software the baseline length and height difference are calculated automatically Example If the heading measured by the reference system is found to be 32 1 degrees and the Seapath heading after the calibration has been determined to be 15 3 degrees the Seapath heading offset to be input in SCC is the value 16 8 32 1 15 3 3 4 4 2 Typical calibration procedure This is an example on how to perform a GPS antenna calibration Proceed as follows 1 Start up the SCC software and establish contact with the Processing Unit When contact is established enter the Configuration Folder List select Sensor GPS Antenna Configuration 2 Before editing parameter values belonging to a connected Seapath it is recommended to first perform an upload from the Seapath See chapter 8 4 6 2 Upload 30 Seatex Seapath 200 Installation Manual rev 9 Installation 3 In the GPS Antenna Configuration window input the Baseline Length 2 5 metres if the standard Antenna Bracket is used otherwis
47. econd approximately 0 5 seconds before the time pulse The message format is fixed length ASCII text The message contains the UTC time of the next time pulse 56 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath Format S yy mo da is year 00 99 month of year 01 12 and day of month 01 31 hh mm ss is hours 00 23 minutes 00 59 and seconds 00 59 Fix type is 5 for 3D fix with accurate time for no fix time from receiver clock No of satellites is 1 8 for 1 8 satellites tracked 9 for 9 or more satellites tracked for no fix time from receiver clock Columns between elements are filled with spaces 6 12 Atlas Fansweep format The Atlas format is a proprietary binary format used for outputting data to Atlas Fansweep echo sounders It consists of a fixed length message using single byte and 2 byte two complement integer data elements For the 2 byte elements most significant byte is transmitted first Format Strtbye Integer 1 10 Hex Rol 2 90degrees Integer 2 Pitch 2 90degrees Integer 2 Heave millimetres Integer 2 Sttusbye Integer 1 Stopbyte Integer 1 10Hex Roll is positive with port side up Pitch is positive with bow up Heave is positive up The definition of the attitude angles in this format is different from the Euler angles defi
48. ection to UPS recommended Video Display Unit 15 LCD Philips 150S4FB NOEL aio 100 to 240V AC 50 60 Hz Power consumption n rurale aan 23 W typical 2 3 Environmental Processing Unit Enclosure Mati wi Reiger tia vanilla Aluminium Enclosure protection colloidale roland IP 30 Operating temperature ranDBge aine ella iaia cunts 0 to 55 C Operating hunde 95 non condensing SlOrage teniperature ranse lille ili 20 to 60 C Storage WUNUGILY lillo alal Less than 55 Vibration testing according 107 5s m s EN 60945 Video Display Unit 15 LCD Philips 150S4FB Operating temperature tange tipi pini 5 to 40 C Relative humidity dos A A qaid ERS 20 to 8096 MRU 5 Enelosure material at ioci petunt sit rile dea ao Anodised aluminium Enclosure protection ir tiri ee biblische IP 66 Operatine temperature TAN SEs ridad cin 5 to 55 C Operating humidity max Yasha aka 100 Storage teriperal re Fallge Aueh ts 20 to 70 C Storage humidity iMille 100 Max allowed vibration operational 10 2000 Hz continuous eese 0 5 m s Max allowed vibration non operational 0 2000 Hz continuous ees 20 m s Max shock non operational 10 ms peak nennen 1000 m s MRU Junction Box MRU E JB1 Material a Aluminium Fuclosure PLC A A dini e IP 65 GPS Antennas L1 Enclosure material sa ite c ertet elia Weatherable Polymer Operatine temperature tante ends sn 40 to 70 C Operating
49. es of the cables 2 Enter the cable from the MRU port at the rear of the Processing Unit through one of the free nipples on the junction box Ensure that the cable shield is in contact with the nipple for grounding before the cable is fastened to the box Use the required number of clips to fasten the cable to the wall Insert each of the MRU to Processing Unit cable wires into the correct terminal on the user side x1 and all cable shields to pin 1 chassis on the auxiliary contact side x3 within the box Ensure that the shield around each pair is individually isolated in the DB 15 connector in the other end and that only the outer shield is connected to pin 1 in this connector Insert an isolated wire between pin 24 LGND and pin 27 Shutoff on the user side x1 in the junction box By connecting these two pins together the communication with the MRU will switch from RS 232 to RS 422 Note It is important to insert a wire between pin 24 LGND and pin 27 Shutoff on the user side x1 in the MRU junction box in order to establish RS 422 communication between the MRU and the Processing Unit Otherwise it will be no communication between these two components Note The Junction Box housing is grounded to earth through the screws for mounting the box to the wall or floor Please note that if the foundation on which the junction box is mounted is NOT connected to earth one of the junction box mounting screws has to be connected to earth b
50. et by clicking in the wanted Properties cell and the Serial Port Settings dialogue box below appears Select the wanted settings and click OK The wanted communication RS 232 or RS 422 is selected in the Electric field For com2 only RS 232 communication is available Serial Port Settings Port v Parity None Baud rate PE Stop bits h H Data bits fe H Flow control Mos y ps2 y Cancel Figure 56 Serial Port Setting Electric 98 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC e The Format settings can be changed for Device type Gyro and DGPS For Device type DGPS click in the wanted DGPS Format cell and the Select Format dialogue box below appears Select lt Disabled gt or RTCM xxxxxx setting Click OK or if RTCM xxxxxx is selected click on RTCM Properties button in order to change format on RTCM Decoding The RTCM Format Decoding dialogue box below appears Choose the wanted settings for Roll Bytes and Bits Byte and click OK The setting MSB First Roll ON and 6 of 8 are the most commonly used settings Select Format ATCM RollOn bots RTCM Properties ILo Cancel Figure 57 Format Setting RTCM Format Decoding Roll Bytes Edo Bits Byte ls of8 Y Auto detect fo Cancel Figure 58 RTCM Format Decoding The options for Roll Bytes The options for Bits Byte are are MSB First Roll ON LSB Fir
51. f operation up to four lines are available for differential GPS corrections If more than one line is needed lines used for output data or external heading in the default configuration must be used 20 Seatex Seapath 200 Installation Manual rev 9 Installation The connectors on the Processing Unit for the serial lines are of DB 9 male type Pin layout 8 CTS 9 Nc Optional The comports available on AUX Serial connector may be used if more serial input or output lines than those described above Com 5 to 10 are required The AUX Serial port makes it possible to increase the number of communication ports On the 25 pin DSub male connector six comports are available These ports are default RS 232 serial lines The pin layout is described below Pinno Signal Line Description 1 RS 232 not galvanically isolated RS 232 not galvanically isolated RS 232 not galvanically isolated RS 232 not galvanically isolated RS 232 not galvanically isolated RS 232 not galvanically isolated Note The AUX Serial ports are limited in use since these ports are not galvanically isolated They can only be used to distribute signals to from other systems mounted in the same rack and uses the same power reference unless addtional electronic equipment providing isolation is connected in between 21 Seatex Seapath 200 Installation Manual rev 9 Installation In orde
52. fference fo 000 m Figure 36 GPS Antenna Configuration e Activate the Calibration Wizard button and page of the GPS Antenna Calibration appears Enter the baseline and calibration information asked for in step 1 and 2 and 82 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC click Next in order to proceed to page 2 See chapter 3 4 4 2 Typical calibration procedure for a detailed example of antenna calibration GPS Antenna Calibration Wizard Page 1 tome Figure 37 Page l of GPS Antenna Calibration 83 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Click Next in the GPS Antenna Calibration page 1 and the GPS Antenna Calibration page 2 appears and the calibration process starts automatically Measurements for Seapath Heading Gyro Compass Antenna Baseline and Height Difference are shown in a graphical presentation in their respective diagram The diagrams are auto scaled in order to show the total calibration period A progress bar shows the calibration progress GPS Antenna Calibration Wizard Page 2 GPS Antenna Calibration page 2 Step 4 Calibration progress Time left 430 s Samples 290 M TH rh Syro Compass Antenna Baseline 0 95 NW 0 90 p 0 0 Height Difference 720 0 12635 00 159 37 177 19 2 528 0 930 lt Back Cancel Figure
53. figure presents Lipidi Giara on lie Land His d Unda Configuration Folder List HU Figure 20 Seapath Control Centre Main Window the setting windows Fead 70 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 2 2 Setting the serial port parameters Click the SCC Seapath Port Configuration button or pull down the Options File menu and select the SCC to Seapath Communication Port Configuration option The dialogue box for communication setup appears Figure 21 select connector and baud rate The baud rate must correspond to the baud rate setting in Seapath unless the communication goes through modems or other equipment which change the baud rate Default baud rate is 9600 Normally only the connector selection has to be changed Click OK The settings are saved and will remain unchanged until reconfigured SCC to Seapath Serial Port Figure 21 Communication Setup 8 2 3 Establishing connection Click the Connect to Seapath button or pull down the File menu and select the SCC to Seapath Communication Connect The Connect to Seapath Status window becomes active if communication is OK Figure 23 is shown If the Seapath type and version is correct accept by clicking OK If the connection is not in order a Found no Seapath at this comm port message will appear after a few seconds The two buttons Retry connection and Go Offline are highlighted choo
54. gure 5 the MRU must be rotated in the bracket Apply Loctite 242 glue or equivalent on the four MRU screws 3 Note The MRU R arrow must always point in the bow direction unless the default mounting orientation of the unit is modified in the MRU configuration 8 Apply the sticker 4 onto the bracket according to the actual mounting direction of the MRU as shown in Figure 7 In this way the actual mounting direction is identified in case the unit is to be exchanged or removed temporarily Figure 7 Sticker 4 shall indicate actual mounting orientation of MRU within bracket Note If the MRU is mounted correctly in the bracket the R arrow on the top of the MRU will point in the bow direction of the ship and the same direction as the R axis of the sticker If uncertain whether the MRU R axis is pointing in the bow direction look under the MRU and check that the R arrow label is pointing in the bow direction Precise MRU orientation is important to ensure that high quality and accurate measurements are available to the host system 9 Mount the junction box on the wall in a suitable location within the length of the 3 metre MRU E CS1 cable as shown in Figure 8 The screws for mounting the junction box should be secured with washers or self locking nuts 17 Seatex Seapath 200 Installation Manual rev 9 Installation LI LI LI 882882888 26 se e se e 908828 CA Figure 8 Junction box mounting 10 Mount the Processing Uni
55. humidity Max lai ala 100 Seatex Seapath 200 Installation Manual rev 9 Specifications 2 4 Cable Cable MRU E CS1 Type Heavy Duty Screened Habia Aquatherm RTFR 14x2x0 25 mm A eroe ratori aaa 3m IESU mE 13 5 mm Plame retardation 5 A tte et tie Ee dt oec aS DU TS IEC 332 1 MA SUA A OM ood ert eae nate ee esac oi M e fa ETFE SCHEEN O oe NII ada DG DE eb Sag ou Oe Pa Cu braid Processing Unit to MRU Junction Box Cable hus cr RE X LAMAC 4x2x0 5 mm Maximum length ides eto sushi 100 m Diametel nn tede eem atit fee i ete etm n vota 10 mm Elamesretardalioni sa gt Ste lori E Ec s IEC 332 3 A The GPS Antenna Cables Coax D o E Bee NK 2 Superflex 50 BHF PACIENTE 14 dB 100 m at 1 6 GHz Maximum length each cable iiec eu aaa e 100 m Diameteri d ie ete ta feat eese tei dadas 13 2 mm Minimum bend radius ss enu nem 32mm Flame retardation eee eene CATV UL1581 IEC 332 3 IEEE383 COAX CONNIE CLOTS ias hiis a c EUH TIT UE HEC Me Huber Suhner 11 N 50 9 9 Seatex Seapath 200 Installation Manual rev 9 Specifications Blank page Seatex Seapath 200 Installation Manual rev 9 Installation 3 INSTALLATI ON 3 1 General information This chapter describes a typical ship installation of the Seapath system The standard system is supplied with the following parts e The Processing Unit e Video Display Unit and standard keyboard e The MRU 5 unit e The MRU mounting bracket MRU M MB3 e
56. ided Height is for the CG and measured above the ellipsoid This height should be set when Filter is selected since the filter will start with the entered height value as the initial value 80 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC e The SV Masking value can be changed from the default value 10 by entering an Elevation Mask value between 7 and 20 degrees This value must not be changed by other than experts from the default value 10 e Click on the checkbox Enable Range Rate Corrections to use the DGPS corrections in the GPS velocity calculations The default setting is enabled on use of range rate corrections Disabling range rate corrections will reduce velocity and attitude noise when receiving DGPS corrections from a reference station with a noisy range rate e For the Seapath 200 RTK version the search mode for the RTK solution be changed from the default mode Normal to Safe or Fast by pulling down the RTK Search Mode menu The Safe mode is recommended used under difficult conditions with much multipath or ionospheric activity and for long baselines The Fast mode is used when a fast RTK solution is required However in this mode the probability for an incorrect solution from the system increases GPS Processing Settings Hesghi Aiding Aid kode On Added Height 002 SV asking Wismar Dons documentan besote changing thi parameter Ea Duo Deo e En
57. ield 103 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Test Analog Channels _ _ Go Figure 69 Input of test voltage for the selected analog channel e Inthe Description column enter a text referring to which system the output line is connected This helps finding the correct Seapath port to connect to which system 8 4 6 Parameter management 8 4 6 1 Download The edited parameters are applied by sending them to Seapath In the Configuration Folder List select Parameter Management Download Click the button Download Parameters to Seapath to download The values of the edited parameters are transferred Progress bar indicates downloading progress Figure 70 Download Parameters 8 4 6 2 Upload In the Configuration Folder List select Parameter Management Upload Click the button Upload Parameters from Seapath to upload parameters from Seapath to the SCC computer Progress bar indicates uploading progress 104 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Figure 71 Upload Parameters 8 4 6 3 Save on file Edited parameters can also be stored locally on disk in the SCC computer In the Configuration Folder List select Parameter Management Save on file and the window below appears Figure 72 Save on file Click the Save on file button and the standard save window Select file to save parameters
58. ield around each pair and the outer shield are terminated in pin 1 chassis on the x3 side Note It is important to insert a wire between pin 24 LGND and pin 27 Shutoff on the user side x1 in the MRU junction box in order to establish RS 422 communication between the MRU and the Processing Unit Otherwise it will be no communication between these two components 3 4 2 2 External input and output serial lines Seapath communicates with external equipment through RS 232 and RS 422 serial lines It is recommended to input one or more differential GPS correction signals to Seapath and optionally heading from a gyro compass or similar device Output data are position velocity and attitude to navigation computers dynamic positioning systems etc hereafter called host systems No hardware or software handshake is used on the serial lines The configuration of serial lines and their default settings are default 232 default 232 default 232 default 232 default 232 default 232 input All communication ports are set default to RS 232 communication when delivered from Seatex In the SCC software the user can select which type of communication RS 232 or 422 to be used on each port See section Properties in Chapter 8 4 5 3 for details on selection between RS 232 and 422 communication in the SCC software To ensure a best possible position solution from Seapath based on the available differential GPS correction in the area o
59. in order to save the changes in the calibration file e Click Recalculate to update the calibration statistics including the changes Only saved changes are included e Click Show Graph to see the updated graph e Click Next to proceed to page 4 In page 4 the vessel reference heading can be input Click Compute in order to calculate the heading offset Click Finish to accept the result and terminate the calibration Note If there are too many wild points and lines that need to be edited in the logged file a new logging period of calibration data is recommended started Then start from Step 2 again Note The new calibration data are only valid in the Seapath after download of parameters 86 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC GPS Antenna Calibration Wizard Page 4 Figure 42 Page 4 of GPS Antenna Configuration 8 4 2 5 GPS attitude processing In the Configuration Folder List select Sensor GPS V Attitude Processing Enter the maximum values to be used for attitude processing Figure 43 GPS Attitude Processing 87 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 4 3 MRU sensor settings 8 4 3 1 MRU geometry The lever arm vector from the centre of gravity to the MRU location has to be measured or calculated based upon drawings or previously measured points and entered into the software This vector
60. is to be measured with an accuracy of 0 5 metres Proceed as follows to enter the MRU lever arm e Inthe Configuration Folder List select Sensor MRU Geometry e Enter the settings for MRU Lever Arm Look at the sketch of the MRU geometry on the screen in order to enter correct signs on the co ordinates Check also that the MRU has been located on the expected spot in the vessel window If not check the signs and the co ordinates input for the MRU the vessel dimension and the entered location of CG MAU Geometry MRU Lever Arm MRU Geometry x m Y m Z m From CG to MRU 25 000 0 000 0 000 MAU Mounting Angles Use the MRU Mounting Wizard to MRU Mounting C find the correct mounting angles Wizard v gt RU Bi amg EL 3 Z or input the angles directly in the fields below Mounting Angles fi 80 000 2 000 0 000 Roll deg Pitch deg Yaw deg Figure 44 MRU Geometry The MRU mounting angles can either be input manually or determined by use of the MRU Mounting Wizard To use the MRU Mounting Wizard proceed as follows e Click the MRU Mounting Wizard button to get to Step 1 of the MRU axis orientation Choose to continue with Manual or Automatic setup of mounting angles 88 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC MRU Wizard Select mode m Step 1 Wizard mode gt ap mru Select
61. ke connecting a Seapath Processing Unit and an HMS 100 Computing Unit together Below is the pin wiring for the different TP cables Signal Pin no Pin no Signal Signal Pin no Pin no Signal PXXe 4 1 4 1 A EOD er a Xe O TX 2 6 RX x 3 3 Re RX 2 The pins 4 5 7 and 8 are not used 3 4 2 4 1PPS signal connection A 1 pulse per second 1PPS signal synchronised with GPS time is available from the BNC connector at the rear of the Processing Unit This 1PPS signal originates from the GPS receiver within the Processing Unit The 1PPS signal is buffered and fed to the BNC connector The high level is at 5V unloaded and 3 8V at 50 Ohm load The low level is at OV The 1PPS signal is active high and has a pulse width of 10 ms The 1PPS is generated exactly once every second with its rising edge synchronised to GPS time Synchronised with this signal it is possible to output 1PPS time tag messages from Seapath These messages are the 1PPS NMEA ZDA format no 13 or the Trimble compatible 22 Seatex Seapath 200 Installation Manual rev 9 Installation message format no 14 For description of the format for these messages see Appendix B Output Protocols From Seapath 3 4 2 5 Analog output Three analog output channels are available from the AUX Serial port at the rear of the Processing Unit The variables available for analog output are roll pitch heave and Datawell Hippy compatible ro
62. l rev 9 Appendix D Seapath configuration software SCC EE n Manual Ei Step J Maral The MAU Wizard has found the Man Rotation Angles to be Fool deal Pitch deg Yaw eg h Bl hp Please input any offeel angles In conect MAL bacha missbgnment Show MALI bracket misalignment help Fall deg Pitch deg Yaw deg pon foo nom Computed Mounting Anges Ral deg Pich deg aw deg k b bb Press Finish lo eit the eed Fresz Cancel to diced the found angles EEE eem n Figure 47 Step 3 of Manual MRU Axis Orientation e To get more help on the sign of the offset angles press the Show MRU bracket misalignment help button and the window in Figure 48 will appear MRU bracket misalignment help Input of calculated misalignment of the MAU bracket towards the vessel axis Roll misalignment pos if bracket tilts to starboard Pitch misalignment pos if bracket tilts to the stern Yaw misalignment pos if bracket is rotated clockwise Figure 48 Positive offset angles rotations 91 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC e Click Finish to finish the manual setting of the MRU axis Note The new MRU mounting angles are only valid in the Seapath after download of parameters Automatic Setup e Automatic setup selected in Step 1 Click Next to go to the Step 2 Auto window as shown in Figure 49 MAU Wiz
63. ll and pitch signals The selection of variable and channel properties 1s performed in the SCC configuration software see chapter 8 4 5 4 for details The pin wiring for the analog output part of the AUX Serial port is as follows AUX Serial port Pinno Signal Description 3 3 333 O AGND Common ground for all analog signals AOUT 1 Analog output signal for channel no 1 AOUT 2 Analog output signal for channel no 2 AOUT 3 Analog output signal for channel no 3 Note The other pins on the AUX Serial port must not to be connected to anything They have to be open 23 Seatex Seapath 200 Installation Manual rev 9 Installation 3 4 2 6 Installation procedure Attach the antenna cables to the GPS antennas on the Bracket before attaching the antenna cables to the Processing Unit If the antenna cables are attached to the Processing Unit do not attach the antenna cables to the GPS antennas with the Processing Unit powered on If the antenna cables are short circuited with power on the GPS receivers within the Processing Unit will be damaged 1 Connect the two GPS antenna cables to the connector 1 for GPS antenna 1 and connector 2 for GPS antenna 2 at the rear of the Processing Unit See chapter 7 on how to install the coax connector on the Superflex antenna cable Note The GPS antenna cables must be as straight as possible Do not crush or crimp the cable with tie downs as this will affect the electrical properti
64. n Not yet implemented About See chapter 8 3 4 for details 75 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 3 6 Seapath Control Centre button The Seapath Control Centre v button is located below the other tool buttons Click on the button to see the folder list below Click push pin to keep open 2 8 Seapath Control Center 3 Seapath Configuration Vessel 3D View Figure 27 Keep Folder List Open Click the push pin in the upper right corner of the folder list to place this folder on the left side of the configuration folder To remove the folder list and return to the original main window click the X button in the upper right corner Folder List x O a Seapath Control Center Seapath Configuration Vessel 3D View Figure 28 Close Folder List Click the Vessel 3D View button to show an expanded vessel window The vessel window will cover the whole screen like the figure below here shown in Ghost mode Click the Vessel 3D View button and then click the line Seapath Configuration to return to the main window Vessel 3D View E Figure 29 Vessel 3D View Ghost mode 76 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Right click in the window to activate menu for alternative view settings Alternative to Ghost mode is Wireframe 8 3 7 Mouse operation The mouse operations for the 3D View and the
65. n and the system enters parameter examples into the different settings making it possible to play with the application in offline mode 8 3 1 2 Exit To close down the application pull down the File menu and click the Exit option The connection to Seapath is shut down and the SCC program terminates If parameters have been edited but not sent back to Seapath the editing will be lost 13 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 3 2 Wizards menu Pull down Wizards menu Two options are available e MRU configuration e GPS Antenna Calibration Click on the MRU configuration option or click on the tool button MRU Configuration Wizard to activate the MRU Axis Orientation window The configuration setting is described in chapter 8 4 3 1 MRU geometry Click on the GPS Antenna Calibration option or click on the tool button GPS Antenna Calibration Wizard to activate the GPS Antenna Calibration Wizard window The Calibration settings are described in chapter 8 4 2 4 GPS antenna configuration 8 3 3 View menu Pull down the View menu Tick off to view the wanted options Toolbar See detailed information in chapter 8 3 5 Status Bar Bottom line X SCC Mode Select Bar See Figure 24 Setup icons Advanced Options For use by service personnel only password required Tick off to view the SCC Mode Select Bar and the Setup window below appears Figure 24 Setup i
66. n frio p ej 74 2 0 0337 65 Seatex Seapath 200 Installation Manual rev 9 Appendix C Installation of coax connectors without ohne sin gt BACK TO MAIN MENU Cut back the cable jacket about 19 mm 0 75 in Kabelmantel 19 mm zur ckschneiden Cortar y separar 19 mm del revestimiento exterior Cut back the outer conductor 8 mm 0 37 in Do not damage the centre conductor Aussenleiter 8 mm zur ckschneiden Innenleiter darf nicht besch digt werden Cortar 8 mm del conductor exterior No dafiar el conductor interior Chamfer centre conductor Innenleiter anfasen Dar forma c nica al conductor interior Follow with step 3 on page 2 Fahren Sie mit Schritt 3 Seite 2 weiter Continue con paso no 3 p gina 2 66 Seatex Seapath 200 Installation Manual rev 9 Appendix C Installation of coax connectors Blank page 67 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 APPENDIX D SEAPATH CONFI GURATI ON SOFTWARE SCC The SCC Seapath Control Centre program is used to set configuration parameters in Seapath It runs under Microsoft Windows 98 NT 4 0 Me 2000 and XP or compatible operational systems except Japanese and Chinese versions of Windows The SCC communicates with Seapath through a serial line 8 1 Software installation Follow the procedure below to install the SCC software on the external PC 1 Insert SCC CD
67. ndicating that the MRU receives power A yellow light in LED2 indicates that digital data are sent from the MRU on TX 9 If the lights in the LEDI and 2 in the MRU junction box are shining the installation is now completed and you can continue to set up the configuration parameters 25 Seatex Seapath 200 Installation Manual rev 9 Installation 3 4 3 Setup of configuration parameters Setup consists of e Installing the setup software SCC on an external PC e Entering lever arm vectors and mounting angles for the MRU and the GPS antennas e Entering input and output data interface The setup parameters are entered into the Seapath Processing Unit by utilising the configuration software SCC The SCC software is described in Appendix D Seapath configuration software SCC Always fill in the setup parameters for the specific installation in the Seapath Installation Worksheet before entering the setup software Fill in the parameters directly in the worksheet found in the Appendix A Installation worksheet in the manual In this way the parameters for the actual installation will be easier to find when requested later 3 4 3 1 Lever arm vector determinations The following lever arm vectors have to be determined and input to the configuration software SCC e The vector from the centre of gravity to the GPS antenna no 1 e The vector from the centre of gravity to the MRU location e The vectors from the centre of gravity with u
68. nfiguration Report This is a summary of ail fhe parameters configured in Seapath 15 22 19 Tue 07 May 2002 local 13 22 19 Tue 07 May 2002 GMT Vessel dimensions Length 100 00 Width 12 00 Height 18 00 m Center Of Gravity CG location CG X 50 00 CG Y 0 00 CG Z 9 00 m OwnerJules Verne Figure 76 Configuration report 107 Seatex Seapath 200 Installation Manual rev 9 Index Index A F accuracy 30 34 Fansweep 56 ADCP 53 Format 98 alignment 35 formats 47 analog 99 antenna baseline 81 Antenna Bracket 11 15 G Antenna Calibration 83 assembly 61 Atlas format 56 attitude processing 86 Automatic 92 93 Automatic setup 91 General purpose 93 GMT 3 GPS antenna 79 GPS processing 79 gyro input 97 B H baseline length 29 81 headi 1 binary format 49 53 Heading 23 bracket 17 heading offset 30 bushings 15 heave 92 Height Aiding 79 height difference 29 81 C Hippy 102 host parameters 95 calibration format 52 Hydrographic survey 93 Calibration Wizard 31 81 centre of gravity 26 95 connector 61 I Corrosion problems 12 input 96 input of data 27 D install 67 Installation Worksheet 26 damping factor 93 Interface 95 97 Datawell 102 Demo 72 DGPS 97 J DGPS correction 80 DGPS corrections 27 differential GPS 20 Download 103 drawings 37 L junction box 17 E LEDI 25 Lehmkuhl
69. nition used elsewhere The difference appears in the roll angle where roll sya arcsin sin roll puer cos pitch zer 97 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath The status byte can have the following values Interpretation 6 Noml 0 0 0 0 Reduced performance or invalid data 6 13 Echo sounder format 18 The echo sounder format is a proprietary ASCII text format with fixed length records used when connecting Seabeam and other echo sounders Format Header 1 7 000000 sdddd Warning l4 Po Tem 26 27 CRIF__ Heave is positive up Roll is positive with port side up Pitch is positive with bow up The zeroes in the header occupy the columns used for acceleration when this format is output from other systems Seapath does not output acceleration s is the sign character space if positive and if negative dddd is a decimal number with leading zeroes where appropriate The warning character is F if data are normal f if data are invalid or of reduced quality Columns between elements are filled with spaces The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere The difference appears in the roll angle where roll arcsin sin roll pe s cos pitch echo sounder 6 14 Submetrix format The Submetrix format is a proprietary binary format used for outputting
70. o improve the quality of our documentation by returning your comments on this manual Your information on any inaccuracies or omissions with page reference Please see next page Seatex Seapath 200 Installation Manual rev 9 Reader s comments Your suggestions for improvements Name enna T tle funetion 220 See ae ua Company iS AAA AAA A ESA AE AA AAA Address Lire i Telephones A ree an ne exer obese eun andre agli eek Facsimile sfiora ili el Ai ail E mail ice nu De nni oo ii A Date Linee GRATA EPRU MAUI sn See eae A MELA Manual references Ai is REVISIONE Heels Obi a beni a Oo a eat Thank you for your contribution Please send this form to Secretary of Research and Development Kongsberg Seatex AS Pirsenteret N 7462 Trondheim Norway Telephone 47 73 54 55 00 Facsimile 47 73 51 50 20 E mail firmapost kongsberg seatex no
71. of any kind The antenna should be protected from direct illumination of radar beams and other transmitting antennas such as Inmarsat antennas Seapath is more sensitive for blocking and reflections multipath of GPS signals than GPS sensors that only utilises pseudo range data This since Seapath also utilises carrier phase measurements for heading determination and both GPS antennas need to see at least two common satellites at the same time The GPS antennas have to be mounted in a way that avoids blocking of the GPS signal In order to reduce problems due to multipath effects the GPS antennas have to be mounted above the nearest deck at a height which is equal to the width of this deck or more The Antenna Bracket has to be mounted in such a way that torsion movement relative to the ship s hull is kept at an absolute minimum Note If the Antenna Bracket supplied by Seatex is not used it is important that the antennas are rigidly mounted so that the distance between the antennas does not change due to vibrations or accidental dislocation 11 Seatex Seapath 200 Installation Manual rev 9 Installation e The maximum length for each of the antenna coaxial cables is 100 metres for the cable type normally delivered with the system 1 2 Superflex If longer cables are needed a low noise signal amplifier LNA should be fitted 3 3 2 The MRU 5 For the MRU 5 consider the following e The unit is designed for installation in an ind
72. om a free serial port on an external PC to the front panel connector on the Processing Unit Start the SCC program and click on the Connect button in the Seapath start up window 3 When contact with the Seapath is established edit the Seapath parameters according to the completed Installation Worksheet Finally select Parameter Management Download in the folder list in order to download the entered configuration parameters to the Seapath unit For more description of each of the configuration parameter selections see Appendix D Seapath configuration software SCC 3 4 4 Calibration The system has to be calibrated on board the vessel after installation A typical calibration consists of e Calibrating the direction of GPS antennas against an external reference Type of reference must be decided according to the required accuracy e Calibrate the MRU axes measured by the MRU against an external reference Decision on whether MRU calibration is needed and type of reference is based on the type of system the Seapath is interfaced to and the accuracy required 3 4 4 1 Calibration of the GPS antenna installation For the GPS antenna installation the following calibration parameters have to be determined e Baseline Length The baseline length between the two antennas is measured in metres The length can be selected in the range 0 2 to 6 0 metres e Heading Offset The direction of the GPS antennas relative to the vessel s longitudinal
73. on aussi ko 93 8 4 4 Measurement pois ton dr 95 8 4 4 1 Measurement points geometry ii 95 945 O 96 Sol Host Common oe totas tots eio ora leon Padi ae ouo ve des 96 8 43 2 Network COMMON sn HER 97 O ato 97 SADA Output ria 100 8 4 6 Parameter management sh ee nf 104 8 4 6 1 Download susanne kin 104 24 02 Id de 104 SAG A io 105 84 6 4 Load tome aaa riali 106 LOSE 106 8416 0 Generale report anali aria 107 dere ae 108 R eader s commienis bilia 110 Blank page List of illustrations Figure Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Dimensional drawing for the antenna holder eee 14 Top view of the Antenna Bracket aieo labor tn 14 The different components for mounting of the Antenna Bracket I5 Side view of the GPS antenna installation eee 15 Recommended orientation of the MRU mounting bracket 16 Wall mounting of bracket with MRU connector pointing down 16 Sticker 4 shall indicate a
74. on before changing this parameter i Remove C Ignore Stations List Age Limit 60 000 s Only Stations Force Stations Ignore Stations E mpty 23 345 32 Figure 35 GPS Reference Stations For more information whether to override the automatic selections or not see the description in the User s Manual 3 chapter 5 Operating Instructions 8 4 2 4 GPS antenna configuration The heading of the GPS antenna baseline direction relative to the vessel s heading must be input to the software At the same time the baseline length and the antenna height difference should be determined These values can either be calculated or input manually or determined automatically by selecting the Calibration Wizard In order to determine the GPS Antenna configuration proceed as follows e Inthe Configuration Folder List select Sensor V GPS V Antenna Configuration e Inthe GPS Antenna Configuration window input the baseline length 2 5 metres if the standard Antenna Bracket is used otherwise this length has to be measured up manually and this value entered For the heading offset and height difference input zero Then click on the Calibration Wizard button to prepare the calibration The Heading Offset and Height Difference is automatically updated trough the Calibration Wizard process GPS Antenna Configuration Baseline Length fe 500 m SE Heading Offset fo 000 degree Wizard gt Height Di
75. ons 1 Connect System tries to establish communication with Seapath If connection fails Figure 22 is shown 2 Offline System opens for preparation of setting parameters in local SCC computer 3 Exit Application is closed Seapath EI Kongsberg Maritime KONGSBERG Seapath Control Centre gt Version 2 1 0 Wed Dec 11 10 10 58 2002 A pp D Figure 18 SCC Start Window 69 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC If option 2 Offline is selected the dialogue box shown in Figure 19 appears Tick off for Open existing Seapath parameter file or Create a Seapath demo parameter file and choose type of Seapath Click OK Initial Offline Dialog x C Create a Seapath demo parameter file Figure 19 Initial Offline Dialog If option Open existing Seapath parameter file is selected the window Select file to load parameters from appears Select the parameter file to be edited and click Open The main window Seapath Control Centre appears see Figure 20 This main window also appears if the option Create a Seapath demo parameter file is chosen Ele Wired View Belo Cee ow xx 8 D Gensan heascaption Benso ps 1 SORA Procesing abi ac sierra Lonfiguradon Pide Puck Miu Geomar Haare Coria Hassuemant Fonte anal Dala Inder Host Common Meemi Common zur Uutput FI Parameter Hanagenent Downibad This part of
76. oor environment and for operation within its temperature range e The unit is to be mounted close to the user equipment of which it is supposed to measure the motion This is to avoid errors in alignment with the user equipment and to eliminate errors due to ship hull torsion e If the system is not allocated to measure motion of a particular user equipment mount the MRU as close to the ship s centre of gravity CG as possible This to ensure best roll and pitch measurements If it is not possible to mount the MRU close to CG try to mount it along the longitudinal axis of the ship and as close to the CG as possible Avoid mounting the MRU high up or out to the side of the ship Be aware of e Vibrations Direct mounting onto the main hull structure is preferable Note The worst mounting positions are thin walls that may come in resonance with vibrations driven by machinery propellers pumps or motors Avoid mounting the MRU close to hydraulic pumps and valves where there are high frequency vibrations e Temperature changes For safe mounting of the MRU place the unit in a location where the temperature is low and where changes in temperature are slow A location directly on the hull far away from the heat of the machinery heaters and air conditioning systems is preferable e Corrosion problems Place the MRU in a location where no direct splashing seawater is present 3 3 3 The Processing Unit For location of the Processing Unit
77. output The PSXN 21 message is output once when an event occurs A sub set of the available NMEA messages can be configured individually for each serial line 6 2 Binary format 3 The binary format consists of a fixed length message using single byte unsigned 4 byte two complement integer and 4 byte IEEE floating point data elements For the multi byte elements the most significant byte is transmitted first Format Hader ASCH 1 fasona Eug RL Token __lUnsignd 1 0 25 __ Flat EE ee I e di gt North velocity metres second Flot 4 East velocity metre second Float 4 Down velocity metres second Flot 4 50 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath Rol radiams Flo 4 Pitch radians Float 4 Status word Bitfields Checksum Unsigned 1 0 255 Length is number of bytes between but not including the Length and Checksum fields Checksum is calculated modulo 256 of all bytes between but not including the Length and Checksum fields The contents of the Token field is adjustable Latitude is positive north of the Equator Longitude is positive east of Greenwich Height is above the ellipsoid Heave is positive down Roll is positive with port side up Pitch is positive with bow up The status word consists of 32 single bit flags numbered from 0 to 31 where 0 is the least signific
78. p to maximum four measurement points All these vectors have to be measured or calculated based upon drawings or previously measured points These vectors are to be measured within an accuracy of 0 5 metres or better Positive vector orientation for these parameters is X positive forwards Y positive towards starboard Z positive downwards with the centre of gravity as the origin Note If data shall be valid for centre of gravity it is not necessary to define a zero measurement point vector since the data is default output in CG The antenna and MRU vector have to be measured in any case 26 Seatex Seapath 200 Installation Manual rev 9 Installation x Figure 10 The offset vectors between the different components 3 4 3 2 Input data The Processing Unit has up to five ports for input of data The following data can be input to the system e DGPS corrections These corrections are normally input through com10 The data format must conform to 2 6 of 8 or 8 of 8 format If additional lines are needed use spare lines in the range com5 to com9 Make sure that the same line is not specified for two purposes Optionally the additional input lines on the AUX Serial port can be used e Heading data from an external source for example a gyro compass as backup to improve reliability Heading is normally input through the port com9 The data format must conform to an 1 HDT message or a supported proprietar
79. pier gut reinigen Limpiar cuidadosamente el conductor interior con el papel de lija with mit con Bb Screw the connector on the cable as far as the stop Verbinder bis zum Anschlag auf das Kabel schrauben Atornillar el conector en el cable hasta el tope Check connector seat by pulling the cable which should not be pulled out of the con nector Zur Kontrolle am Kabel ziehen dabei darf sich das Kabel nicht herausziehen lassen Controlar si el cable est fijo tirandolo Este no debe salir del conector 64 Appendix C Installation of coax connectors Seatex Seapath 200 Installation Manual rev 9 Appendix C Installation of coax connectors Tighten connector head and cable entry with approx 25 Nm Rotate the cable entry only 7 Verbinderkopf und Kabeleinf hrung mit ca 25 Nm zusammenschrauben Nur die Kabeleinf hrung drehen Montar la cabeza del conector y la en trada del cable con aproximadamente 25 Nm girando la gu a del cable Tighten the back nut of the cable entry as far as the stop 8 Die hintere Mutter der Kabeleinf hrung bis zum Anschlag anziehen Apretar la tuerca posterior de la guia del cable hasta el tope Optional Cover the mated connector pair with a cold shrink sleeve e g 74 Z 0 0 337 9 Optional Verbinderpaar mit Kaltschrumpf schlauch z B 74 200 337 zus tzlich abdichten Opcional Proteger el conector utilizando un tubo exterior colocado e
80. proceed as follows e Inthe Configuration Folder List select Data Interface Output e Activate the device to be interfaced by clicking on the checkbox in front of the device name 100 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC e The property of the selected Device are set by clicking in the wanted Properties cell belonging to the Host Out device and the box shown in Figure 56 appears Select the wanted settings and click OK Click in the wanted Properties cell belonging to the Network Out device and the Network Settings dialogue box below appears Select the wanted Port Number and click OK The default port number is recommended used unless it is in conflict with other equipment connected to the network Network Settings Port Number T Cancel Figure 61 Network Settings e Click in the wanted Properties cell belonging to the Analog Out device and the Analog Settings dialogue box below appears Enter the wanted settings and click OK Analog Settings Channel y Gain fi physical unit Offset o physical unit Out V Gain Variabel Offset Hardware limits O 10 Cancel Figure 62 Analog Settings e Click in the wanted MP cell and the Select Measurement Point dialogue box below appears Select the wanted Measurement Point and click OK ment Point MP 2 Deck Aft MP 3 Deck Center Port MP 4 Deck
81. put Seapath can use heading data from an external source for example a gyro compass as backup to improve reliability The properties and format of this signal are to be set by the user Differential GPS corrections DGPS corrections from up to four different data links can be input to Seapath The properties and format for each of these links have to be set by the user The SCC configuration port The properties of the operational communication port OpCom for connecting an external PC for configuration of the Seapath unit with SCC can be set by the user Default is coml and normally this configuration shall not be changed D Format vi GPS Receiver 1 Serial com11 38400 n 8 1 vi GPS Receiver 2 Serial com2 38400n81 YB MRU Serial coml257600n81 169 Gyro Serial com9 9600n81 lt disabled gt V DGPS Link 0 Serial com10 9600n81 RTCM RollOn 6of8 7 DGPS Link 1 Serial com0 9600n81 RTCM RollOn 6of8 169 DGPS Link 2 Serial com 9600n81 RTCM RollOn 6of8 DGPS Link 3 Serial com 9600n81 RTCM RollOn 6of8 vi OpCom Serial com 9600n81 Legend Disabled ok dicont Figure 55 Data Interface Input Configuration To setup the input interface proceed as follows In the Configuration Folder List select Data Interface Input Activate the device to be interfaced by clicking on the checkbox in front of the device name The Property of the selected Device Gyro DGPS and OpCom is s
82. r to galvanically isolate these lines and maybe convert them to RS 422 the Kongsberg Seatex product HMS 100 Converter Box part no M410 30 can be used However for the Seapath product we recommend that the product Seatex EXT 6 unit part no M320 41 is used for this purpose The Seatex EXT 6 unit is a 1 U rack module including isolation and conversion to RS 422 on all the AUX Serial comports 3 4 2 3 Ethernet connection The Seapath has the possibility to output data on up to eight individually configurable network ports The output format update rate and user measurement point are configured for each port by the SCC configuration software For the network the IP address and mask have to be specified The output data are sent out as an UDP User Datagram Protocol diagram The datagrams UDPs that are output simultaneously same time stamp are sent out in one common data package When a data package is received at the host computer all data UDPs for that sample are received To connect Seapath to a network hub you must use straight through twisted pair TP cable with RJ45 connectors Cables can be shielded screened or unshielded However shielded is recommended used The maximum length of the cable that can be used is 100 metres 328 ft A straight through cable is one where the pins of one connector are connected to the same pins of the other connector In special instances a crossover cable instead of straight through is needed li
83. ration software SCC MP perio o ome 300 A sao af sus 7 mena DeckCerterpot sme emo sov Fe MPR4 Deck cene om sow 300 Figure 52 Measurement Points Geometry Note If data shall be valid for centre of gravity it is not necessary to define a zero vector since the data is default output in CG 8 4 5 Data interface 8 4 5 1 Host common For identification of the output protocols from Seapath on the serial lines the following parameters can be set e NMEA ID A two letter talker identifier in NMEA messages as defined in 1 Default is IN Integrated Navigation e Token Numerical token in binary messages The token number is selected in the range 0 to 255 Proceed as follows to set the common host parameters e Inthe Configuration Folder List select Data Interface Host Common e Inthe NMEA Identification field enter a two character identification text e Inthe Binary message token field enter a token number to be output in the Seapath binary formats Figure 533 Common Host Settings 96 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 4 5 2 Network common In order to output Seapath data on the Ethernet connector as an UDP User Datagram Protocol diagram the following parameters have to be set e The Internet protocol IP network address Default is 192 168 1 10 e The Internet protocol IP network mask Default is 255 255 2
84. re sent back to Seapath No changes are effective until the parameters are sent In the main window Figure 20 the different parameter groups to be edited is shown Editing of the parameter values are done by pointing to the parameter name in the Configuration Folder List and clicking the left mouse button The Configuration Folder List contains following parameter groups e The Vessel group contains settings for Vessel Geometry and Description e The GPS and MRU groups contain sensor parameters to be edited when installing and calibrating Seapath e The Measurement Points group contains information on up to maximum four Measurement Points e The Data Interface contains in out parameters to be edited when defining communication with external systems e The Parameter Management group contains user features for loading and saving Note For this new version of the SCC software the sensor parameters for the MRU are to be set from this software only Note Remember that the editing is done locally in SCC and has no immediate effect until the changes are downloaded to Seapath 8 4 1 Vessel settings 8 4 1 1 Vessel geometry In this folder the dimensions of the vessel and the location of the centre of gravity are entered These inputs will influence the displayed location of the GPS antenna the MRU and the Measurement Points in the vessel window and these values should therefore be as accurate as possible Proceed as follows e Inthe
85. rev 9 Appendix D Seapath configuration software SCC Filter mode Automatic To be selected when the vessel is operating in various sea states or when the average heave period is unknown General purpose Is selected when an optimal heave amplitude is to be measured and the heave phase is of no importance This mode is typically selected when the Seapath is to be used for measuring the heave height and period on oceanographic buoys Hydrographic survey To be selected when the heave phase and amplitude have to be output correct in real time This mode is typically selected when the heave output signal from the Seapath is to be used for heave compensation of echo sounders and offshore crane systems Off To be selected if heave is not to be used and the status indication of heave in the Seapath Display Window and the Processing Unit front panel are confusing for the operation In this mode the status indication for heave on the output formats will be invalid and the LED indicator on the front panel will be turned off Period An expected average heave period has to be set to the heave filter This period can be determined by measuring the time between two wave tops by a watch The settling time for the heave measurements from power on or after a turn will be about 10 times the selected period To By selecting an unnecessary long heave period the settling time will be slower than it has to For vessels performing surveys with frequent turns
86. roduct the installation has to be properly done and the installation procedures in this manual have to be followed This manual is organised into the following chapters Chapter 1 Introduction A brief presentation of the Installation Manual with references and abbreviations Chapter 2 Specifications Describes the physical dimensions required power environmental and cable specifications Chapter 3 Installation Presents procedures to be followed for a typical ship installation with recommendations on location of the different parts mechanical and electrical installation and how to set up and calibrate the product Chapter 4 Installation Drawings Contains outline drawings showing the mechanical dimensions of the different parts of the Seapath 200 In this manual the following notations are used Is used to make the user aware of procedures and operational practice which if not followed may result in degraded performance or damage to the equipment Note A note text has this format and is used to draw the user s attention to special features or behaviour of the equipment Seatex Seapath 200 Installation Manual rev 9 Introduction 1 2 References 1 NMEA 0183 Standard for interfacing marine electronic devices Version 2 3 2 RTCM recommended standards for differential Navstar GPS service Version 2 2 3 38120 GM 001 User s Manual Seapath 200 rev 9 1 3 Definitions abbreviations and acronyms 1 3 1 Definitions
87. s is the assembly instruction for the Huber Suhner connectors 11 716 50 9 9 11 N 50 9 9 21 716 50 9 9 and 21 N 50 9 9 This connector consists of one part Do not open Bitte nicht ffnen No abrir por favor mit with con iie ohne without sin mex Required Tools Stripping Tool 74 2 0 9 15 see also 27345 Spanners AF 21 and 22 mm Metal Saw Knife Abrasive Paper 320 Ben tigte Hilfsmittel Abisolierwerkzeug 74 20 215 siehe auch 27345 Gabelschl ssel 21 und 22 mm MetallS ge Messer Schleifpapier 320 Herramientas requeridas Fresador especial 74 Z 0 9 15 Herramientas requeridas Llaves de horquilla de 21 y v anse tambi n 27345 llaves de horquilla de 21 y 22 mm sierra para metal cuchilla regla graduada 22 mm sierra para metal cuchilla papel de lija 320 papel de lija 320 lima Required Tools Spanners AF 21 and 22 mm Metal Saw Knife Measure Abrasive Paper 320 File Ben tigte Hilfsmittel Gabelschl ssel 2 und 22 mm Metall S ge Messer Massstab Schleifpapier Feile 62 Seatex Seapath 200 Installation Manual rev 9 Appendix C Installation of coax connectors with mit con iie gt BACK TO MAIN MENU Cut the cable off square perpendicular to the cable axis l Das Kabel rechtwinklig abs gen Cortar el cable en ngulo recto Seatex Seapath 200 Installation Manual rev 9 Clean the centre conductor carefully with abrasive paper Innenleiter mit Schleifpa
88. se Go Offline in order to close the connection attempt Check that Seapath has power on that the connection cable is plugged into the correct connectors and that the correct baud rate has been selected When connection is checked and corrected try to establish connection again 71 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Connect to Seapath Status O IN Figure 23 Connected to Seapath Note Before editing parameter values belonging to a connected Seapath it is recommended to perform an Upload from the Seapath first See chapter 8 4 6 2 Upload 72 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC 8 3 General user interface 8 3 1 File menu In the File menu following options are available e Open Configuration See description in chapter 8 4 6 4 Load from file e Save Configuration See chapter 8 4 6 3 Save on file e Save Configuration As See chapter 8 4 6 3 Save on file e SCC to Seapath Communication e Connect Connects SCC to Seapath e Disconnect Disconnects SCC from Seapath e Port Configuration See chapter 8 2 2 Setting the serial port parameters e Demo See chapter 8 3 1 1 e Print Configuration Self explanatory e Print Preview Self explanatory e Print Setup Self explanatory e Recent File Self explanatory e Exit See chapter 8 3 1 2 8 3 1 1 Demo Click on the Demo optio
89. st Roll OFF e To set the Format for Device type Gyro click in the gyro Format cell and the dialogue box below appears Select lt Disabled gt NMEA HDT or Robertson format Click OK and the selection is finished 99 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC Select Format disabled Figure 59 Formats available for device type Gyro 8 4 5 4 Output In the Seapath the following three types of output devices are available e Serial host output ports e Network output ports not available in Seapath 200 M e Three analog output channels not available in Seapath 200 M NMEA ZDA GGANTE Sinead EM3000 4ipap Sinead EMI000 Hipap Sinead EMI000 Hipan gt disabled delia p disabled HHEA D Gi YTG comb ABO n B e eame 19200 n B 1 ho com 19200 81 r oom S600 n 81 rs com 39S600nB1 com14 9600 n B 1 comi 3600 n 8 1 come S600 n B 1 Hei Fort300 LIDP AF Hei Focal UDPAE Met Fort 3008 UDPAR Mel Pott 3004 UDPAP Met Poit 3008 UDPAR oo 0 05 5 55 55 55 Db O Network Out BT Net Fort 3007 UDPAP LI Neak Outi Net Fort 3008 UDP FR Analog Out 1 Analog Channel glio F R Analog Out 12 Analog Channel giiia F R Analog Out HI Analog Channeb3 gl 00 0 BBBRBB SRRSRRRRRR RES EEEo Figure 60 Data Interface Output Configuration In order to set up the different output devices
90. t Format PRDID pitch roll head term Explanation pitch Pitch degrees on format sddd dd s is the sign character or ddd dd is a decimal number with leading zeroes where appropriate Positive with bow up roll Roll degrees on format sddd dd s is the sign character or ddd dd is a decimal number with leading zeroes where appropriate Positive with port side up head Heading degrees true on format ddd dd with leading zeroes where appropriate term CR LF 2 bytes values 13 and 10 6 8 Binary format 11 The binary format consists of a fixed length message using 1 2 and 4 byte signed and unsigned integers The signed integers are represented as two complement numbers For the multi byte elements the most significant byte is transmitted first The total number of bytes is 42 Format Time seconds seconds Integer 4 Time fraction of second 0 01 second Unsigned 1 0 99 Latitude 2 90 degrees Integer 4 2 2 27 90 degrees Integer 4 27 2 Height centimetres Integer 4 54 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath N ie Li North velocity ____ centimetresisecond Integer 2 East velocity centimetres second Integer 2 Down velocity centimetres second Integer 2 Rol 2 9Odegres Integer 2 2 2 2 90 degrees Integer 2 2 2 NINININININ Heading 27 90degres
91. t dependent on the roll and pitch measurements Then the heave position in the measurement points MP has now longer zero mean level instead its value depends on the vessel tilt at any time This option is useful especially in applications where the distance between the MP and the sea level is to be determined like in echo sounder installations with depth changes due to changes in vessel trim and list If this mode is not selected the heave will always have zero mean level 8 4 4 Measurement points 8 4 4 1 Measurement points geometry In Seapath up to four different measurement points for output data can be defined The lever arm vector from the centre of gravity to each measurement point has to be measured or calculated based upon drawings or previously measured points and entered into the software These vectors are to be measured with an accuracy of 0 5 metres Proceed as follows to enter the measurement point vectors In the Configuration Folder List select Measurement Points Geometry Enter a vector and a name for each of the measurement points needed for the installation Tick off the measurement points that should be active Check that the measurement points have been located on the expected points in the vessel window If not check the signs and the co ordinates input for each measurement point the vessel dimension and the entered location of CG 95 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configu
92. t sayed 10 12356 00 158 76 174 53 2 528 0 950 11 12357 00 155 38 162 85 2 503 0 910 Show Graph 12 12358 00 158 62 164 19 2 519 0 940 Calibration Statistics Mean Standard deviation Tl SeapathHeading 155 236 8 18249 deg Press Recalculate to 1 perform calibration Gyro Compass IL 70 281 5 2072 deg statistics after editing Antenna Baseline 2 50398 0000214894 m and saving changes Height Difference 0 324708 0000231408 m Fiecaleulais Cancel Figure 40 Page 3 of GPS Antenna Configuration e GPS Antenna Calibration page 3 contains information about the calibration measurements result Here it is possible to edit or delete lines of measurements Select a line by pointing on it Click on the Count or Time cell choose to edit or delete the line Click on the Edit line button and the Edit Calibration Data dialogue box appears This 85 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC dialogue box also appears when clicking on one of the cells Heading Gyro Baseline or Height Difference Change the wanted information click the Set button and the Edit Calibration Data dialogue box disappears Edit Calibration Data Count Time Seapath Heading ILENE Gyro Compass e728 deg Antenna Baseline p47 m Height Difference pj m Cancel Figure 41 Edit Calibration Data e Click Save changes
93. t within a standard 19 inch rack in a preferred location The Processing Unit has to be fastened both in front and rear of the rack Minimum 10 cm free space is needed behind the module for connecting cables 3 4 2 Electrical installation The electrical installation consists of e Connecting two cables between the GPS antennas and the Processing Unit e Connecting a cable between the MRU junction box and the Processing Unit e Connecting cables with output data between the Processing Unit and external equipment optional e Connecting a cable with analog output signals between the Processing Unit and external equipment optional e Connecting the Video Display Unit and the keyboard to the Processing Unit optional e Supplying 110 230V AC power to the Processing Unit and the Video Display Unit e Connecting a cable with gyro data to the Processing Unit optional e Connecting cables with DGPS corrections to the Processing Unit optional e Connecting a cable with data output on the Ethernet between the Ethernet connector at the rear of the Processing Unit and external equipment optional e Connecting a cable with 1PPS output signal between the between the PPS connector at the rear of the Processing Unit and external equipment optional 18 Seatex Seapath 200 Installation Manual rev 9 Installation N ty X 7 N UN Y N ZO come COM5 coms Sa MIL Y EN oo A AT N ANI o A GPS GPS PPS c DM odo O tO O P KO ANTI ANT2 MRU C
94. tes The points on the vessel where the output positions and velocities shall be valid measurement points must be defined If points different from centre of gravity shall be used the offsets from centre of gravity to these points have to be specified in the Measurement Points Geometry window in SCC A maximum of four points can be defined Each point can be used for one or more channels For NMEA messages full conformance to the standard requires RS 422 4800 baud 8 data bits no parity one stop bit and at least 1 second between messages For binary messages 8 data bits must always be used Baud rate and interval between messages must be selected in such a way that the serial line has sufficient capacity The minimum baud rate is approximately 15 times the number of bytes transmitted per second If the binary message which is 52 bytes long is transmitted with a 0 02 second 50 Hz interval the minimum baud rate is iod 39000 38400 0 02 A baud rate of at least 38400 should be used in this case Seatex Seapath 200 Installation Manual rev 9 Installation 3 4 3 4 Setup procedure The following procedure is used to configure the Processing Unit on line 1 Install the SCC software on an external PC if not already done See Appendix D Seapath configuration software SCC on how to install the software 2 Power up the Seapath unit if not already running Connect a null modem cable or the delivered interconnection cable fr
95. the period should be set as low as possible to minimise the heave settling time after turns Dampine The heave damping factor is usually set to 0 7 Only for special occasions should this parameter be changed In operations with heave periods of more than 25 seconds the damping factor should be reduced to 0 6 in order to achieve correct phase measurements In operations with heave periods of less than 2 seconds the damping factor should be increased to 0 8 For more details on selection of heave filter mode and parameters see the User s Manual In order to select the heave configuration proceed as follows In the Configuration Folder List select Sensor MRU Heave Config Enter the settings for Filter Mode and Filter Parameters The pull down Filter Mode menu has the following options Automatic Hydrographic survey or General purpose In Hydrographic survey and General purpose mode the filter parameter for Period can be set to a value between 1 and 25 seconds and the Damping value between 0 2 and 1 94 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC MRU Heave Filter m Filter Mode General purpose v V Heave mean level is roll pitch dependent m Filter parameters Period A 5 000 s Damping 4 0 700 l Figure 51 MRU Heave Filter Click on the checkbox Heave mean level is roll pitch dependent to make the heave measuremen
96. the GPS antenna which is defined to be antenna no 1 normally the antenna closest to the aft of the vessel Look at the sketch of the antenna geometry in the menu in order to enter correct signs on the co ordinates Check also that the antenna has been located on the expected spot in the vessel window If not check the signs and the co ordinates input for GPS antenna no 1 the vessel dimension and the entered location of CG GPS Geometry Antenna Lever Arm Antenna Geometry Antenna 1 From CG to Antenna 1 E 6 667 0 000 27 000 x m Y m Z m Figure 33 GPS Geometry 8 4 2 2 GPS processing For operations with weak satellite geometry the position output can be made more accurate by using height aiding and low elevation mask For normal operations the Height Aiding mode is set to Off but Filter is also recommended used The elevation mask is set to 10 degrees as the default value and must not be changed by other than experts For the Seapath 200 RTK version the search mode for the RTK solution has three selections Safe Normal and Fast The default RTK search mode is Normal In order to change the default GPS processing settings proceed as follows e Inthe Configuration Folder List select Sensor V GPS Processing e Set the Seapath in Height Aiding mode by pulling down the Aid Mode menu and change the selection from Off which is the default setting to Filter The A
97. uld be secured with washers or by utilising self locking nuts Figure 4 Side view of the GPS antenna installation 5 When the best mounting location for the MRU has been identified place the MRU mounting bracket in the preferred orientation and make screw holes in the foundation If the orientation of the bracket can be freely selected mount the bracket on the longitudinal or transversal bulkheads of the ship with the opening pointing downward as shown in 15 Seatex Seapath 200 Installation Manual rev 9 Installation Figure 5 This will ensure easy and accurate orientation of the MRU according to the longitudinal axis Reserve sufficient space below the bracket to allow insertion of the MRU from below Figure 5 Recommended orientation of the MRU mounting bracket 6 Mount the MRU bracket on the wall preferably with the opening pointing down as shown in Figure 6 Mark and drill a M6 hole for the top screw 1 and enter the screw without tightening it completely Align the bracket vertically using its own weight or by aligning it in relation to the wall Drill two holes for the lower screws 2 and insert and securely tighten all three screws using washers or self locking nuts 7 9 XAO IS 4 SS SS Figure 6 Wall mounting of bracket with MRU connector pointing down 16 Seatex Seapath 200 Installation Manual rev 9 Installation 7 Insert the MRU into the bracket In order to achieve the orientation as shown in Fi
98. vertical velocity quality 0 normal 1 reduced performance 2 invalid data Heading quality 0 normal 1 reduced performance 2 invalid data Roll and pitch quality 0 normal 1 reduced performance 2 invalid data 49 Seatex Seapath 200 Installation Manual rev 9 Appendix B Output protocols from Seapath gyro calib Gyro calibration value since system start up in degrees on format d dd gyro offs Short term gyro offset in degrees on format d dd roll Roll in degrees on format d dd Positive with port side up pitch Pitch in degrees on format d dd Positive with bow up heave Heave in metres on format d dd Positive down roll rate Roll rate in degrees per second on format d dd Positive when port side is moving upwards pitch rate Pitch rate in degrees per second on format d dd Positive when bow is moving upwards yaw rate Yaw rate in degrees per second on format d dd Positive when bow is moving towards starboard vertical Vertical velocity in metres per second on format d dd Positive when moving vel downwards event Event code 1 system restart csum Checksum exclusive or of all characters between but not including the preceding and hexadecimal 00 FF term CR LF 2 bytes values 13 and 10 The ZDA GGA GLL VTG HDT GST GSA GRS PSXN 20 PSXN 22 and PSXN 23 messages are output regularly at an adjustable rate If gyro calibration data are not being calculated the PSXN 22 message is not
99. w will result in a roll error of 0 09 degrees if the vessel is pitching 5 degrees To calibrate the misalignment of the MRU axis to an accuracy of 0 5 degrees is not an easy task and requires use of an accurate external reference Misalignment about yaw axis 0 4 0 3 0 2 eo O 0 1 roll error deg 0 2 0 3 2 deg 0 4 10 5 0 5 10 pitch angle deg Figure 16 The value of the roll error as a function of the vessel pitch angle as parameter and 1 and 2 yaw misalignments 35 Seatex Seapath 200 Installation Manual rev 9 Installation Blank page 36 Seatex Seapath 200 Installation Manual rev 9 Installation drawings 4 INSTALLATION DRAWI NGS This chapter contains the outline drawings showing the mechanical dimensions of the Processing Unit the GPS Antenna Bracket and Holder the MRU 5 and its mounting bracket and the MRU junction box 37 OTO VIA 8EFTE TON Annans ALLVIA MH nay Installation drawings Seatex Seapath 200 Installation Manual rev 9 B DEV SH 03 enba st NI sun g IUSISY ur SJOS OJUL SU umrupunpy eau DISEE n SJOV GT ur SUNUNOLU Jo sinsojoue psepueyg Mm y 9 ob I IL E Y 2 o b SI LSSSSSAS SOSSSIIS NNNSNN
100. which mode you choose to operate the 4 wizard in C Manual UN Y HU 920823 9 LODO Select Next to continue with the wizard Figure 45 Step 1 of MRU Axis Orientation Manual setup e Manual setup selected in Step 1 Click Next to go to the Step 2 Manual window as shown in Figure 46 Click the Previous or Next buttons in the left part of the window to turn the MRU unit around in 90 degree steps axis by axis Click until the correct mounting orientation of the MRU has been found The right part of the window is automatically updated with the actual main rotation of the MRU 89 Seatex Seapath 200 Installation Manual rev 9 Appendix D Seapath configuration software SCC MRU Wizard Axis Orientation Figure 46 Step 2 of Manual MRU Axis Orientation e Click the Next button in the lower right corner in order to proceed to Step 3 Manual e At the top of the Step 3 Manual window the found main rotation angles for the MRU are displayed Enter the offset angles for Roll Pitch and Yaw from the main rotation angles A positive offset angle rotation is gt Positive roll offset means starboard right side facing downward or a clockwise rotation about the R axis gt Positive pitch offset means bow up or a clockwise rotation about the P axis gt Positive yaw offset heading azimuth means a turn to starboard right or a clockwise rotation about the Y axis 90 Seatex Seapath 200 Installation Manua
101. will appear and the MRU offset angles are computed A time out bar shows the progress When finished and the found mounting angles look OK press Finish Note The new MRU mounting angles are only valid in the Seapath after download of parameters MRU Wizard Seapath restart Ea r Step 3 Auto R MRU is now computing the offset angles of the mounted unit MRU Auto Mount succeded Mounting Angles are found to be Roll deg Pitch deg Yaw deg Press Finish to exit the wizard Press Cancel to discard the found angles Cancel Help Figure 50 Step 3 of Auto MRU Axis Orientation 8 4 3 2 MRU heave configuration When using Seapath for heave measurements it is important to tune the heave parameters heave period and damping to the vessel size and the motion characteristics for the actual weather conditions The default settings in the SCC software for filter mode heave period and damping have to be tuned for the actual vessel and weather conditions in order to achieve optimum heave performance Therefore before a survey and or during operation check the heave performance of the Seapath and tune the heave parameters until the best heave performance is achieved An alternative is to select Automatic and let Seapath automatically choose the best settings The following should be considered when selecting the different heave filter modes and parameters 93 Seatex Seapath 200 Installation Manual
102. y connecting a wire from the screw to an object that is connected to earth 24 Seatex Seapath 200 Installation Manual rev 9 Installation description to MRU TX Jie MENTRE 3 Connect the cables for output data from Seapath to external equipment to the ports com5 6 7 or com8 for RS 232 or 422 communication RS 232 is the default setting analog output signals on the AUX Serial port or the Ethernet connection If additional serial ports are required the ports com13to com16 available on the AUX Serial port can be used see chapter 3 4 3 3 for instructions 4 Connect the 110 230V AC ship s power supply to the Seapath power connector at the rear of the Processing Unit 5 Connect the cable from the Video Display Unit and the keyboard to the corresponding connectors at the rear of the Processing Unit 6 Connect the Video Display Unit to 110 230V AC ship s power 7 If available connect the cables with the DGPS corrections to port com10 and the external gyro compass signal to com at the rear of the Processing Unit Optionally additional DGPS correction signals can be connected to the free communication ports in the range 5 to 9 instead of output lines and gyro input 8 When all cables are connected power on the Processing Unit The four LED indicators located behind the door on the front panel of the Processing Unit should then start to shine red The LEDI light diode in the MRU junction box should then shine green i
103. y format If DGPS correction data from more than one reference station are available on the links Seapath combines data from up to six reference stations to obtain the best solution If data from more than six stations are available the six nearest stations are used If required see the description in the User s Manual 3 chapter five Operating Instructions on how to override the automatic selection of the six nearest stations 27 Seatex Seapath 200 Installation Manual rev 9 Installation 3 4 3 3 Serial data output Data can be output on up to eight individually configurable serial lines com5 to com20 For a more detailed description of the different output formats available see Appendix B Output Protocols From Seapath The logical host channels for output of data are numbered from 1 to 8 Each channel is output to a serial line The default configuration is Host Out 1 com5 RS 232 Host Out 2 com6 RS 232 Host Out 3 RS 232 Host Out 4 com8 RS 232 Host Out 5 com13 RS 232 not isolated Host Out 6 com14 RS 232 not isolated 4 Host Out 7 com15 RS 232 not isolated 6 Host Out 8 com16 RS 232 not isolated The mapping between channel numbers and lines is configurable in the property setup string for each channel but only one channel can be output to each line If high data rates are used less than 0 1 second between messages the lowest channel numbers should be used for the highest data ra

Kongsberg Seapath 200 Position Sensor Installation Manual

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