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Seapath 330 User Manual

1. Figure 46 Close up of satellite prediction graphs The colours of the satellites in the sky view indicate the following 9 GPS satellite GLONASS satellite The satellite is under the elevation mask or hidden by a shadow sector The satellite is rejected by the DPS position calculation algorithms or A is reported unhealthy from the almanac Red satellites are not included in the calculations For more information on Sky view see 3 12 2 6 3 11 2 Diagnostics A tool which shows information about available reference stations DGNSS Monitor A tool which shows information about available reference stations see section below for more information 44 M300 52 rev 2 User Manual Data Viewer An application for providing raw data views to ease system verification and diagnostics Port Monitor An application which displays the data traffic on all serial and net ports HMI Unit Access Opens the Windows command shell on the HMI Unit PU Access Opens a MSDOS window on the Processing Unit Registry Editor Opens the Windows Registry Editor Explorer Opens the Windows Explorer view 3 11 2 1 DGNSS Monitor The DGNSS Monitor shows information about available reference stations The dialog presents three tabs one per supported correction type By default the reference station list is sorted in ascending order based on the distance from the vessel to the reference station Click a column header to change sort cri
2. For troubleshooting the MRU Unit see section 4 3 11 4 3 9 Invalid heading indicator If a gyro compass is not connected to the Processing Unit the possible problem can be one of the following e Check that the antenna baseline setup parameters in GNSS Antenna Configuration in the operator software are properly configured and if needed re measure and perform a new calibration of the antenna baseline e The Processing Unit is receiving no data from GNSS receiver no 1 or 2 That can be verified by checking whether data appear on the Port Monitor in the Tools menu and by clicking on GNSSA1 for GNSS antenna number 1 and GNSSBI for antenna no 2 If no data are coming in check that the cables from GNSS antenna no 1 and 2 are properly connected to the GNSS 1 and GNSS 2 connector on the Processing Unit Check that the cables for GNSS antenna no 1 and 2 are not damaged and that the cables are properly terminated in the connectors Replace both cables 1f necessary e Check that GNSS antenna no 1 and 2 are functioning properly by dismounting the antennas from the Antenna Bracket and inspecting them Replace both antennas with new ones if necessary If a gyro compass is connected to the Processing Unit check the items described above and in addition check that data are coming in from the gyro compass That can be verified by checking whether data appear on the Port Monitor in the operator software and the communication line the gyro compass
3. The Seapath 320 can be delivered with following optional equipment Description G070 01 Cable GPS antenna 2 Superflex or similar length on request G070 03 Connector kit for GPS antenna cable 2 Superflex or similar M310 41 Cable flexible GPS antenna cable type RG214 Hiflex max length 40 m M310 42 Connector kit for RG214 Hiflex cable M310 62 Cable PU to MRU junction box cable length on request G062 52 Keyboard with integrated mouse US layout G071 21 Cabinet height 6U G071 97 Serial Port Extender 8 Ports M300 52 rev 2 73 Seapath 320 74 M300 52 rev 2 User Manual APPENDIX A LCD DISPLAY AND KEYBOARD The Processing Unit includes an integrated LCD display and keypad for accessing the internal menu system Use the menus and screens to review system status Figure 68 Integrated display and keypad Because the display only provides 2 lines of 16 characters the Processing Unit uses a number of menus and submenus to access the status configuration screens All available status and configuration screens are described further on in this section A 1 Navigation Button Name Escape T Esc E Y A Sp 4 P Left right v Down Enter Function The Escape button shall be used to exit pages without changing the parameter and or return to the previous menu level move up one menu level Hold the Esc button to return to the Home screen The arrow keys are also used for option scroll The
4. KONGSBERG Seapath 320 User Manual Seapath 320 About this document First issue of this manual Description of serial port extender and minor changes in the text Copyright O 2010 Kongsberg Seatex AS All rights reserved No part of this work covered by the copyright hereon may be reproduced or otherwise copied without prior permission from Kongsberg Seatex AS Disclaimer The information contained in this document 1s subject to change without prior notice Kongsberg Seatex AS shall not be liable for errors contained herein or for incidental or consequential damages in connection with the furnishing performance or use of this document Kongsberg Seatex AS Telephone 47 73 54 55 00 Telefax 47 73 51 50 20 Pirsenteret Duty phone 47 73 5021 11 N 7462 Trondheim www km kongsberg com seatex Norway E mail km support seatex kongsberg com KONGSBERG II M300 52 rev 2 Table of contents User Manual 1 PRODUCT DESCRIPTION ion 1 ll Purpose and appliCatiOn asian 1 1 2 3S9 YS EMC OM POMC MES os oa 2 I2 1 he Processine UMi auo J er e c ph J Dm 3 Lb o Bs UM Biol AAPP OS LP CIEN 4 1 2 3EBO k ES PACO NEC O eds oni M uon be teu a enin Dub edes ono d M uto Dk 5 1 2 4 The GNSS antennas and antenna bracket 1 eee eee 9 tentent eene 6 1 5 Networked arce AAA 7 EA ENS ias 8 kT GPS Global POSitionime SY Stele sedi Suse au tice l n is 8 1 4 2 GLONASS
5. User Manual 1 4 3 2 Clock and orbit corrections In contrast to having a unique set of satellite corrections specific to each reference site the orbit and clock concept consists of one set of corrections for the satellites which 1s valid globally The orbit and clock concept Figure 12 uses reference stations with a worldwide spread to calculate the orbit and the clock value of each GPS GLONASS satellite more accurately than the broadcast GPS GLONASS ephemeris Orbit and clock corrections to the broadcast GPS GLONASS ephemeris are then transmitted to the user The correction data can be used at any location regardless of distance to any reference station making the system truly global Local ionospheric errors are corrected at the user end by using a dual frequency receiver Use of orbit and clock corrections improves the accuracy from metre level to decimetre level P P SS Precise P Orbit amp Clock lonosphere Figure 12 Orbit and clock concept 1 4 4 SBAS system description SBAS Satellite Based Augmentation System is a generic term for GPS augmentation systems such as WAAS EGNOS MSAS and GAGAN which use geostationary satellites to broadcast information to users over a large geographical area SBAS shall provide additional accuracy and reliability for the GPS system The systems are independent but based on the same principles The systems are fully interoperable and compatible M300 52 rev 2 1
6. 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 shadow sector Figure 61 Figure 62 Figure 63 M300 52 rev 2 User Manual Times Series view showing data for roll pitch heave and heading View menu Dusk mode Day black mode Browse views with the F2 key SA Views witIpthe P9 Key usa orco Db o ioa en eee els o ZQqQZ_ OI A lari ni UN No Export alagm To gt MIO Waste og eate RO n be e uade LI W n die Alarm history view Status taD kk kk kek k k Alarm log view History taD kk kk kek kek k ke POOLS We N oe gt ggn oo ywywmrmonnm satellite PEO iii Adding sector into the Satellite Prediction Sky view j Track plot Close up of satellite prediction graphs k ne DGNSS Monitor RTCM stations eeeeeeeseeeen enne kek keke k en enne DGNSS Monitor SBAS Data Vie Wer applteaLtOD sky K yan e le leke eee es aes Sy Sten MSRP ee OK e E e E A e W ek The NavEngine Configuration menu Operator software configuration View Operator software configuration Alarms ene Operator software configuration Data SOUTC EEEL Operator software configuration Compass Operator software configuration Position Integrity Operator software
7. Filter cover and filter U HMI Unit Remove filter by sliding to the left with e g a small screw driver Replace filter or clean by wasing with mild detergent or vacuuming 4 1 3 Recalibration of the Antenna Bracket The direction of the GNSS antenna baseline relative to the vessel s heading has to be recalculated only 1f the Antenna Bracket has been moved or dismounted from the Antenna Holder Then the calibration procedures described in the Installation Manual 1 have to be followed for recalibration of the heading and antenna baseline 4 1 4 Recalibration of the MRU After two years in operation a recalibration of the MRU is recommended A recalibration is recommended due to changes in the characteristics of the internal sensors over time and is therefore necessary in order to achieve the specified performance Exactly when a recalibration 1s required will depend on the use of the unit An indication of required recalibration 1s oscillations in the roll pitch and yaw measurements that cannot be related to the vehicle motions The MRU has to be returned to Kongsberg Seatex for recalibration 62 M300 52 rev 2 User Manual 4 1 5 Changing the internal lithium battery The lifetime of the internal lithium battery within the MRU should be at least 10 years unless the unit has been stored unused for many years An indication of a discharged battery will be that the MRU loses its configuration when the unit is unpowered The MRU has
8. misalignment of only one degree will reduce the performance when exposed to heavy motions due to cross coupled roll and pitch measurements If not already done ensure that the MRU yaw offset according to the vehicle s longitudinal axis is accurately measured and entered into the MRU configuration It has been several years since the MRU was last calibrated Contact Kongsberg Seatex to check whether the MRU needs recalibration If DGPS corrections are input to the Seapath and range rate corrections are used check that these corrections are not noisy In NavEngine Configuration under subfolder SensorsXGNSS Processing it is possible to enable disable use of range rate corrections The default configuration 1s with this functionality disabled Disabling range rate corrections will reduce velocity and attitude noise when receiving DGNSS corrections from a reference station with noisy range rate Depth errors in the outer beams on a multi beam echo sounder may occur when The oscillations in the depth of the outer beams are correlated with the pitch angle of the vessel Check the mounting angle around the Y axis The MRU R axis has to be parallel with the ship s longitudinal axis as long as the sounder transducer is aligned with the ship axes M300 52 rev 2 71 Seapath 320 e The oscillations in the depth of the outer beams are correlated with the roll angle of the vessel Check that the lever arm vector from the ship AP to the MRU is input corr
9. 1 4 3 1 Traditional DGPS DGLONASS RTCM The DGPS DGLONASS system improves the position accuracy by using the differential technique This is accomplished by accurately surveyed GPS GLONASS reference stations which calculate pseudo range corrections for all the satellites tracked by the reference station s GPS GLONASS receiver The DGPS DGLONASS system also uses a communication link for transmission of correction data from the Reference Station to the vessel Each GPS GLONASS reference station compares the measured distance to a satellite with the one calculated based on the satellites and the reference station s known co ordinates The resultant range difference is the correction data which are broadcast from the GPS GLONASS reference stations to the Differential GPS GLONASS correction receiver s on board the vessel s The correction data can also be broadcast via satellite e g an Inmarsat satellite At the vessel these pseudo range corrections are applied to correct the pseudo ranges received by the vessel s GPS receiver prior to using them for the calculation of a three dimensional navigation solution The concept of a differential GPS GLONASS DGPS DGLONASS real time system is illustrated in Figure 2 Orbit error IN lonosphere Troposphere N n Sum errors X Sum errors La diff correction x Reference Station Figure 11 Differential GPS GLONASS DGPS DGLONASS concept 10 M300 52 rev 2
10. Enter button shall be used to start option scroll and for data entry selection Accept store changes with Enter button AP Y 4 Arrow symbols are used in the menu screens to indicate possible navigation direction see figure below M300 52 rev 2 75 Seapath 320 Figure 69 Arrow symbols indicate possible navigation direction A 2 Main menu The Main menu allows contrast and backlight adjustment in addition to displaying all available hardware states Figure 70 Main menu Status Temperature The temperature inside the Processing Unit Normal temperature is 40 50 C when the room temperature is 25 C 76 M300 52 rev 2 Temperature alarm If the temperature exceeds 70 C for more than 1 hour the left most LED will start to blink Operating time Total time in operation since first power on Display Adjustment of the display contrast and backlight Contrast Display contrast Five contrast levels are available Change the value by pressing the Enter button then use the right and left arrow keys to select the correct level before pressing the Enter button again to confirm the selection Backlight Display backlight It 1s possible to change the intensity of the LEDs and the character display Five backlight levels are available 1 96 3 96 6 96 25 and 60 96 of maximum intensity Change the value by pressing the Enter button and then use the right and left arrow keys to select the cor
11. Figure 5 Front panel of HMI Unit 4 M300 52 rev 2 User Manual Figure 6 Rear panel of HMI Unit 1 2 3 The MRU 5 The Seatex MRU 5 is specifically designed for motion measurements in marine applications The unit incorporates 3 axis sensors for linear acceleration and angular rate along with complete signal processing electronics and power supply The MRU 5 outputs absolute roll and pitch Dynamic acceleration in the MRU axes direction as well as velocity and relative position are also provided The MRU achieves high reliability by using sensors with no rotational or mechanical wear out parts Figure 7 The MRU 5 When the MRU is used within the Seapath product only raw angular rate and linear acceleration data 1s output from the unit All processing of these signals to roll pitch heave and velocity measurements is performed in the Kalman filter in the Processing Unit The analog output channels from the MRU as indicated in Figure 8 are therefore not used when the MRU is used within the Seapath product M300 52 rev 2 5 Seapath 320 HoH enqrrvens Vee Ss e n E o r l n t e r f a c e Power 2 J30V DC D D qu D D D D D D D D e D D D D a Figure 8 MRU 5 functional modules The interior of the MRU is divided into two sub assemblies consisting of an electronic unit and a sensor unit The electronic unit consists of plug in circular multi layer boards Extensive use is made of surface
12. Global Navigation Satellite System 9 1 4 3 Differential GPS DGPS and differential GLONASS DGLONASS 10 Ad SBAS System desc PIO Nc a eee beyt dak 11 TECHNICAL DESCRIPTION eene nnn 15 ZA BESAPEAN PI S i kar e nei pe Ke deden EA acuit on e 15 MAW iy Sle Mi Abe HIE CUI voee cate tieu Ee odd uf Eolo date uid iD e 15 251 2 Mani data A N 16 2 01 5 Re AGIAN determinato ccena E De od SUV De K 16 2 1 4 Rolland pitch determinatlon AS 17 2 1 5 Position and velocity determination occcccccnnnnncnnnononnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnanannnnnnss 17 2 1 0 Rea ume heave COMPU Mali ida 18 2 11 Deri yed heave UDI A usate cavolo ese niu WAN 27 2 1 5 Hieheispeed data tea a 22 OPERATING INSTRUCTIONS eene nnns 23 S L Screen Sections VIe WS idees eid oai quiate a On a aloud h n a M RM 23 SL SWE hat S l CEW T VS ie iees eae arit Ioa Kl n 0140i a IN bA a ne 1 foci N eni a tasti ee uas 24 M300 52 rev 2 III Seapath 320 3 2 3 3 3 4 39 3 6 3 7 3 8 3 9 3 10 3 11 2 12 4 2 IV COPs 25 vie mala e Od 2 DEN hal P 28 Gilan Als III NETS 30 COMPAS Ie event acad tuas esos usada Nos 3l MotonData Ve M T rer rrr ___ezz_ a 32 Tine Serie SIV a 33 RA ense MT 29 DS MNA e RE ER Tm 35 De Dil NVC W a Sains Seemedeuaies 36 O DAS PLA LORDS sante tai tas KA V n E od Ion cau e
13. Night mode User Manual rr mm Day bright Day white Day black Dusk Night l ja Maximize main wiew Browse top views Browse botom views Toggle top view Toggle bottom view splay format Date format Time format Position format Datum Unit system Link status F8 F5 F2 Shift F2 F3 sShift F3 Figure 33 View menu Press F7 to browse through the non night colour palettes If clicked when in Night mode Dusk will be selected M300 52 rev 2 35 Seapath 320 Figure 34 Dusk mode Figure 35 Day black mode 3 9 2 View Maximise main view Click to let View 1 cover the whole screen This has the same effect as pressing the F5 Browse top views Click to browse to the next available view in View 2 This has the same effect as pressing the F2 key Browse bottom views Click to browse to the next available view in View 3 This has the same effect as pressing Shift plus the F2 key Toggle top views Click to switch the contents of View 1 and View 2 This has the same effect as pressing the F3 key Toggle bottom views Click to switch the contents of View 1 and View 3 This has the same effect as pressing Shift plus the F3 key Browsing or switching views using F2 and F3 is not stored The only way to ensure that the selected contents 1s displayed every time the operator software starts 1s to make the selection as described in the View tab in the Operator software configuration dialog 36 M3
14. Tracking mode indicates how many SBAS satellites that are enabled in the Configuration file Tracking mode parameters Manual Single One specific SBAS satellite is enabled in the Configuration file Manual Dual Two specific SBAS satellites are enabled in the Configuration file Disabled SBAS disabled in the Configuration file Automatic No specific SBAS satellite is selected and the system will select and use data from the best of the available satellites Precision mode parameters NPA Non Precision Approach Mode PA Precision Approach Mode M300 52 rev 2 47 Seapath 320 3 11 2 2 Data Viewer The Data Viewer shows raw data information about satellites tracked by the receiver position fix information SBAS information and hardware platform status The application 1s a helpful tool for system verification and diagnostics Data Viewer Default view 2009 11 19 14 02 41 GNSS tracking Tracking GNSS fix Receiver 1 2009 11 19 14 02 41 diis as PAN System Azmuth Elevation Signal type SN ratio dE Tracking count dir sw alan i 22 lees ana b Ba BES x s 43 6380 9999 te lima 3 GPS 2027 60 c a Bl 44 47 37 51 45 44 34 48 35 Bl 45 18 GPS 0838 483 Eva 51 H 16 GPS 1848 037 Eya 45 25 124 SBAS 168 5 AP 122 NW CA 40 18 Glonass 294 0 4 571 ff CA P 50 43 3 Glonass 135 0 E 553 4 C A 50 44 Al T External attitude sensors information 15 GPs 0268 J 183 J Cat Time de
15. automatically try to save the configuration files on this disk and inform about the result of the operation Note that the registry settings will not be saved 9 If the new disk is not completely blank you will be asked for permission to overwrite it Confirm by pressing the left arrow key to select Yes and then pressing the Enter key 10 Wait until the installation completes 11 Select Shut down from the menu press Enter 12 When the message System halted appears you may turn off the system or press the Ctrl Alt Delete keys simultaneously if you wish to start the system as normal 4 2 6 Repair of the MRU All repairs and modifications of the MRU except for installation of new software versions and user configuration have to be carried out by Kongsberg Seatex Caution Opening the MRU housing will result in permanent damage and the user should under no circumstances make any attempt to do SO 4 2 6 1 Installation of spare MRU If a spare unit is rented while your unit is in for repair use the following procedure to exchange the units M300 52 rev 2 65 Seapath 320 1 Follow the Shut down procedure described in previous sections Z Dismount the MRU cable and unscrew the unit from the mounting bracket Insert the spare MRU into the mounting bracket Ensure that the MRU is mounted in the same orientation in the mounting bracket as the failed MRU Connect the MRU cable to it and power on the Processing Unit 4 Put the failed MR
16. based on the satellite s almanac data received from the GNSS receiver Number of available Number of Glonass Number of available GPS satellites satellites used Glonass satellites Satellite Predicbon LX Number of GPS TER a EZ lt Start date and satellites used 7 1 d TAI 034 4 6 Start Date yyyy mm dd 2008 11 06 time setting tte Duration h Load current time indicator 1 m 8 Start Time hh mm 08 52 Vessel heading gt R l m lt A Position setting r In e 63 28 31 42635 Format oo mmss ss r E 010 24 1219993 Datum wesss Jel Shadow sectors Q i i AA Q li Load current position Elevation QN D g DD mask setting Elevation mask e Elevation mask 10 Track plot O lt Track plot Load current values TASA A Time selection for hn 4 L a 4 time indicator Reset sectors 1 2 3013 Update Time indicator Recalculate sky view and graphs 20 Graph showing number of satellites used Graph showing HDOP 4 End of prediction Close Start of prediction Figure 43 Satellite Prediction 42 M300 52 rev 2 User Manual When opening the Satellite Prediction application the current date time and position is set as start values In addition shadow sectors are drawn as inserted in the System settings dialog while the elevati
17. configuration Sky VIEW kek Selection of correction satellites to displa4y E Cone cuon satelBte TOOMID uc ae ieee io Sky view with correction satellites signal strength bar track plots and Operator software configuration UTM options Quick Help dialog Change system qHode ODIODS tad VII Seapath 320 Fiure 04 Restan Opos sn 59 Frere 00 SORODNO to 59 Froure 66 Start Operator S YW su sina iu aei entienda died 60 Ligure 07 Sbhb tdown ODUODSo di ibe Nue en ut icto ues M asa ida Late Ke Kab 60 Figure 68 Integrated display and Keypad ita 75 Figure 69 Arrow symbols indicate possible navigation direction 76 Fist 70 NANI dana ode RAN 76 List of tables Table 1 PRN for Peosstationary sSate Mites esce aede rv tube bn to Di bete b ohaia 14 VIII M300 52 rev 2 User Manual Abbreviations gt E Aft Perpendicular The vertical intersection of the design waterline at the stern alternatively the centerline of the rudder stock oy a Base Line Is the same as the keel for a vessel with horizontal keel line 3 A Coarse Acquisition 1 Circular Error Probability C3 Ci Q es y Centre of gravity The mass centre of a vessel This 1s normally the location with least linear acceleration and hence the best location for measurements of roll and pitch Centre Line Is the longitudinal axis along the centre of the ship DGLONASS Different
18. last 12 hours inactive alarms will be displayed h Number of messages Sets a maximum numbers of inactive alarms which shall be displayed in the History tab in the Alarm history view If 500 are selected the last 500 inactive alarms will be displayed Note If the Operator SW is stopped restarted or shutdown most of the alarm history will be deleted Only the active alarms generated from NavEngine sw will be available M300 52 rev 2 51 Seapath 320 3 12 2 3 Data source The Seapath GUI does not need to run on the same CPU as the NavEngine service By entering the multicast group and port used by the wanted NavEngine instance in the Data Source page remote data become available Operator software confiquration Address 157 237 85 255 Address Pool name 157 237 85 253 Seapath Figure 54 Operator software configuration Data source Address The address on which the Operator software receives data Port The port on which the Operator software receives data Note If the Operator software should receive data from NavEngine the Address and Port must match the UDP address and UDP port entered in the NavEngine configuration see the Installation Manual 1 3 12 2 4 Compass In the Compass page the following can be adjusted Max speed The maximum vessel speed to be shown Number of speed ticks The resolution of graphical presentation of the speed in the compass number of circles Speed limit Set the lower limit for whe
19. motion of a vehicle and defined positive down Heave position and velocity are dynamic motion variables oscillating around a mean value typically zero The height in the Seapath product is defined as the vertical position relative to the WGS84 datum rotational ellipsoid In this manual defined as Navigation computers Dynamic Positioning Systems etc receiving data from Seapath The zero point in the coordinate system The origin is the intersection point between AP BL and CL This axis 1s fixed in the vehicle and points in the starboard direction horizontally when the roll angle is zero Positive rotation about this axis 1s bow of the vehicle up A rotation about the pitch axis 1s positive when the bow moves up Normally pitch means the dynamic pitch angle motions 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 1s starboard side of the vehicle down A rotation about the roll axis is positive when starboard side of the vehicle moves down Normally roll means the dynamic roll angle motion When looking in the bow direction of a vehicle this 1s the right hand side of the vehicle XI Seapath 320 The alongship dynamic motion of a vehicle and defined positive forward The athwartship dynamic motion of a vehicle and defined positive starboard This axis 1s fixed in the vehicle and points in the downward direction w
20. mounted components The unit is divided into nine separate mechanical parts which may be exchanged very quickly by plug in boards when the housing cylinder has been removed The housing cylinder should however not be removed by anyone else than Kongsberg Seatex The MRU is integrated 1n Seapath and all digital data are routed through the Processing Unit 1 2 4 The GNSS antennas and antenna bracket In a standard Seapath delivery the Antenna Bracket 1s 2 5 metres The Antenna Bracket is delivered in aluminium However maximum heading accuracy 1s achieved with 4 metre antenna separation For antenna separations greater than 2 5 metres it is recommended to mount each antenna separately on a rigid structure 6 M300 52 rev 2 User Manual es Sa sae e lan a TT EE i a a rna CREE gt a 2500 0 1 0 025 I 022 7 A E n AA ges Em n ez ee B 7 ce Set ae E er POSSE z 7 p 2500 0 a Figure 9 Antenna Bracket Sw ON 4 ES yp NU ip a AEN able Sd CS Figure 10 Side view of GNSS antenna installation 1 3 Networked architecture The Navigation Engine runs all critical computations independent of the HMI Unit to ensure continuous and reliable operation Navigation Engine runs in a saf
21. of this new functionality the Seapath user has to post process the echosounder recordings together with the motion sensor recordings The application of delayed heave has to be performed in post processing software delivered from QPS CARIS EIVA HYPACK Kongsberg Maritime and others These software packages are able to read the PFreeHeave format See the Installation Manual for details on the PFreeHeave format 2 1 8 High speed data in real time By the integration of motion data with GNSS positions in the Kalman filter a 200 Hz update rate of heading roll pitch and position is achieved All Seapath data are output in real time including the position data due to internal processing by use of accelerometer measurements between each GNSS position This eliminates delays due to processing 22 M300 52 rev 2 User Manual 3 OPERATING INSTRUCTIONS The Seapath will start automatically after power on and it 1s operated through the operator software installed on one or more HMI Units The software is used for performance monitoring configuration and system troubleshooting Normally the system outputs signals on the serial lines analog channels and Ethernet ports without any involvement from the user After power on up to 30 minutes 1s needed to obtain full accuracy on all data Since there normally is no reason to turn off Seapath it should be left running continuously The Processing Unit include an integrated LCD display and keypad
22. sector place the mouse over the sky view area right click on the mouse and select Add sector By dragging the edges of the sector the sector becomes larger or smaller To move the sector select the sector and drag it to the wanted position To delete a sector select a sector right click on the mouse and select Remove sector The shadow sector refers to the vessel centre and will follow the vessel heading Azimuth start describes the starting angle of the sector 1n degrees 0 to 360 related to North Azimuth sweep describes the size in degrees Elevation start describes the starting angle of the sector in degrees 0 to 90 where 0 degrees is the horizon and 90 degrees 1s straight above the antenna Satellite track plot assists in determining if a satellite is rising or falling in elevation The Satellite track plot length defines how long the length of the track plot should be When Satellite Track plot 1s enabled the track plot starts to increase Maximum length of the track plot is 720 minutes M300 52 rev 2 05 Seapath 320 401 E AL 55 Shadow sector E Signal A O strength bars Correction satellites Figure 60 Sky view with correction satellites signal strength bar track plots and shadow sector 3 12 2 7 UTM options The UTM Options page controls how UTM positions are treated by the Seapath application When selecting False Northing positions south of the equator will always be presented positi
23. the Alarm history view there are two tabs Status and History The Status tab displays the active alarms while the History tab displays all alarm history within a selected period or a maximum number which is set in the Operator software configuration dialog3 12 2 2 All alarm changes are inserted as a new entry in the History tab Alarm history Ix Y Event filters Alarm severit O Alarms only O Alarms and warnings 9 Alarms warnings and information Status History Severity Status Time Source Message Alarm Active 2008 11 13 12 05 02 Att IF No external attitude Alarm Active 2009 11 19 12 05 02 Att IF 2 No external attitude Alarm Active 2009 11 19 12 05 02 NavEngine No IMU data Warning Active 2009 11 19 12 04 51 NavEnaine educed position and velocity accuracy Alarm Active 2009 11 13 12 04 51 NavEngine Invalid position and velocity Warning Active 2009 11 19 12 04 50 GNSS No raw data Export Ackseleded Ackall Figure 40 Alarm history view Status tab The option buttons at the top of the dialog provide some simple message filtering if Alarms only is selected only events with the Alarm severity level are displayed if Alarm and warnings is selected events with Alarm or Warning severity level are displayed and if Alarm warnings and information is selected all events are displayed From the Status tab it is possible to acknowledge alarms Pressing Ack selected acknowledge the selected alarms while
24. to be returned to Kongsberg Seatex for changing of the lithium battery A discharged battery will not have any influence on the MRU as long as it is connected to an external power source like the Processing Unit 4 2 Repairs and modifications Repair of the Seapath consists of exchanging damaged GNSS antenna cables the GNSS antennas the Processing Unit the HMI Unit the MRU or the MRU junction box These repairs can be carried out by a skilled electrician 4 2 1 Exchange of GNSS antenna cable 1 Follow the Shut down procedure described in previous sections 2 Dismount the damaged antenna cable The new antenna cable must be as straight as possible Do not crush or crimp the cable as this will affect the electrical properties of the cable 3 Connect the antenna cable to the GNSS antenna 4 The connection between the GNSS antenna and the antenna cable should be sealed against water penetration preferably using waterproof self vulcanizing tape 5 Connect the antenna cable to the Processing Unit Caution If the antenna cables are attached to the Processing Unit do not attach the antenna cables to the GNSS antennas with the Processing Unit powered on If the antenna cables are short circuited with power on the GNSS receivers within the Processing Unit will be damaged 4 2 2 Exchange of GNSS antenna 1 Follow the Shut down procedure described in previous sections Dismount the failed GNSS antenna Mount the new antenna on the mou
25. with 21 used for transmitting signals and three for on orbit spares deployed in three orbital planes In contrast to the GPS system where all satellites transmit on the same frequency each GLONASS satellite transmits on its own frequencies Each GLONASS satellite transmits radio signals at two microwave frequencies in the L band In order to calculate a three dimensional position based on both GPS and GLONASS five unknowns have to be solved latitude longitude height and two receiver clock offsets Tracking five or more satellites solves this equation One of the primary advantages of GPS GLONASS is the increased satellite coverage With satellites from the combined GPS and GLONASS constellations there are many more visible satellites available for position computation A combined GPS GLONASS system 1s therefore extremely beneficial in obstructed operating environments By using GPS GLONASS users benefit from the integrity of two independently operated satellite positioning systems With more satellites available the constellation geometry is significantly improved providing the user with added confidence in the accuracy of the positioning solutions M300 52 rev 2 9 Seapath 320 1 4 3 Differential GPS DGPS and differential GLONASS DGLONASS Position accuracy from both GPS and GLONASS may be enhanced by using the differential technique This can be achieved by using either traditional DGPS or by clock and orbit corrections
26. 00 52 rev 2 User Manual e Ria T nm nttnta latan DES 4D Ml a ye quee sem osos reson M rage os mem O ceno EEE Tage 1009 System Antenna to Well 1 4 Antenna to Well 1 103 125 2 103 125 m 2 1 sn 12 N b 7 N A 2 Q m 1 T Ga Na sc D 0 t W 9 9 O O 4 63 26 523 10 24 2290 N 63 26 5234 E 010 24 2290 1 1 250 uu SPOTBEAM inmarsat Q sess 0 1 1 uu SPOTBEA M AARSAT sz sess 0 1 Figure 36 Browse views with the F2 key DPS 4D Local Data ven onat sam DPS 4D Local Data a ye gon aterm ae Operaton Target Jools System cak Operator 7883 Target j Toots System Antenna to Well 1 9x 4 d 103 125 1 03 1 23 g 9 10 4 5 AN La 4 NS AT gt N ma IA EN LO 15 3 qe N N 2 hon O 2 r NETA Q a o m e N 6326 4937 E 01024 3271 11250 Qo 95V py 9 9 a 120 wa SPOTBEAM Q messo s2 sess 0 1 Figure 37 Switch views with the F5 key gt For more information about View see section 3 12 2 1 3 9 3 Display format The display format group provides alternatives for modifying the presentation of various data types When clicking a view menu item in this group or hovering the mouse cursor over it a sub menu will appear to the left containing radio items for selecting the wanted format Date format Select between various date formats The selected format is used in displayed fields presenting date information e g the date part of the T
27. 1 Seapath 320 1 4 4 1 WAAS WAAS Wide Area Augmentation System is an American GPS based assistance to air traffic built and operated by the FAA Federal Aviation Administration WAAS 1s designed to improve the accuracy and ensure the integrity of information coming from GPS satellites The signals from GPS satellites are received at a network of ground based reference stations Measurements from the reference stations are routed to master stations which generate and send the correction messages to Geostationary Earth Orbit GEO satellites These GEO satellites broadcast the WAAS message to the users on the same frequency as GPS The FAA commissioned WAAS in July 2003 throughout the continental United States and most of Alaska The next segment of WAAS was completed in 2008 and will expand service coverage to all of the continental United States most of Alaska and significant regions of Canada and Mexico d ce s r i qa EGNOS A MSAS um dj E A Figure 13 SBAS coverage 1 4 4 2 EGNOS EGNOS European Geostationary Navigation Overlay Service is the European SBAS and is being deployed to provide regional satellite based augmentation services to aviation maritime and land based users in Europe EGNOS is the first step in the European Satellite Navigation strategy that leads to Galileo the future European satellite navigation system which will complement GPS EGNOS will become fully op
28. 19 2009 11 19 12 06 19 2009 11 19 12 06 18 2009 11 19 12 06 17 2009 11 19 12 06 10 2009 11 19 12 06 10 2009 11 19 12 06 10 2009 11 19 12 06 09 Source Att IF 1 Att IF 1 Att IF 1 Att IF 1 Att IF 1 Att IF 1 Att IF 1 Att IF 1 NavEngine GNSS NavEnaine NavEnaine NavEnaine GNSS DataPool DataPool DataPool DataPool DGNSS IF GNSS NavEnaine NavEnaine DataPool DataPool NavEnaine NavEnaine DataPool DataPool Message No external attitude No external attitude No external attitude No external attitude No external attitude No external attitude No external attitude No external attitude Invalid position and velocity No raw data Reduced position and velocity Reduced position and velocity Invalid position and velocity No raw data DGNSS status data timeout DGNSS status data timeout System solution timeout System solution timeout Data timeout No raw data Reduced position and velocity Invalid position and velocity System solution timeout System solution timeout Invalid position and velocity Reduced position and velocity System solution timeout System solution timeout Acknowledged 2009 11 19 12 39 53 2009 11 19 12 37 32 2009 11 19 12 35 12 2009 11 19 12 32 52 2009 11 19 12 13 34 2009 11 19 12 13 33 2009 11 19 12 13 33 2009 11 19 12 07 56 2009 11 19 12 06 19 2003 11 13 12 06 13 2003 11 13 12 06 13 By Automatic Automatic Automatic Automatic Automatic Automati
29. 2 The Display correction satellites option visualises correction satellites like Inmarsat and Spotbeam The satellite positions are pre defined in an xml file To select which correction satellites to display press the Individual button and select the satellites to use The enabled satellites will appear in the Sky View as brown triangles Spotbeam satellites are marked with an S while Inmarsat satellites are marked with an I When pointing with the mouse over a correction satellite a tooltip with satellite name azimuth elevation and position will appear When enabling the Signal strength option a signal bar is displayed under the satellites in the Sky view The signal bar indicates the signal to noise ratio for the satellite and the longer the bar the stronger the signal It 1s possible to select signal strength for both L1 and L2 When selecting for both L1 and L2 two signal bars are displayed User Manual Select Correction Satellites E oe usas check the satellites to display vw AORE Inmarsat LTAOREH Inmarsat Iw AORW Inmarsat AORWH Inmarsat IDR Inmarsat J IORH Inmarsat POR Inmarsat AFSAT Spotbeam LLEZLAMSAI Snothaaral ox Cancel Figure 58 Selection of correction satellites to display Spotbeam FS AT L Azimuth Elevation Position Figure 59 Correction satellite tooltip To add a shadow
30. Ack all will acknowledge all alarms in the view When an alarm is acknowledged and active the alarm message text will be grey The alarm message will only be removed from the Status tab when it becomes inactive It is also possible to export alarms from the Alarm history view Pressing Export enables the Export alarm log view see Figure 39 40 M300 52 rev 2 Alarm history Y Event filters Alarm severity O Alarms only Status History O Alarms and warnings 9 Alarms warnings and information Severity Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Warning Warning Warning Alarm Warning Warning Warning Warning Warning Warning Warning Warning Alarm Warning Warning Alarm Warning Warning Warning Status Inactive Active Active Inactive Inactive Active Active Inactive Inactive Inactive Inactive Active Active Active Inactive Active Inactive Active Inactive Inactive Inactive Inactive Inactive Active Active Active Inactive Active Time 2009 11 19 12 39 53 2009 11 19 12 39 52 2009 11 19 12 37 32 2009 11 19 12 37 32 2009 11 19 12 35 12 2009 11 19 12 35 11 2009 11 19 12 32 53 2009 11 19 12 32 52 2009 11 19 12 13 34 2009 11 19 12 13 33 2009 11 19 12 13 33 2009 11 19 12 13 21 2009 11 19 12 13 21 2009 11 19 12 13 19 2009 11 19 12 10 34 2009 11 19 12 10 32 2009 11 19 12 10 28 2009 11 19 12 10 06 2009 11 19 12 07 56 2009 11 19 12 06 19 2009 11 19 12 06
31. F10 will acknowledge the topmost event viewed in the Top bar Has the same effect as clicking the Event check box in the Top bar User Manual Acknowledge alarm F10 Ackn all alarms Ctrl F10 Alarm history Ctrl H Export alarm log Figure 38 Alarm menu The option is disabled if no alarms are available in the Top bar Acknowledged alarms are still available in the alarm log but removed from the Top bar view Selecting this item or pressing Ctrl F10 will acknowledge all events viewed in the Top bar The option is disabled if no alarms are available in the Top bar Acknowledged alarms are still available in the alarm log but removed from the Top bar view Selecting this item opens a dialog for investigating the alarm history gt See section 3 10 1 for Alarm history view Export alarm log M300 52 rev 2 This item is disabled as long as the Alarm history is empty When clicking this item the dialog shown in Figure 39 is displayed Select the wanted destination directory The available space on the target drive 1s displayed Make sure there 1s sufficient avallable space before clicking the OK button Export alarm log X Destination Local Disk C H SMART D E Removal ble Drive E H DFS SYSTEM Z File name AlarmLog 20091 119 1458 csv File will be 1 1 KB Cancel Figure 39 Export alarm log view 39 Seapath 320 3 10 1 Alarm history view In
32. Green normal e Orange reduced performance e Red invalid data The quality status information output on serial lines or Ethernet is the same as indicated on the data quality status indicators System status Seapath has three system states The system status describes the position integrity level and 1s indicated in the status field of the Top bar The background colour of this field helps indicate the system status The system states are Safe Caution Unsafe gt For more information about integrity see section 3 5 Events Three types of events may appear e Information messages e Warnings e Alarms An event message 1s acknowledged by clicking in the Event check box When an event 1s acknowledged 1t disappears from the Event list However the event can still be viewed in Alarm history under the Alarm menu Application menu The four menu buttons located to the far right on the Top bar constitute the application menu e View e Alarm e Tools e System The various menus have a drop down list offering various operational and visual options 26 M300 52 rev 2 User Manual 3 3 Sky view The Sky view display shows which satellites the system is tracking and using in the position computation The satellites are presented according to satellite geometry The grey outer circle represents the elevation mask Satellites under the set elevation mask are marked grey The satellite azimuth angle is according to the no
33. U in the MRU transportation container and ship it to Kongsberg Seatex for repair 4 2 7 Repair of the MRU junction box First check that the fuse within the box is not blown and replace it if it is The fuse used is of type FIAH 250 V with size 5 x 20 mm Second check if any of the cable wires have loosened from the terminals If the box is functioning correctly the LEDI light diode should shine green indicating that the MRU receives power A yellow light in LED2 indicates that digital data are sent from the MRU on TX The LED3 for analog signals from the MRU should not shine since analog signals are not sent out of the MRU when used in this system If the LED light diodes indicate that the junction box is still not working the box has to be returned to Kongsberg Seatex for repair 4 3 Troubleshooting This part of the document is written for personnel with operator experience when a situation arises where assistance from service personnel may be required The aim of this section 1s to identify the problem so that the appropriate action can be taken The error conditions in the system are usually observed by looking at the data quality status in the Top bar in the operator software or four LED indicators located on the front panel For description of the LED indicators on the Processing and HMI Unit see the Installation Manual ref 1 The quality status information output on serial lines or Ethernet 1s the same as data quality status indic
34. able and it switches from normal to reduced heading performance frequently e Check that the GNSS antenna no and 2 are functioning properly by dismounting the antennas from the Antenna Bracket and inspecting them Replace both antennas with new ones if necessary If it 1s still not working after checking all of the above items then the GNSS receiver board within the Processing Unit is most likely damaged and the Processing Unit has to be shipped to Kongsberg Seatex for repair For troubleshooting the MRU Unit see section 4 3 11 4 3 11 Problems with the MRU The tool available for troubleshooting the MRU is the Data Viewer and the Port Monitor If the heave and roll pitch indications show invalid Red then the Processing Unit most likely does not receive any data from the MRU Then do the following e Check that data is coming in to the MRU connector on the Processing Unit by selecting MRU on the Port Monitor in the Tools menu e Check that the cable from the MRU is properly connected to the MRU port on the rear panel of the Processing Unit Also check that the MRU cable is properly terminated in the junction box and that the fuse in the box is not blown Replace it if it 1s Note If the MRU 5 connected to the Seapath has been used in other applications before it is connected to the Seapath it can take up to 10 minutes before communication between the MRU and the Processing Unit is established If the MRU 5 has the Seapath conf
35. acknowledged Type of system Data source status of event message events Menu Seapath 330 5523755253 Heading GN 7 39 33 NavEngine Invalid heading B View Alarm 2010 01 26 Tools System 12 55 12 PM 7 Unsaf W 7 39 33 NavEngine Reduced position and velocity accuracy Dod Current data and System System Event Event time UTC mode status checkboc source Event list Figure 21 Top bar System modes Seapath has three system modes indicated in the System mode field of the Top bar Operation mode This is the default mode In this mode it is not possible to launch any external applications diagnostic tools or reconfigure the system A password 1s not required to switch to this mode Configuration mode In this mode it is possible to change settings related to the connected sensors applications and system wide settings Engineering mode This mode is primarily intended for field engineers during initial installation fault diagnostics and system wide reconfiguration A password is required to switch from Operation to Engineering or Configuration mode The password is stx and it is not possible to change The system will return to Operation mode after 3 minutes of user inactivity Data quality status The Seapath has the following four data quality status indicators Horizontal position and velocity e Heave Roll and pitch Heading M300 52 rev 2 23 Seapath 320 The colour codes are e
36. ality status are DIRO K tuti Ce A 67 4 3 4 All data invalid four red data quality indicators M eee 67 4 3 5 Invalid position velocity indiCatOf esses 67 4 3 6 Reduced position velocity indicator kk k eke 68 4 3 7 Invalid heave and roll pitch indicators E kek kek 68 4 3 8 Reduced heave and roll pitch data indicators keke 69 4 5 9 Invalid heading Indicators 69 2 5 0Reduced headtiao dico yy ctione oet la NA depo urea E 69 ASEO O Eta M B N la werr pola 70 4 5 12Reduced rollor pitch performance idilio caida 71 dako Reduced heave pel fOPHIdEHCe r A E K l K ekl ANA dec satus Quit a AR J2 5 PART L ST ie MN HN N HNH MM IDMMM NM 73 APPENDIX A LCD DISPLAY AND KEYBOARD aa u 75 LT susana aa 75 A NA icon 76 M300 52 rev 2 V Seapath 320 Figure 1 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 10 s 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 VI List of figures Typical information shown to the USeT E keke 2 SY SUCMIATC BEES CUBILE T TD 3 Front panel of Processing Dita de 4 Rear panco Process me Uli 4 Eront panelo PAVED Unai 4 Rear panel or HMT UNG roa 5 The NIIS Dos deeem DD Pret
37. ated in the Top bar in the operator software In the following pages a description of the different status and alarm situations is given 4 3 1 No mouse cursor The mouse cursor may hide important information For maximum visibility the mouse cursor is hidden after about one minute with no user activity Simply move the mouse again to re display the mouse cursor 66 M300 52 rev 2 User Manual 4 3 2 External output problems Check the serial lines net cables and cable connectors for mechanical damage 1f the external equipment receives no data from the Seapath Check also that the connectors are connected to the correct output ports both on the Seapath equipment and on the external equipment The layout of the rear panel of the unit is shown in the Installation Manual 1 If the cable and connectors are OK check that the external output configuration of the Seapath system is set up correctly This is described in the Installation Manual 1 4 3 3 All data quality status are black During normal operation it takes a minute from the Processing Unit is powered on until the four data quality status indicators in the Top bar turn red If all the indicators are still black after three minutes from power on do as follows e Check the power connection to the Processing Unit Is the Processing Unit supplied with 110 to 240 V AC power supply see power specification in Installation Manual ref 1 e Turn the power switch behind the lid
38. ations available are indicated for each correction link 28 M300 52 rev 2 User Manual 32 1 stations used 1 Average age 11 05 Max age 120 05 Link status OK Figure 27 DGNSS status view A tooltip is displayed when dragging the mouse over a correction link The tooltip displays information on the specific correction link as seen in Figure 27 The DGNSS age view as seen in Figure 28 presents each link as a circular button and presents a bar that indicates the quality as the age of the corrections received through that link If a bar 1s filled green the correction signals are newer The older the signals are the shorter the bar 1s If the bar 1s grey the age of the corrections has exceeded the maximum age and the corrections from the link are not in use The maximum age for using differential corrections is set in the Configuration view M300 52 rev 2 29 Seapath 320 Correction link Numbers of reference name stations available L J mii 1 SFOCTEE M D MEM 8 INMARSAT 9 EBRBEBEBARERENERERURH 8 HP D TT 4 SE S Q MEA 1 Numbers of reference stations used in position solution Age of correction data Figure 28 DGNSS age view When clicking on one of the link buttons the DGNSS Monitor appears This view lists details of all available reference stations from all correction links 3 5 Integrity view The Integrity view indicates the position integrity of the system position acco
39. c Automatic Automatic Automatic Automatic Automatic Figure 41 3 11 Tools menu The Tools menu shows a configurable list of tools serving various diagnostic purposes This manual describes a typical set of tools defined for Seapath and is subject to change without notice 3 11 1 Utilities Satellite Prediction Copy Configuration M300 52 rev 2 m Diagnostics DGNSS Monitor A tool which displays number of satellites and satellite geometry for a defined position and period see section S ebat A tool that copies all relevant configurations into a zip archive Alarm log view History tab Utilities Satellite Prediction Copy Configuration Data Viewer Port Monitor HMI unit access Registry Editor Explorer H Log MavEngine Log User Manual Figure 42 Tools menu 41 Seapath 320 3 11 1 1 Satellite Prediction During some periods the satellite coverage over some areas is rather poor and in addition operations close to large equipment will often result 1n shadowed satellites and decrease the number of satellites available This is a major risk for safety operations The Satellite Prediction application is a helpful tool to plan an operation where good accuracy throughout the operation is necessary and it will help the operator to plan when a safety operation could take place and to identify periods of poor satellite geometry The satellite prediction 1s
40. cM MICA tcu Edo 5 MIKU gt tunctional modules muta da 6 Anta DTC s 7 Side view of GNSS antenna installation ne 7 Differential GPS GLONASS DGPS DGLONASS concept 10 Orbit dnd clock CONCEP uui l neee dat e weh LAM SI Mcd ie Me oS Rey 11 SBAS COVOTAIDE rra di 12 Se A A A vr rwe 15 Processing Unit with the NavEngine software E kk 16 Relative heave residual in percentage of amplitude 20 Heave step response with corresponding settling time 2 Relative heave residual as percentage of amplitude average heave period 22 Integrated LCD display and keyboard aucti D E o voee eet t 23 Nan HS P SECLIODIS euet ono YA o RE ett oae td uen eed ce seen A A 24 TOP DA cU r 22 DI A uostri ee Ke n E ets dE n e Sen etme mre cr irene etn mero ee era 27 Satelite COlOUEs ssi beue ie on do ub ORUM de 2 Satellites with two signal to noise DATIS ker 28 Tooltip for GPS satellite with COIrrectlOIS EE kk 28 Tooltip for GLONASS satellite with corrections 28 DONSS SEIS VIO aodio utar tam pedi nea osuere tau eese usines 20 DON SAS Rad a a O e 30 O IT 31 COMPASS MEW NA 32 Monon Data VI Wi E yo 33 M300 52 rev 2 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47
41. ce algorithms for real time parallel processing of all available correction signals including e SBAS WAAS EGNOS MSAS e ALA e Standard RTCM corrections DGPS DGLONASS There is no practical limitation to the number of correction signals reference stations handled by the NavEngine 2 1 3 Heading determination True heading is provided by integrating the best signal characteristics of the MRU yaw rate and differential carrier phase measurements between two GNSS antennas On rare occasions where GNSS heading may be unavailable due to poor GNSS conditions an external gyro compass can be used as a secondary heading reference to increase reliability 16 M300 52 rev 2 User Manual The GNSS part of the system measures direction from antenna no 1 to antenna no 2 In order to output ship s heading from Seapath the angular offset between the Antenna Bracket and the ship s centre line 1s entered as a parameter The angular offset 1s determined during calibration by comparing heading measured by GPS with ship s heading measured by a reference system In order to maximise heading performance Seapath continuously calibrates gyro compass versus GNSS heading This gives the best result if gyro heading must be used because the GNSS heading is more accurate and does not need re calibration regularly Seapath calculates a long term gyro bias which is the average difference between the gyro compass and the GNSS heading since system start up Assu
42. contains various information about the system such as contact software version and equipment information 3 12 4 System control The System control part contains the Change system mode selection the Restart Stop and Shutdown options 3 12 4 1 Change system mode Via the Change system mode menu the operator can change the system s operating mode Switching to Configuration or Engineering mode requires a password This password is always stx and is not possible to change The password is not case sensitive The system will return to Operation mode after 3 minutes of user inactivity Access to Engineering mode may also be gained by selecting Ctrl E in the TMV This opens the password dialog directly 58 View Chart Alarm Target Tools System Information Select monitoring point NavEngine Operator sw Information Help F1 Change system mode Operation Configuration Restart Engineering Ctri e 4 Stop 4 Shutdown Figure 63 Change system mode options M300 52 rev 2 User Manual 3 12 4 2 Restart From the Restart menu it is possible to stop LE W gt Dil NIN 4 Change system mode and then immediately start the NavEngine ON pum the Operator SW the Processing Unit the kaso gean 0 zT 4 Sto HMI Unit or the whole system Operator SW P Processing Unit 4 shutdown When restarting the Processing Unit and or the HMI Unit the system will be restarted automatica
43. ction T 5 or lower is recommended for vessels performing surveys with a lot of turning on rivers or within harbours The settling time in heave will be about 50 seconds e The selection T 1 0 is the default setting for this heave mode and covers most surveys unless long period heave motions e The selection T 20 is recommended used for vessels operating in oceans with deep waters or vessels that frequently operate with following sea Figure 18 shows the change in the Hydrographic survey filter performance when changing the damping factor We recommend that the damping factor is set to 0 7 The figure illustrates the relative heave residual as a percentage of the amplitude for the Hydrographic survey filter with average heave period set to 10 seconds with various damping factors of 0 5 0 6 0 7 0 8 and 0 9 M300 52 rev 2 21 Seapath 320 D 10 15 20 d 3 Input wave periode s Figure 18 Relative heave residual as percentage of amplitude average heave period 10 s 2 1 7 Delayed heave output The new developed PFreeHeave algorithm uses past measurements to output a correct and phase free heave from Seapath PFreeHeave has an advantage in long swell conditions and for applications that can utilise a heave signal that 1s delayed some minutes typical seabed mapping applications The PFreeHeave signal can be output on serial line or Ethernet UDP IP together with the real time heave signal To take advantage
44. d S K ke n uA 37 pL T TN 38 ye CCW 00 nos s Eee E AU UM LIUM EE 39 DID A ABEND DISON EW bios 40 TOC MEU E 4 SURPRISE TO 4 SNP TACT OSC RR ER TTE 44 SEN We Tor m ER 49 Sy S Qi BIS 1 sy EE O e eke ee re ak 49 Dl Seni di cT oN MD Mr rrr Lond cub dua mE A IS 49 5 12 2 0Operator Software contio Uta NON er E 50 3 12 SII Orma OM oeste A Ato VlVraerbr bk 9eaE _xxo2 _go 57 E LA Sy SCI CONG O PARDO POMELO 58 MAINTENANCE cu 61 Periodic mantenan dia 61 A I T SOLW Ale uperade Sucen isis 61 O O AA O eee DD Mad ees ae ees 61 4 1 3 Recalibration of the Antenna Bracket eese 62 2 14 deecalibratoror the MR Uco domo a dacs bes tte Ae debe a AA ee 56e 62 4 1 5 Changing the internal lithium battery sse 63 Repairs and modi Ca llOT S iaa 63 42 1 Exchange or GNSS antenna cable ie A e ees 63 42 2 Exchange or GNSS antennae eb ia 63 M300 52 rev 2 User Manual 42 9 Repair of Processins and HMI Unit sii he e er ec P a epa 64 A A Installation Ot spare Processing nif oie biyare Ies a 64 4 2 5 Installation of spare HMI UT kek keke keke KA 65 2 26 Repair OF the VIRI sota 65 4 2 7 Repair of tlie MRU junction DOK a 66 4 2 LTOUDIS hOOL T O k yi n e eigo Edo sates tease Se b e eve DO K Repas bp moe Y nO e ME Der Ke Bebek gi 66 2 9 INO MOUSE CUES rl ke oe vastes 66 4 3 2 External Oulp t DIOD STIT idas 67 ASD Al data qu
45. data is input on normally Com9 works properly If it 1s still not working after checking all of the above items then the GNSS receiver board within the Processing Unit is most likely damaged and the Processing Unit has to be shipped to Kongsberg Seatex for repair 4 3 10 Reduced heading indicator The reason for reduced heading performance could be one of the following M300 52 rev 2 69 Seapath 320 e t may bea problem with the MRU Check that by troubleshooting the MRU as described in the section below e Otherwise if the MRU is functioning OK check that the antenna baseline setup parameters in the GNSS Antenna Configuration in the operator software are properly configured and if needed re measure and perform a new calibration of the antenna baseline e The Processing Unit receives no data from GNSS receiver no 1 or 2 That can be verified by checking whether data appear on the Port Monitor in the Tools menu and by clicking on GNSSA1 for GNSS antenna number 1 and GNSSBI for antenna no 2 If no data are coming in check that the cables from GNSS antenna no 1 and 2 are properly connected to the GNSS 1 and GNSS 2 connector on the Processing Unit Check that the cables for GNSS antenna no and 2 are not damaged and the cables are properly terminated in the connectors Replace both cables if necessary e Check that the two GNSS antennas are of the same type and are mounted in the same orientation If not the heading could get unst
46. e mode protected from unintended user operations Several HMI Units can be connected to the same Navigation Engine in a networked architecture M300 52 rev 2 Seapath 320 1 4 GNSS systems GNSS Global Navigation Satellite System is a generic term for satellite navigation systems providing autonomous geo spatial positioning with global coverage GPS is the only GNSS with full constellation However GLONASS is operable and plan to have full constellation within 2010 Galileo is a third GNSS which is in the development phase and scheduled to be operational in 2013 1 4 1 GPS Global Positioning System The Global Positioning System GPS is a satellite based navigation system made up of a network of satellites placed into orbit by the U S Department of Defence GPS was originally intended for military applications but in the 1980 s the government made the system available for civilian use GPS provides a highly accurate and continuous navigation service It provides 24 hour all weather and global coverage The system is divided into the following three segments Space segment This segment consists of at least 24 satellites 21 active plus 3 operating spares in 12 hour circular orbits At an altitude of 20200 km each satellite 1s transmitting orbital and clock parameters Control segment This segment comprises Ground Control Stations geographically spread for monitoring up loading and control of the satellite transmitted characte
47. e operator can select the views which fit his operation one HMI Unit at the bridge one at the operation room The product is by standard delivered with an HMI Unit for 19 inch rack mounting and monitor keyboard and mouse for desktop mounting Seapath 320 GPS GLONASS L1 1 e 1 A m e HMI Engine Remote Remote VHUM D XL HMI i Diff corr 1 1 1 i i i i 1 i i 1 Diff COIT K h 2 Mfoeecccccccoc2ccn9200002002020009209200920000902000900920090020 vececenceconecececocecdesceccoconeccecocenencecececcccooce J i i 1 1 i i i i i i 1 NAV Engine Inertia Measurement Unit Output rprnnn mn mem mxn ma mme mrn mm mm mm mm x en ew n co x o e Figure 14 System sketch M300 52 rev 2 15 Seapath 320 2 1 2 Main data flow The main data flow to and from the Processing Unit is shown in Figure 15 Inertial GPS GLONASS Measurement L1 Unit Position output Processing Unit with core navigation software Heading output Roll Pitch Heave output Standard RTCM Figure 15 Processing Unit with the NavEngine software The NavEngine software runs on the Processing Unit This software combines the GNSS signal and the inertial measurements to determine accurate position heading attitude and heave signal The NavEngine software utilises Kongsberg Seatex advanced true multi referen
48. ectly both when it comes to the length and the sign Check also that the vector from AP to GNSS antenna no 1 is input correctly both when it comes to the length and sign Check specially the sign in the vertical direction which always shall have a negative sign Look at the background vessel in the NavEngine Configuration part of the operator software to check whether the arms and vector signs looks correct 4 3 13 Reduced heave performance Reduced performance in heave or depth errors in the centre beam of an echo sounder may occur when e There are oscillations in the depth of the centre beams Check that the correct heave filter mode and heave period are selected in the subfolder Sensors MRU Heave config in the NavEngine Configuration part of the operator software Note Be aware that the Seapath outputs heave measurements in the Navigation Reference Point NRP and not in the transducer location unless the vector from the NRP to the transducer head Monitoring Point MP is entered into the operator software and defined on the output data string Please note that the horizontal vector components from the NRP to MP are defined positive forward to starboard and down 72 M300 52 rev 2 User Manual 5 PART LIST The basic Seapath 320 version part no M300 20 consists of 2 Cable for power Processing and HMI Unit 2 5 m Monitor 17 standard LCD table mount Keyboard US layout PC mouse The MRU 5 sensor The MRU 5 sensor S
49. ed the velocity and position outputs will have a slowly varying error If a too short period is chosen the estimated heave will have a phase error for long period motions A low damping factor e reduces the short term error for long period motions close to the selected average period T since the phase error is reduced However ringing in the output at T may cause some problems The damping factor e can be set in the range 0 3 to 1 0 18 M300 52 rev 2 User Manual In the software two different types of filter structures are implemented The filter mode General purpose is implemented to achieve optimal amplitude performance whereas the Hydrographic survey mode provides optimal phase performance For the Automatic filter mode the hydrographic survey filter structure 1s used This algorithm estimates the sea conditions by computing the dominating period of the waves seen from ship or vehicle and automatically sets the average heave period T in real time during operations 2 1 6 1 Selection of heave filter mode The following selections are available in the Seapath configuration in order to achieve the optimal heave performance e Heave filter mode Selection between different filter structures e Period The average heave period for the vessel T e Damping The heave damping factor e to be used in the filter The heave filter damping and average period should be chosen in order to obtain the best possible correspondence betwe
50. ee the Installation Manual 1 Operator software configuration View Alarms Data source Compass Position Integrity Y Skyview UTM options zl False Northing MM False Easting Zone options O Auto Auto extended O Manual Figure 61 Operator software configuration UTM options 3 12 3 Information The Information section contains the Help and About dialogs Help Displays a Quick Help dialog presenting some basic help information M300 52 rev 2 37 Seapath 320 Quick Help Mavigating in the chart e Click inside the chartto set center lt Ctrl gt 1 gt Zooms in lt Ctrl gt lt 0 gt Zooms out Configuring views e Select the views from the View page in System Settings or Select view using shortcut keys zF27 Browse through available views in View 2 lt F3 gt Switch contents of View 1 and View 2 a 5 colour modes are available zF8 Might Mode zF Browse through day palettes Editing targets e Select Target List from Targets menu and view or edit targets from the list or Select Current Position as Target AJS targets Select the tvpes of targets you want to make visible from the Target menu e Set your own MMSI number in the AlS page in the System Settings dialag Right click on a target to select or deselect Right click on a monitoring point on selected target or own vessel to change Figure 62 Quick Help dialog About Presents the About dialog which
51. eiver is measured The distance is computed by multiplying with the speed of light Once the distance to a satellite is known the satellite s position in space must be found The GPS satellites are launched into very precise orbits and their position 1s transmitted to the user Knowing the satellites position and the distance to the user receiver the user position can be computed Three perfect measurements can solve a three dimensional point in space However the crystal clocks in the GPS receivers are drifting and the position is therefore inaccurate To calculate a three dimensional position four unknowns have to be solved latitude longitude height and receiver clock offset To solve this equation with four unknowns it 1s necessary with range measurements from four or more satellites The geometry and hence the accuracy of the position calculation varies with the number of satellites available and their location Using differential corrections from one or more GPS Reference Stations significantly reduces all major error sources This principle is called differential GPS DGPS 1 4 2 GLONASS Global Navigation Satellite System The Global Navigation Satellite System GLONASS is a Russian satellite based navigation positioning system The GLONASS system 1s based on the same segments as the GPS system with a space segment a control segment and a user segment A fully operational GLONASS constellation consists of 24 satellites
52. en the estimated heave motion and the real heave motion These parameters can be set to a constant value or the automatic adaptive filter may be chosen in case of varying sea states The following should be considered when selecting the different heave filter modes and parameters Heave filter mode e Automatic To be selected when the vessel is operating in various sea states or when the average heave period 1s unknown e General purpose Is selected when 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 e Hydrographic survey To be selected when the heave phase and amplitude have to be output correctly in real time This mode is typically selected when the heave output signal from the Seapath 1s to be used for heave compensation of echo sounders hydro acoustic positioning systems and offshore crane systems Period e Anexpected average heave period has to be set to the heave filter e 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 high heave period the settling time will be longer than optimal For vessels performing surveys with frequent turns the period should be set as low as possible to minimise the heave settling time after turns M300 52 rev 2 19 Seapath 320 Damp
53. erational in 2010 12 M300 52 rev 2 User Manual The EGNOS architecture is highly redundant generating wide area differential corrections and alerting users within six seconds if a malfunction occurs in GPS Thirty four reference stations are deployed to monitor the satellites used for navigation Each satellite has to be monitored by multiple stations before correction and integrity messages are generated Four Mission Control Centers process data received from these stations to generate the corrections and the integrity messages for each satellite Satellite up link stations upload the corrections and integrity messages to the EGNOS satellites for onward broadcasting to the users 1 4 4 3 MSAS MSAS Multifunctional transport Satellite based Augmentation System is a Japanese augmentation system implemented by the Japanese Civil Aviation Bureau MSAS generates GPS augmentation information by analyzing signals from GPS satellites received by monitor stations on the ground This augmentation information consists of GPS like ranging signals and correction information on GPS errors caused by the satellites themselves or by the 10nosphere MSAS was commissioned in September 2007 1 4 4 4 GAGAN GAGAN is an Indian Space Based Augmentation System The system is being developed jointly by the Airports Authority of India AAI and the Indian Space Research Organization ISRO GAGAN is planned operable in 2010 1 4 4 5 Signal distributio
54. ference systems unnecessary 2 1 5 Position and velocity determination The two fixed baseline GNSS antennas and their receivers are used as redundant GNSS position and velocity sources In case of missing data from one GNSS receiver the other remaining receiver provides position and velocity The Seapath 1s robust against GNSS dropouts by using the MRU for dead reckoning navigation in order to provide position velocity and also heading measurements when GNSS is not available M300 52 rev 2 17 Seapath 320 Position and velocity are measured by differential GNSS using phase smoothed pseudo range and Doppler observations Seapath 1s capable of providing position and velocity data with the best possible accuracy by combining all available GNSS signals and a multitude of differential correction data NavEngine is capable of simultaneous integration of the free of charge SBAS e g WAAS EGNOS MSAS IALA USCG corrections and a multitude of subscription based corrections services The MRU measurements effectively bridge gaps in the satellite constellation caused by physical obstructions or ionospheric activity and at the same time all available GPS and GLONASS signals will remove bias or drift in MRU measurements Because of the tight integration the MRU will directly assist the GNSS receiver in optimising signal tracking under the most challenging conditions RAIM Receiver Autonomous Integrity Monitoring extended by data from the MRU
55. for accessing the internal menu system for review of system status For more details on the LCD display functionality see APPENDIX A Figure 19 Integrated LCD display and keyboard In the following chapters the various display pages comprising the operator software will be described for better understanding of the displayed parameters 3 1 Screen sections views The main application window of the system 1s divided into four sections Top bar View 1 View 2 and View 3 The size and position of the sections are fixed M300 52 rev 2 29 Seapath 320 View 3 Figure 20 Main view sections 3 1 1 Switch and select views The operator may select between the following views e Combined view e Sky view e DGNSS age view e DGNSS status view e Position integrity e Compass e Motion data e ime Series view Press F2 to browse to the next available view in View 2 Press Shift F2 to browse to the next available view in View 3 Press F3 to switch the contents of View 1 and View 2 Press Shift F3 to switch the contents of View 1 and View 3 Press F5 to let View 1 cover the whole screen 24 M300 52 rev 2 User Manual 3 2 Top bar The Top bar includes the following information e Type of system e Current date and time UTC e Data source e System mode e Data quality status e System status e Event message list including type of event and time tag for the event e Application menu Data quality Timetag Event Un
56. graphs will display number of satellites and HDOP where this satellite 1s omitted To enable the satellite right click on the mouse over a satellite and select Enable By dragging the Time indicator with the mouse the satellite constellation will change AA according to the time shown by the Time 7 RR 0 9 indicator and the Time selection PageUp and PageDown or the left and right arrow keys on Figure 45 Track plot the keyboard also operate the Time indicator When using the PageUp and PageDown keys the Time indicator will jump in greater intervals than 1f using the arrow keys To set the satellite constellation to a specific time input time in the Time selection box and press Update M300 52 rev 2 43 Seapath 320 If the Track plot option is enabled the satellites orbit will be plotted when dragging the time indicator The track plot assists in determining if a satellite 1s rising or falling in elevation The length of the track plot is the same as in the Sky view tab in the Operator software configuration dialog The colours used in the Number of satellites Sat graph indicate the status of the satellite constellation Green gt 5 satellites visible Yellow 4 satellites visible Red lt 3 satellites visible The colours of the HDOP graph indicate the satellite geometry default values Green HDOP lt 2 5 0 0 Yellow 2 5 HDOP lt 4 12 06 Red HDOP gt 4
57. hange of failed Processing Unit e Exchange of failed HMI Unit e Exchange of failed MRU e Checking fuse in the MRU junction box or exchanging the whole junction box e Checking fuse within the power connector on the Processing and HMI Units The Processing Unit HMI Unit and the MRU are not designed for service in the field and opening the housing will result in damage or degradation of the units and void the warranty A failed MRU unit has to be shipped back to Kongsberg Seatex in the original transportation box for service The return address 1s provided in the first pages of this manual 4 1 Periodic maintenance 4 1 1 Software upgrades Kongsberg Seatex will regularly offer software upgrades for the system with improvements and new functionalities It is up to the user to decide whether he will upgrade his unit to the latest version 4 1 2 Cleaning of air inlet The air inlet at the rear of the Processing Unit and HMI Unit needs to be cleaned regularly to avoid overheating of the units The period between each cleaning 1s dependent on the air quality at the installation site However we recommend that the filter should be cleaned at least every six months 2 U Processing Unit For the PU remove the plastic cover and replace the filter or clean the filter either by washing with mild detergent or vacuuming M300 52 rev 2 61 Seapath 320 Kongsberg Seatex Kongsberg Seatex With filter cover Filter cover removed
58. hen the vehicle 1s aligned horizontally Positive rotation about this axis 1s turning the bow of the vehicle to starboard A rotation about the vertical axis 1s positive when turning Eastward Clockwise when the vehicle cruises in North direction Normally yaw means the dynamic yaw motion References 1 M300 62 Seapath 320 Installation Manual 2 NMEA 0183 Standard for Interfacing Marine Electronic Devices Version 3 00 3 RTCM Recommended Standards for Differential Navstar GPS Services Version 2 3 XII M300 52 rev 2 User Manual Health environment and safety warnings All electrical and electronic components have to be disposed of separately from the municipal waste stream via designated collection facilities appointed by the government or local diam e authorities The correct disposal and separate collection of your old appliance will help prevent potential negative u consequences for the environment and human health It is a K precondition for reuse and recycling of used electrical and electronic equipment For more detailed information about e disposal of your old appliance please contact your local authorities or waste disposal service Until further notice is given regarding reuse disassembly or Sq disposal the equipment at end of life could be returned to Kongsberg Seatex AS if there is no local WEEE collection The equipment is marked with this pictogram Restrictions in export Expo
59. ial GLONASS DGNSS DGPS ED50 EGNOS Differential Global Navigation Satellite System Differential GPS European Datum of 1950 European Geostationary Navigation Overlay System SBAS Europa 1 T Estimated Position Error GLONASS GNSS GLObal Navigation Satellite System A Russian system Global Navigation Satellite System Q Be Un Global Positioning System The American NAVSTAR system GPS Time The time in the GPS system The GPS time is within UTC time 180 nsec 95 per cent plus leap second GUI HMI Human Machine Interface P H High Precision IALA International Association of Lighthouse Authorities Inertial Measurement Unit Light Emitting Diode LGND Graphical User Interface Logic Ground Length OverAll MMSI Maritime Mobile Service Identit M300 52 rev 2 IX Seapath 320 MRU 5 MSAS NAD27 NMEA Z v2 av PGND PP av a UN UN N P RAIM MS RTCM UN UN gt SBAS NR OG SRRD lt uu N Q M WAAS WEEE WGS84 Motion Reference Unit model 5 This is the IMU within the Seapath measuring dynamic linear motion and attitude A MRU consists of gyros and accelerometers Multifunctional transport Satellite based Augmentation System SBAS Japan North American Datum of 1927 National Marine Electronics Association NMEA 0183 is a standard for interchange of information between navigation equipment Navigation Reference Point The reference po
60. icates the data quality In the heave time series both real time heave and delayed heave are presented in the same time series Therefore the heave time series 1s always 2 minutes delayed in time in order to be able to present both measurements in the same curve and for the same sample M300 52 rev 2 33 Seapath 320 12 49 10 12 55 10 01 whew IN 7 98 10 00 12 49 10 12 55 10 word 12 55 10 0 eS 1 17 12 55 10 12 46 53 12 48 10 12 45 08 0 15 12 49 10 12 55 10 360 00 12 49 10 12 55 10 9 09 P 12 49 10 12 55 10 Figure 32 Times Series view showing data for roll pitch heave and heading 34 M300 52 rev 2 3 9 View menu The View menu is a part of the Application menu located to the far right on the Top bar and holds the Display mode View Display format and Bars features 3 9 1 Display mode The Display mode controls the selection of colours used by the HMI Click a menu item to select the desired mode Day bright Day white Day black Dusk Night Will give the brightest colour combination This 1s the recommended colour combination for daylight use This colour combination uses bright colours but has a dark background This colour combination is intended for use during dusk or dawn This is a special palette with very low contrast on black background intended to be used during night without weakening the night sight of the system operators Press F to enter
61. iguration downloaded before it is 70 M300 52 rev 2 User Manual connected to the Seapath the communication is established within a minute or two If the heave and roll pitch indications show reduced Orange then the data from the MRU are most like unstable Then do the following Check if the Status in the PPS and time information window in the Data Viewer indicates Sync Then the Processing Unit is probably synchronized with GPS and probably also the MRU In order to be sure check also the Time delay information window in the Data Viewer The time delay shown on the parameter Raw IMU should be 0 020 seconds or less If the timedelay is larger than 0 020 then the PPS signal from the Processing Unit is not properly connected Check that the shield around each pair in the cable between the MRU and the Processing Unit is individually isolated in the MRU terminal The outer shield is connected to pin 3 screen in the MRU terminal which is an open end not connected to earth In the MRU junction box both the shield around each pair and the outer shield are terminated in pin 1 chassis on the x3 side If it 1s still not working after checking all of the above items then the MRU has most likely failed and the MRU has to be shipped to Kongsberg Seatex for repair 4 3 12 Reduced roll or pitch performance Reduced roll or pitch performance may occur when The MRU R arrow is not properly aligned with the vehicle s longitudinal axis A
62. ing e The heave damping factor shall usually be set to 0 7 Only for particular operations 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 Figure 16 and Figure 17 below should be used as a guideline for selecting the correct average heave period T in the Hydrographic survey filter Figure 16 illustrates the relative heave residual in percentage of amplitude for the Hydrographic survey filter with damping 0 7 and various average heave periods of 5 10 15 and 20 seconds Figure 17 illustrates the heave step response with corresponding settling time for the Hydrographic survey filter with damping 0 7 and various average heave periods of 5 10 15 and 20 seconds Error 95 D 10 15 20 25 30 Input wave periode s Figure l6 Relative heave residual in percentage of amplitude 20 M300 52 rev 2 User Manual 100 00 300 400 S00 Figure 17 Heave step response with corresponding settling time The selection of heave filter settings is a trade off between low heave error over a wide range of heave periods and the settling time after an occurrence introducing a step response in the heave filter For an MRU without external input we recommend the following selections e The sele
63. int for all measurements in Seapath The recommended used NR is the vessel CG or rotation centre Pulse Per Second Pseudorandom Noise Physical Shore Station Receiver Autonomous Integrity Monitoring Root Mean Square Radio Technical Commission of Maritime Services Universal Time Co ordinated This 1s the official time 1n the world Selective Availability and has replaced GMT Greenwich Mean Time as the official time M300 52 rev 2 Alignment Antenna bracket Antenna holder Attitude Beam GPS Time Heading Heave Height Host system Origin P axis Pitch R axis Roll Starboard M300 52 rev 2 User Manual Terminology Is the process of adjusting the current internal navigation frame in the instrument to the true external frame Is the arrangement for mounting the GPS antennas Is the arrangement on board the vessel for mounting the antenna bracket to The orientation relative to the vertical axis of a vehicle Heading 1s not included If heading is included the word orientation is used for the vehicle The maximum width of the vessel at Main Deck level B mld The time in the GPS system The GPS time 1s within UTC time 180 nsec 95 per cent plus leap second The direction of the main axis bow direction of the vehicle as opposed to course which 1s the direction of motion of the vehicle Yaw angle as defined here is the same as heading The vertical dynamic
64. it to be repaired from its cables and the rack and replace it with the spare unit Connect all cables as they were on the original unit Power up the unit Insert the USB stick into the spare unit and find the target folder where the copied configuration was stored Copy the files under the Seatex folder on the USB stick to the opt seatex nav setup cfg folder on the Processing Unit 8 Copy the Fugro subscription files from the Seatex folder on the USB stick to the data user system folder on the Processing Unit 9 Restart the Processing Unit If the Compact Flash disk on the unit has failed it is not possible to access the setup file 64 M300 52 rev 2 User Manual 4 2 5 Installation of spare HMI Unit The SRRD USB stick delivered with your system contains a full image of the installed HMI Unit The easiest way to install a working system on a spare HMI Unit is to restore the system from the SRRD Please follow the procedure below 1 Shut down the system 2 Plug in the SRRD 3 Switch the HMI Unit on or press the Ctrl Alt Delete keys simultaneously to boot the system 4 When the Boot menu appears press the down arrow within 3 seconds to select Seatex Rescue and Restore Press the Enter key Enter stx as password Wait while the system boots Select Install System from Rescue and Restore Disk press the Enter key oO N QN N If this system is already installed on the disk you are about to install to the program will
65. lay information y y PPS and time information E GPS 175 1 65 6 CA i Thread information 7 GPS 2831 E 17 9 cua ALA information 21 GPS 080 4 252 de Ev 18 B5 269 5 Vb 581 d CAA AX KUL KIL UL KL UJ KUJ CK Signal Maise Average L1 L2 Average filtered L1 L2 k Receiver 1 GPS dB 49 0 41 0 49 0 40 0 Receiver 1 GLONASS dB 46 0 37 0 47 0 37 1 Connected to 157 237 85 94 Figure 49 Data Viewer application 48 M300 52 rev 2 3 11 3 Log User Manual NavEngine log Opens the Windows Explorer in the root folder for the NavEngine log data 3 12 System menu The items of the System menu are described below 3 12 1 Configuration The Configuration section contains two items NavEngine and Operator SW Selecting NavEngine enables a sub menu were Standard or Advanced configuration may be selected Consult the Installation Manual ref 1 for a description on how to configure the NavEngine M300 52 rev 2 Configuration 4 MavEngine Operator SW Information Help F1 About Cir 1 System control 4 Change system mode 4 Restart 4 Stop 4 Shutdown Figure 50 System menu Standard 4 MavEngine Advanced Operator SW Figure 51 The NavEngine Configuration menu 49 Seapath 320 3 12 2 Operator software configuration The Operator software configuration view appears when clicking the System menu and Operator SW The settings are grouped in
66. lly and will resume operation within 2 minutes ILLU HMI Unit System Figure 64 Restart options When restarting the Operator SW the application will terminate and then automatically restart Caution Restarting NavEngine Processing Unit or System stops all processing calculation and output from the system for about 2 minutes Note When restarting the Operator SW or the HMI Unit the system will still calculate and output data 3 12 4 3 Stop From the Stop menu it is possible to end the NavEngine and the Operator SW A d FR System contro 4 Change system mode 4 Restart Ope rator CN 4 Shutdown ity Figure 65 Stop options Caution Stopping NavEngine stops all processing calculation and output from the system Note When stopping the Operator SW the system will still calculate and output data M300 52 rev 2 59 Seapath 320 When stopping the Operator SW the application will be terminated and the display will turn black To restart the Operator SW press Ctrl Alt Delete and the Task Manager will appear From the Task Manager select Shut Down and then Log Off DPS The standard Windows background and log in display will appear Press Enter and the Operator SW will restart 3 12 4 4 Shutdown From the Shutdown menu it is possible to shutdown the Processing Unit the HMI Unit or the System Turn off the power on the Processing Unit or HMI Unit when the message It 1s now safe to turn
67. ming that Seapath has been correctly calibrated the long term bias can be used directly as a calibration value for the gyro compass In addition a short term gyro bias 1s calculated as a filtered value of the difference between the gyro compass and the GNSS heading with a 15 minute time constant The intention with the short term bias 1s to measure dynamic errors in the gyro e g after manoeuvres When gyro compass heading is used in Seapath the short term bias 1s applied as correction to the gyro heading If GNSS heading for some reason is missing for a longer period the short term bias converges towards the long term bias with a 15 minute time constant As a result the best available correction is always used for the gyro heading Gyro re calibration can be done at any time without affecting the use of a gyro compass as a backup heading sensor in Seapath because of the continuous calibration routine in Seapath The Seapath heading does not need re calibration unless the Antenna Bracket has been moved 2 1 4 Roll and pitch determination Roll and pitch output from Seapath 1s based on highly accurate linear accelerometer data and angular rate sensor data from the MRU By tightly integrating these MRU data in the Kalman filter with data from the GNSS receivers Seapath provides accurate roll and pitch under all conditions With this feature horizontal accelerations are observable making the run ins needed to stabilise conventional vertical re
68. n SBAS signals are distributed by geostationary satellites The broadcasting frequency of the signals is the same as GPS L1 1575 42 MHz The following PRNs have been allocated to the SBAS satellites esel seme r n aio _ por WAAS 134 phased out ise Telesat Anik WAAS 107 3 W AOR E EGNOS D0 155 EGNOS D4 E _ __ IOR W EGNOS E 1 o IOR E EGNOS 131 phased out M300 52 rev 2 13 Seapath 320 Geo satellite MTSAT 1 MSAS 140 E MTSAT 2 MSAS 137 145 E GSAT 4 GAGAN 127 Table 1 PRN for geo stationary satellites 14 M300 52 rev 2 User Manual 2 TECHNICAL DESCRIPTION 2 1 Design principles 2 1 1 System architecture The product is a two module solution with a Processing and an HMI Unit connected via Ethernet The Processing Unit runs the navigation software NavEngine which handles all critical computations independent of the user interface on the HMI Unit to ensure continuous and reliable operation The Processing Unit runs in a safe mode protected from unintended user operations Multiple HMI Units can be connected to the same Processing Unit in a networked architecture The product is operated through the operator software installed on one or more HMI Units This software is used for performance monitoring and configuration of the system For performance monitoring the software includes a number of views that can be adjusted to different operations On each HMI Unit th
69. n COG SOG and SL data shall be shown in the Compass view filter out noise in the presentation of data It is also possible to select whether heading shall be presented as true heading or COG 22 M300 52 rev 2 UTMaoptiong Miew Alarme Data source Compass Position Integrity Skyview Compass settings Max speed kn Number of speed ticks ticks Speed limit kn O Use COG for heading Figure 55 Operator software configuration Compass 3 12 2 5 Position Integrity In this view the following can be adjusted Max ellipse EPE The maximum EPE of the ellipse Resolution The resolution of graphical presentation M300 52 rev 2 User Manual 53 Seapath 320 View Alarms Data source Compass Position Integrity V Sky view V UTM options Position Integrity settings Ellipse diagram resolution ES Figure 56 Operator software configuration Position Integrity 3 12 2 6 Sky view The Sky view page defines the appearance of the Sky view It is possible to select the following options Display correction satellites Signal strength Shadow sectors and Satellites track plot length Operator software configuration Appearance O Display correction satellites W Signal strength LM Shadow sectors Satellite track plot Shadow Sectors Azimuth Start Sweep Start Right click in the Sky View to add remove sectors Figure 57 Operator software configuration Sky view 54 M300 52 rev
70. nS ria ved Editio pdt EDU dia 46 FLO e PTT 39 O Acd wedsiiesbubstbeaiaeduiidadviaameaiweatsieslubertehiwts 24 36 do MM dE 24 36 A I RE 24 36 5A 8 e 00 35 satellite prediction ene 42 s m M one 35 A n nnn 11 27 47 Shut lO es cessum DD E E ep 60 M300 52 rev 2 79 Seapath 320 CASIN DET T od 54 AAT A RRA 27 jj e ROR 32 SOG RR E RN e N r ite ul o ea 32 O O N aa 32 STO A Sa map MM D dM ME 59 SS ten CON L O MR 58 System ModE rasa a 25 T THOUDIESNOOLING mesi 66 80 U A O 38 56 W A E 12 WOS Ai 38 Z A IN AN 57 M300 52 rev 2
71. ned for use on board marine surface operated vehicles with linear acceleration less than 30 m s 3 g and an angular rate range less than 150 s Only relative dynamic heave position is calculated XIV M300 52 rev 2 User Manual 1 PRODUCT DESCRIPTION The Seapath 320 1s a positioning attitude and heading sensor The product combines inertial technology together with GPS and GLONASS satellite signals Core components in the product are the MRU 5 inertial sensor the two combined GPS GLONASS receivers the Processing and HMI Unit 1 1 Purpose and application The product is developed specifically for hydrographic and other high precision applications where heading position roll pitch heave and timing are critical measurements The Seapath 320 offers the best possible combination of GNSS signals and inertial measurements for demanding operations in challenging environments The possibility to use GLONASS in addition to the GPS satellites significantly increases satellite availability provides robust integrity monitoring and results in more precise solutions particularly in highly obstructed environments The combination of GNSS signals and inertial data enables much better performance than each of the signals alone with a high output data rate up to 200 Hz zero delay on output data data available in up to eight different monitoring points and a total of eight configurable serial lines and Ethernet ports This Seapath pr
72. no 2 e Check that both GPS GNSS antennas are not damaged and their cables are properly terminated in the connectors Replace the whole cable if necessary e Check that both GPS GNSS antennas are functioning properly by dismounting the antennas from their Antenna Brackets and inspecting them Replace the antenna with a new one if necessary If it 1s still not working after checking all the above items then the GPS GNSS receiver boards within the Processing Unit are most likely damaged and the Processing Unit has to be shipped to Kongsberg Seatex for repair 4 3 6 Reduced position velocity indicator The possible reason for reduced position velocity function could be one of the following e No differential corrections are input on the rear panel of the Processing Unit If differential corrections are input to the Processing Unit check that the link is properly set up in the DgnssLink part of the Input Output subfolder in the NavEngine configuration e Youcan be out of range to a radio reference station and the differential corrections are therefore missing If the reference station is too far away or it is in the shadow of geographical obstructions or other equipment on board reception may be unreliable or missing The location of the reference stations connected to Seapath is shown in the DGNSS Monitor under the Tools menu e The reference station can be out of function Check the status of the reference station with the authorities
73. nting rod or similar e O N Connect the antenna cable to the antenna M300 52 rev 2 63 Seapath 320 5 The connection between the GNSS antenna and the cable should be sealed against water penetration preferably by using waterproof self vulcanizing tape 6 Connect the antenna cable to the Processing Unit Caution If the antenna cable is attached to the unit do not attach the antenna cable to the antenna with the Processing Unit powered on If the antenna cable is short circuited with power on the GNSS receiver within the unit can be damaged 4 2 3 Repair of Processing and HMI Unit The Processing Unit and HMI Unit are not designed for customer maintenance AII repairs and modifications of these units except changing the fuse in the power inlet installation of new software versions and setup of the system should be carried out by qualified personnel A failed unit should be shipped back to Kongsberg Seatex or other agreed service point for repair 4 2 4 Installation of spare Processing Unit Use the following procedure to install the received spare unit if such a unit is available while your unit 1s being repaired 1 Copy the Configuration files on the original unit to a USB memory stick see Copy Configuration section 3 11 1 2 If Fugro HP XP G2 is in use copy the subscription files from data user system folder to the USB memory stick 3 Follow the Shut down procedure described in section 3 12 4 4 4 Disconnect the un
74. oduct is a two module solution with a Processing and an HMI Unit connected via Ethernet The Processing Unit runs all critical computations independent of the user interface on the HMI Unit to ensure continuous and reliable operation Several HMI Units can be connected to the same Processing Unit in a networked architecture The HMI Units present the vessel motion in a simple and easy to understand format to ensure that the decision making based on the available data is as efficient as possible M300 52 rev 2 1 Seapath 320 Seapath 330 15723755252 MEN NEIN 18 49 45 NavEngine Invalid position and velocity y View Alarm 2009 10 27 19 07 04 Caution 18 49 45 NavEngine Invalid heave N 63 26 5268 E 010 24 2038 rn 19 095 22194 19 07 04 2 e ua L a Li 10 00 J V9 Fo p 10 004 19 01 04 19 07 04 A YD A a 0 55 oo A 1 7 Tools System prp lt E y 0 6 _ 19 01 04 18 07 04 ED SC NNNM CE LLL LLL 0 00 360 00 9 01 04 19 07 04 334 33 oe 19 01 03 19 07 04 2 05 Figure 1 Typical information shown to the user 1 2 System components The Seapath 320 comprises the following main components which are physically separated A Processing Unit for I O and calculations An HMI Unit with MONITOR keyboard and PC mouse An MRU 5 inertial sensor An MRU wall mounting bracket An MRU junction box with
75. off your computer appears File Options View Shut Down Help F Stand By Hibernate Turn Off Restart Applications Proce n 2 636 K eTSrv exe cmapsvc exe DO 6 132 K alg exe Switch User WinKey L 00 3 560 K svchost exe OCA Ry DO 3 416K scardsvr exe LOCAL SERVICE 00 2 692 K mspaint exe DPS DO 1 108 K spoolsv exe SYSTEM DO 4 688 K svchost exe LOCAL SERVICE oo 3 088 K taskmgr exe DPS 00 4 140 K svchost exe NETWORK SERVICE 00 3 500 K StxAppLauncher exe DPS 00 12 700 K svchost exe SYSTEM DO 22 924 K svchost exe NETWORK SERVICE DO 4 332 K svchost exe SYSTEM 00 4 880 K swchost exe SYSTEM DO 4 328 K CETE n4 405 14 n Figure 66 Start Operator SW Fol Change system mode 4 Restart 1 4 Stop 4 Shutdown Pracessing Unit HMI Unit System Figure 67 Shutdown options Shutting down the Processing Unit stops all processing Caution calculation and output from the system Note When shutting down the HMI Unit the system will still calculate and output data Note 60 Do not turn off power during the Windows XP shutdown sequence M300 52 rev 2 User Manual 4 MAINTENANCE Seapath consists of both software and hardware The software part can be reinstalled or upgraded to the latest version in the field Service of the Seapath hardware in the field can consist of e Exchange of damaged MRU and antenna cables e Exchange of failed GNSS antennas e Exc
76. on mask is drawn as set in the Configuration file The default duration of the prediction 1s set to 24 hours but may be changed to 1 2 4 8 and 12 hours To change start values insert new values and press the Recalculate button to update the graphs and sky view The vessel heading is displayed in the satellite Satelite Prediction prediction application identical to the heading input to the DPS However it is possible to 71 oo ENN oa 40 drag the heading indicator to any heading and f e see how this affects the graphs It is possible to add shadow sectors Right 7 click on the mouse over the Sky view area O 3 LD press Add sector and a new sector is enabled d E 9 OQ Ac The new sector is edited by dragging and o G2 A placing it in the correct place Also the default N 0 A sectors may be edited After adding and i editing sectors press the Recalculate button to update the graphs Press the Reset sectors e 12 button to delete the added sectors Only the um sectors drawn in the System settings dialog Figure 44 Adding sector into the will remain Satellite Prediction Sky view To remove a sector right click on the mouse Satellite Prediction over the current sector and select Remove 000 sector In the Satellite Prediction application 810 LX 6 it is possible to disable satellites In the sky view right click on the mouse over a satellite and select Disable The satellite will become erey and the
77. on the front panel off and on two or three times in case of poor connection If the indicator lights are still not turning red contact your nearest Kongsberg Maritime office 4 3 4 All data invalid four red data quality indicators During normal operation it can take up to 30 minutes from the Processing Unit is powered on until full accuracy on all data is obtained and the data quality indicators change colour from red If all the indicator lights are still red after 30 minutes from power on then do as follows e Check if the GPS GNSS cables and the MRU cable are properly connected to the Processing Unit If not switch off the power and connect the cables properly and power on the unit again e Check if the cable from the Processing Unit to the MRU junction box 1s properly terminated and if the cable from the junction box is connected to the MRU e Check if the fuse in the junction box 1s blown and replace it if it 15 If there are still four red lights contact your nearest Kongsberg Maritime office 4 3 5 Invalid position velocity indicator The problem occurs if the Processing Unit does not get data from any of the GNSS receivers Do the following e Check that both GPS GNSS antenna cables are properly connected to the antenna ports on the Processing Unit In the Seapath Display Window on Show Other M300 52 rev 2 67 Seapath 320 Serial data from the GPS GNSS antenna number shall appear on Com11 and Com2 from antenna
78. ondheim Norway SGH Trondheim Norway SGH Trondheim Norway SGH Rogaland Norway SGH Rogaland Norway SGH Tromso Norway SGH Tromso Norway SGH Torshavn Faroes SGH Torshavn Faroes SGH Aberdeen Scotland SGH Aberdeen Scotland SGH Aberdeen Scotland SGH Aberdeen Scotland SGH Kirkenes Norway SH Kirkenes Norway SH Leidschendam Netherlands SGH Leidschendam Netherlands SGH Shannon Ireland SGH Shannon Ireland SGH Figure 47 DGNSS Monitor RTCM stations Close The upper field of the RTCM tab presents the number of RTCM stations available and the number of RTCM stations used by the system In addition the Age limit and Range limit set in the Configuration file are displayed A reference station further away than the range limit will not be used in the position calculations If the age of the data received from a reference station exceeds the Age limit the data from the station will not be used 46 M300 52 rev 2 User Manual DGNSS Monitor x IRTCM spas HPIXPIG2 2 MANUAL DUAL 1 NPA Type Age fast Age slow GPS L1 L2 1 0 4 0 GPS L1 L2 1 0 4 0 Figure 48 DGNSS Monitor SBAS The SBAS tab shows SBAS satellites as correction links and the status of corrections received from the satellites via the GNSS receiver The upper field of the tab presents the number of SBAS satellites tracked by the GNSS receiver and how many of the satellites are used in the position solution
79. op bar M300 52 rev 2 37 Seapath 320 Time format Position format Datum Unit system 3 9 4 Bars Select between AM PM and 24 hour display of time values Influences all displayed fields presenting time information e g current date and time and event fields of the Top bar Select between decimal seconds e g N 63 26 31 92 decimal minutes e g N 63 26 5320 and UTM All positions displayed in the various views and dialogs will follow this selection Select datum in which positions are presented Available selections are WGS84 ED50 and NAD27 Select the length and speed units used in the various views Two types of unit system selections are available Fixed units and Auto scaling units Each alternative indicates the distance unit then the speed unit Auto scaling units will change from short range unit to long range unit indicated in parenthesis when the number of digits in the displayed value exceeds a certain limit Available fixed units NM knots m m s ft ft s Available auto scaling units M km km h m NM knots ft NM knots Click on the Link status mode to turn On Off the desired mode Link status 38 When this mode is active a link status bar will appear at the bottom of the screen M300 52 rev 2 3 10 Alarm menu The Alarm menu appears when the Alarm menu button is clicked Acknowledge alarm Selecting this item Ackn all alarms Alarm history or pressing
80. provides ultimate reliability of the position and velocity data under difficult GNSS conditions Seapath has a built in autonomous real time quality control feature continuously monitoring the quality of the calculated position Alarms and warnings are activated if critical tolerances are exceeded or if position quality degrades The GNSS data are lever arm compensated to the user selected Navigation Reference Point on the vessel usually close to the centre of gravity Acceleration data from the MRU are also lever arm compensated to the Navigation Reference Point and integrated with the GNSS data in a Kalman filter The resulting position velocity and heave measurements are then compensated for the lever arm from the Navigation Reference Point to the user monitoring points before output 2 1 6 Real time heave computation Heave 1s the vertical position or height relative to a zero mean level and positive downwards The vertical acceleration 1s high pass filtered and integrated twice over time to heave position Heave velocity 1s computed with one integration over time of filtered vertical acceleration The heave filter removes static and slowly varying errors The user must tune this filter according to user requirements The heave filter parameters should be selected according to the expected average wave period T for the vessel The expected average wave period T can be selected in the range 1 to 20 seconds If a too long period is select
81. rding to the IMO requirements to positioning equipment based on the RAIM exclusion and detection algorithm implemented The integrity indication for different position accuracy levels 1s expressed in three states Safe Caution and Unsafe according to the requirements The different states are indicated with colours green yellow and red on the vertical bar in the view Part of the view 1s also an error ellipse that describes the position quality and the geometry of the position solution The position accuracy level is configurable from the setup file the value is displayed as the outer circle on the axis Default value is 10 m The system integrity value 1s often referred to as the horizontal external reliability It gives an indication of how large a horizontal position error might be at the condition of an arbitrary undetected satellite failure 30 M300 52 rev 2 User Manual Safe green indicates that the system accuracy is below the selected accuracy level and that a single satellite failure cannot make the actual horizontal position error exceed the selected integrity limit 95 confidence level Caution yellow indicates that the system accuracy is below the selected position accuracy level but a single satellite failure might not be detected If such a satellite failure 1s detected the actual horizontal position error might exceed the selected integrity limit 95 o confidence level With only four satellites three when heigh
82. rect level before pressing the Enter button again to confirm the selection About HW Information about hardware and current firmware versions Serial number M300 52 rev 2 User Manual T1 Seapath 320 The serial number of the Processing Unit Hardware version The hardware version of the Processing Unit Firmware version The firmware version of the FPGA Soft core version The Soft Core version of the FPGA 78 M300 52 rev 2 User Manual tale casting a aa 56 A A A area k na l dabe lle 56 A 8 A e e J 39 51 G Alarm history view eere 40 Alarm netu a eter sa ed 39 GAGAN 13 Auto extended zone A kk kk kk kk 56 LONA Siesta 9 27 Cc c C H 8 27 C L aoc S 32 A A II EV e Va DAYA WED 39 NOR u nn 49 D M Data VICWEL ccccececececscscecscecececececececececececececeaeas 48 A A HH ee ee 13 E 38 DOLO NAS Sass ine eee o cae a e WE YAK 10 N DGNSS ase VIEW 444x14x3yxexyon loka xelk re kr kerka ekla 28 O Z i NAD27 can 38 A 2 NIG MANO SE DD rr nl e 35 blejpilc 10 DRMS Qi 8 P E PRN pw Xx T e dd eaaeggeaj 13 E D5 O e 38 EGNOS uuu MEA LEA SE Ert 12 R O hace 26 recalibration of the MRU eene 62 restart osse tte ste UA dM LA MI ME 59 F RTCM statio
83. responsible for it or contact the nearest Kongsberg Maritime office e The antenna or the MRU offset setup can be incorrect Check the setup of the lever arms from NRP to antenna no 1 and to the MRU once again Check particularly that the sign for each of the vector components are correct by entering the Geometry subfolder under Sensor GNSS and MRU in the NavEngine configuration Note Please note that the Seapath outputs position in WGS 84 Datum If the position from Seapath differs from positions from other GNSS sensors onboard check that all systems use the same Datum 4 3 7 Invalid heave and roll pitch indicators The Processing Unit does not receive any data from the MRU Do the following e Check that data is coming in to the MRU connector on the Processing Unit by selecting MRU on the Port Monitor in the Tools menu 68 M300 52 rev 2 User Manual e Check that the cable from the MRU is properly connected to the MRU port on the rear panel of the Processing Unit Also check that the MRU cable is properly terminated in the junction box and that the fuse in the box is not blown e If the above is OK see the section below for troubleshooting of the MRU unit For troubleshooting the MRU Unit see section 4 3 11 4 3 8 Reduced heave and roll pitch data indicators These lights indicate that there are some problems with the MRU The unit may for some reason be unstable See the section below for troubleshooting of the MRU unit
84. ristics User segment This segment comprises GPS receivers installed onboard ships aircraft etc to track satellite signals and transform them into position velocity and time Each GPS satellite transmits radio signals at two microwave frequencies in the L band 1575 43 MHz L1 and 1227 6 MHz L2 The L1 signal is modulated by a precise P code for Precise Positioning Service PPS and a course acquisition C A code for Standard Positioning Service SPS The P code is for military and authorised personnel only and is encrypted before broadcast to GPS users The C A code is for civil users Until 1 May 2000 the accuracy of the C A code was degraded to 100 m 2DRMS horizontal positioning by the use of Selective Availability SA However SA is now switched off and the position accuracy of the system 1s about 16 metres 95 CEP The fundamental technique for GPS is one way ranging from the satellites Triangulation based on ranging from the satellites 1s the basis of the system In order to triangulate the GPS measures distance using the travel time of a radio message To measure travel time timing is crucial GPS therefore needs very accurate clocks The transmission is referred to highly accurate atomic frequency standards onboard the satellites which are in synchronisation with the GPS system time base 8 M300 52 rev 2 User Manual The time difference from when the signal leaves the satellites until it is received at the GPS rec
85. rt of the MRU 5 component within the Seapath product to other countries than EU countries or Argentina Australia Canada Iceland Japan New Zealand Switzerland South Korea Turkey Ukraine and USA requires an export license Notice to Importer The MRU product specified in this document has been shipped from Norway in accordance with The Ministry of Foreign Affairs Official Notification on Export Control and may be subject to restrictions if re exported from your country Restrictions in guarantee The liability of Kongsberg Seatex is limited to repair of the Seapath system only under the given terms and conditions stated in the sales documents Consequential damages such as customer s loss of profit or damage to other systems traceable back to Seapath malfunctions are excluded The warranty does not cover malfunctions of the Seapath resulting from the following conditions The MRU is not shipped in the original transport box The MRU has been exposed to extreme shock and vibrations The MRU housing has been opened by the customer in an attempt to carry out repair work 4 Over voltage or incorrect power connection Shorting of GNSS antenna cable during operation of the Seapath systems M300 52 rev 2 XIII Seapath 320 Restrictions in use The Seapath function is based on GNSS signals and requires free sight to the sky minimum four visible satellites PDOP value less than 6 and otherwise normal conditions to operate It is desig
86. rth south axis t E S Glonass satellite Number of tracked Number of used E I Glonass satellites GPS satellites 0 4 4 12 5 9 Y ES Number of used Glonass satellites o E o Shadow sector GPS satellite ratio indicator Elevation mask 3 Qo o B d SAA Vessel heading Satellite under A shadow sector 0 E a 18 Current HDOP Correction satellite Satellite under elevation mask Figure 22 Sky view In the upper left corner the number of GPS satellites tracked and used in the position solution is presented In the upper right corner the number of GLONASS satellites tracked and used in the position solution is presented a A O Q gt E GPS GLONASS SBAS Rejected Disabled Correction satellite satellite satellite satellite satellite satellite Figure 23 Satellite colours Satellites marked grey are disabled as they are not used directly in the position fix e g satellites under the elevation mask or satellites under a shadow sector M300 52 rev 2 PT Seapath 320 The bar s at the bottom of each satellite represents the signal to noise level for the satellite and the longer the bar the stronger the signal The upper bar represents the L1 signal to noise level while the lower bar represents the L2 signal to noise level Figure 24 Satellites with two signal to noise bars When the mouse cursor hovers over a satellite symbol a
87. several tab pages and each of these is described in the following sections 3 12 2 1 View Operator software configuration View Alarms Data source Compass Y Position Integrity Sky view T LITM options View setup Compass Position Integrity Figure 52 Operator software configuration View The View page specifies the contents of each view to be used when the GUI application starts up The drop down list controls indicate the contents and the user may select from the available list in View 1 and View 2 Click OK to apply the selection 50 M300 52 rev 2 User Manual 3 12 2 2 Alarms Operator software configuration Select severity for top bar message display Q Alarm Display alarm messages only O Warning Display alarm and warning messages 9 Information Display all messages Alarm history length Period h Number of messages Figure 53 Operator software configuration Alarms The Alarms page is divided into two sections The first section controls the minimum severity for alarms displayed in the Top bar Alarm Only messages with alarm severity are displayed Warning Messages with alarm and warning severity are displayed Information All messages are displayed The second section controls the Alarm history length in the Alarm history view Period Sets the period for the inactive alarms to be displayed in the History tab in the Alarm history view If a period of 12 hours is selected the
88. t aiding is chosen there is no way to detect a satellite failure and the system will always be in the state Caution or Unsafe The expected accuracy and HDOP might still be reasonably low 9 46 1 26 Figure 29 Integrity view Unsafe red indicates that the system accuracy 1s above the selected accuracy level 95 confidence level 3 6 Compass view The Compass view shows the position of the vessel at NRP the vessel heading COG and SOG M300 52 rev 2 3l Seapath 320 NRP N 63 52 2244 E 009 36 8816 1745 Figure 30 Compass view 3 7 Motion Data view The main function of the Motion Data view is to give information about the speed and heading of the vessel Longitudinal and transversal speed SL and ST are presented together with arrows indicating forward aft and port starboard directions The arrows and the vessel s course over ground COG are not displayed if the speed over ground SOG is less than 0 1 m s Also the vessel roll pitch heave and rate of turn ROT are shown in this view Note The displayed speed values apply to the NRP only even if the position is displayed for other measurement points 32 M300 52 rev 2 User Manual B 0 0 0 0 0 0 3 1 9 0 04 0 00 174 3 Figure 31 Motion Data view 3 8 Time Series view This view plots roll pitch heave and heading as time series The user may zoom in parts of each plot The colour of the time series ind
89. teria Only ascending order is provided The column headers of the DGNSS Monitor show the following ID The reference station s identification number Link Name The name of the correction link that receives data from the reference station Type The type of corrections received from the reference station GPS L1 GPS L2 GLO Ll or GLO L2 SV The number of satellites tracked by the reference station Dist km The distance between the vessel and the reference station in kilometres Age s This column shows the age of the correction data Health code This column shows the reference station health status Health code 0 the reference station is working OK Health code 6 the reference station transmission 1s not monitored Health code 7 the reference station 1s not working Used This column shows if the reference station data are used in the position computation Yes No Timed out Name The name of the reference station M300 52 rev 2 45 Seapath 320 DGNSS Monitor RTCM SBAS HP XP G2 120 0 120 0 2000 0 2000 0 Link Name HSY Dist km Age s 37 7 37 7 14 8 14 8 14 8 14 8 14 8 14 8 14 8 14 8 56 9 56 9 14 8 14 3 14 3 14 3 14 3 14 3 14 3 14 3 Health code 5 5 5 5 5 3 5 5 5 5 5 5 5 5 5 5 5 5 5 5 Used TES YES Wes MES YES MES YES YES YES MES YES YES YES MES MES YES as MES MES MES Name Trondheim Norway SGH Tr
90. three metres of cable for interfacing to the MRU An Antenna Bracket with two GNSS antennas M300 52 rev 2 User Manual Human Machine Interface Visualizaation of data System configuration Local Area Network Ethernet Processing Unit MRU Data GNSS signals GNSS corrections Figure 2 System architecture 1 2 1 The Processing Unit The Processing Unit is designed to fit standard 19 inch racks and is typically installed on the bridge or in the instrument room The Processing Unit comprises the following main parts Hard disk Serial I O board Ethernet and computer main board e Power supply Two GNSS receivers The power on off switch LAN port and USB connection are located under the lid on the left part of the front panel M300 52 rev 2 3 Seapath 320 Figure 3 Front panel of Processing Unit The rear panel of the Processing Unit contains communication interface ports for interfacing to external sensors These ports are individually galvanically isolated Figure 4 Rear panel of Processing Unit 1 2 2 The HMI Unit The HMI Unit is designed to fit 19 inch racks and is typically installed on the bridge or in the instrument room The 1U height HMI Unit comprises the following main parts e Flash disk e Serial I O board Ethernet and computer main board e Power supply The power on off switch and USB connection are located under the lid on the left part of the front panel
91. tooltip will appear with the status of the satellite including azimuth elevation L1 L2 N GPS PRN 4 i Azimuth Fa signal to noise ratio and differential correction NEM Sas Mcd Elevation 29 Up availability S N ratio 11 49 L2 37 If the vessel has a gyro interfaced the display DiffCorr L1 Ls Ge EN SEA idia 1 Figure 25 Tooltip for GPS satellite with corrections The shadow sectors have no effect on calculations but will assist in explaining why some satellites are not used in the position fix Glonass PRN 18 Azimuth Go The Sky view is configured in the Sky view tab EReualsn 61 Down in the Operator software configuration dialog S N ratio L1 50 L2 42 It 1s possible to enable or disable the correction Diff Carr L1 L2 G2 satellites the signal bars the track plot and the shadow sectors Figure 26 Tooltip for GLONASS satellite with corrections 3 4 DGNSS views There are two DGNSS views DGNSS age view and DGNSS status view Both views indicate the status of the available correction links All links are indicated using green colour if correction data are received red if no data are received through that link or light grey if the link has been disabled for some reason Status of up to 9 correction links may be displayed Each link is identified by its name as defined in the Configuration file The number of reference stations used in the position calculation and the number of reference st
92. ve A fixed offset of 10 000 000 m is added to the northing value to avoid negative coordinates in the southern hemisphere When selecting False Easting a fixed offset of 500 000 m is added to the true easting value to avoid negative coordinates The UTM standard uses false northing and false easting 1 e the co ordinates are never negative In case negative northing or easting is wanted uncheck the checkbox The UTM zone is automatically calculated by default The Auto extended zone option is only applicable between 56 degrees to 64 degrees north and 3 degrees to 6 degrees east The 32V zone is extended west to 3 degrees east so when selecting the Auto extended zone in this area zone 32V 1s used When outside the current area and Auto extended zone is selected the used zone is equal to the zone used when selecting Auto zone When selecting Auto zone the system zone is automatically calculated in accordance with the inserted co ordinates 56 M300 52 rev 2 User Manual Selecting Manual zone makes it possible to define which Zone and Zone offset to use The Zone offset option allows a fixed offset to be applied to the longitudinal degrees The UTM zone can be offset up to 3 degrees The Zone offset 1s typically used where the maps used have an offset The Zone range is from 1 to 60 Note The position properties selected in the Operator software configuration dialog are only for display purposes For position properties output on a port s

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