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User Manual for the 3D Sand Ripple Profiling Remote Sonar
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2. ele 27 Copyright Marine Electronics Ltd Page 3 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 Scope 1 1 Identification This document is the user manual for the 3D Remote Profiling Sonar 3DRPS repackaged for Florida University with additional water sensor 1 2 Introduction The 3D Remote Profiling Sonar is a dual axis mechanically scanning sonar underwater unit connected via a 30m underwater umbilical cable to a surface mounted Electronics Processing Unit EPU The EPU is powered from the a c mains supply locally and connects to a remote computer via a USB An internal optically isolated RS485 to USB adapter is used to connect the sonar system to the p c If the distance between the P C and the EPU needs to be extended then by removing the internal RS485 to USB converter the RS485 link may be run over up to 100m of twisted pair cable with the RS485 to USB converter mounted next to the P C Consult Marine Electronics for details The sonar has an oil filled hemi spherical plastic Peek boot providing protection for its internally rotated transducer which operates at 1 1MHz with a narrow conical beam pattern Typically the sonar is mounted vertically looking down at the sea bed and captures a sequence of profiles of the sea bed over a pre programmed sector and range The sonar gathers a single swath of data in the horizontal plane and then rotates the transducer through a pre progr
3. 25 way Bulkhead Signal 19 way Amphenol Sonar Pin 1 Rotate Motor Phase 1 D Pin 2 Rotate Motor Phase 2 R Pin 3 Rotate Motor Phase 3 V Pin 4 Rotate Motor Phase 4 E Pin 14 Rotate Motor Phase 1 2 Common J Pin 5 Rotate Motor Phase 3 4 Common K Pin 6 Tilt Motor Phase 1 S Pin 7 Tilt Motor Phase 2 T Pin 8 Tilt Motor Phase 3 U Pin 9 Tilt Motor Phase 4 H Pin 18 Tilt Motor Phase 1 2 Common G Pin 17 Tilt Motor Phase 3 4Common F Pin 13 Reed Switch 1 L Pin 19 Reed Switch 2 12 Transducer Head Earth N Pin 10 Transducer ve M Copyright Marine Electronics Ltd Page 26 of 27 6 2 6 3 3D Remote Profiling Sonar User Manual 15 March 2010 Pin 11 Transducer ve Pin 15 Wet Sensor n o Pin 16 Wet Sensor 2 n o 9 2 way Wet Sensor Connector 6 2 1 Connector 2 way Buccaneer by Bulgin Part No PX0735 S 6 2 2 Connector Supplier Farnell Canal Road Leeds LS12 2TU Tel 44 8701 200 200 www farnell co uk 6 2 3 Pin Connections The Wet Sensor output is a normally open relay contact closure connected between pins 1 and 2 of the 2 pin connector Neither of these pins has any power on them they are just the relay contacts Pins 1 and 2 are open circuit when out of water and connected together when in water RS485 9 way D type The 5485 serial cable connects between the Electronics Processing Unit and the RS485 USB Adapter Normally the RS485 USB adapter is mounted in
4. 13 4 3 2 3 Swath 13 4 324 3D 13 422325 14 43261 14 4 3 2 7 E 14 43 20 87 Filter E A E 14 4 3 2 9 14 4 3 3 Options Menus 14 14 AI 3 De 14 4 3 3 3 Tank S tup 2 0800 Sain i oe eal 15 Copyright Marine Electronics Ltd Page 2 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 4 3 4 Window 15 4 3 4 1 Tile 2 2 0202 22 200000000000000000000000500 0 15 4 3 825 16 ABA 16 ASS AA Arran Se have teens 16 4 345 LSD VIEW wa ie asain a haa 16 43 46 a a Se ea 16 AZAT 3 Swa
5. Ui odes 19 4 6 DW ATH IEW ENA E 19 4 PIEAN VIB Wed 21 4 8 sees oe aE Tt 21 STORED FILE FORMATS 23 5 1 XY ADATA FILE STRUCTURE 355 soos Sess vase 23 5 1 1 Ba duit 23 5 1 2 24 5 2 RAW DATA FILE 8 002 000 EE EEEE eoe N EAEEREN SEEN NEESER 24 26 6 1 19 WAY ELECTRONICS PROCESSING UNIT 20 1 26 6 2 1 Connector 26 6 2 2 Connector SUP DUP ia 26 6 2 3 A RR I 26 6 2 2 WAY WET SENSOR 40 2200 0000200000000000000000000000 4 27 6 2 1 27 6 2 2 Connector n a a E E a 27 6 2 3 Pin CONNCCHONS raent een 27 6 3 RS48S 9 WAY D TYPE
6. All pulses above the threshold are examined and the nearest largest pulse is deemed to be the required sea bed echo 4 5 5 Swath Step Size The Swath Step Size specifies how many discrete 0 9 tilt motor steps are performed for each ping of the sonar For the finest detail the Swath Step Size should be set to 1 but by increasing this setting the scan speed may be increased and the dataset size reduced The range of values that may be set is from to 10 4 5 6 Rotation Step Size The Rotation Step Size specifies how many discrete 0 9 rotation motor steps are performed after each swath gathered by the sonar For the finest detail the Rotation Step Size should be set to 1 but by increasing this setting the dataset capture speed may be increased and the dataset size reduced The range of values that may be set is from 1 to 10 4 5 7 Sample Delay This data field cannot be directly modified by the user The Sample Delay is the time to when the sonar starts capturing data after the start of the transmit pulse 4 5 8 Sample Interval This data field cannot be directly modified by the user The Sample Interval is literally the time between successive readings of the A D that is sampling the receiver output The Sample Interval is automatically set by the system to obtain the specified range with the specified number of samples 4 5 9 Number of Samples This data field can not be directly modified by the user The Number of Samples g
7. Copyright Marine Electronics Ltd Page 7 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 driven via buffer transistors TR1 to TR4 from port RB4 to RB7 of the PIC18F452 The Tilt stepper motor which sweeps the transducer through each swath is similarly driven via transistors TR5 to TR8 from port RBO to RB3 of ICS The position of the transducer head is determined by locating the transducer to a zero reference position which is determined by a metal arm containing a small magnet passing a reed switch sensor which is connected to PL7 PL6 provides 4 uncommitted input output port lines from the microcontroller for future expansion PL1 provides a connection for in circuit programming of 5 via a suitable adapter Two LED s are driven from the microcontroller which are mounted on the side of the EPU The Blue LED lights when the EPU is processing a command from the host P C The Red LED lights when the EPU is transmitting data to the host P C Together these two LED s verify the correct operation of the RS485 data link 5 connects the Transmitter Receiver PCB 3 2 3 Transmitter Receiver PCB CR02A0206 The Transmitter Receiver PCB is mounted in a 100mm by 50mm screened metal box to decouple the sensitive receive input from the microprocessor clock signals The Transmitter oscillator frequency is generated by the 4047 astable ICS and the frequency is adjusted to suit the acoustic transducer with Normally the osc
8. Profiler Control Scanning Parameters Max Range Start Depth Stop Depth Colour Scale Swath ly Ey ab Ely e ety Advanced 1531 29 0 2 4 4 1 Maximum Range Slider The Maximum Range setting limits the radial coverage of the sonar and mainly comes into play when the 180 swath width is selected The easiest way to think of the effect that this control has is to imagine a cylinder of this radius centred on the sonar beyond which no data is gathered The Maximum range of this control is 10 0m NOTE The Maximum Range setting cannot be less than the Stop Depth 4 4 2 Start Depth The Start Depth specifies the depth below the transducer at which sampling starts and is mainly used to reduce multipath caused by the proximity of the transducer head to the surface or other objects The limits of the Upper Height Limit are 0 2m to 5 0m NOTE The Start Depth is restricted to always being at least 0 5m less than the Stop Depth 4 4 3 Stop Depth The Stop Depth specifies the depth below the transducer beyond which data is not captured and is used with the Start Depth to reduce multipath caused by the proximity of the transducer head to the surface or other objects The limits of the Stop Depth are 0 5m to 10 0m NOTE The Stop Depth is restricted to always be
9. Sound metres sec Tx Pulse 9 50 psec Filter Window e Detection Threshold Pr 30 Swath Motor Step Size 1 Rotate Motor Step Size 1 Sample Delay 3333 psec Sample Interval 11 psec Number of Samples 909 OK 4 5 2 Transmit Pulse The acoustic Transmit Pulse may be set in the range 10usec to 250usec with shorter pulses generally giving higher resolution but the trade off is that the gain is less with shorter pulses The Transmit Pulse should always be larger than the Sample Interval otherwise received echoes may be missed The Transmit Pulse is adjusted in increments of 1 0usec 4 5 3 Filter Window The Filter Window parameter is used by the pulse echo detection routine to smooth the data with a rolling average The range of values that may be set is from to 20 and a typical setting is 10 In areas of high background noise it may be beneficial to use a larger window setting Copyright Marine Electronics Ltd Page 18 of 27 4 6 3D Remote Profiling Sonar User Manual 15 March 2010 4 5 4 Detection Threshold This Detection Threshold is also used by the pulse echo detection routine to specify what signal level to start looking for an echo The range of adjustment is from 10 to 90 with a typical setting of 30 The algorithm uses the background signal level averaged over the filter window size added to the Detection Threshold to specify the signal level above which a pulse is present
10. bandpass filter around L3 L4 and L5 to the AD8307 logarithmic amplifier The AD8307 output is the logarithm of the signal envelope amplitude a portion of which is tapped off via 5 and R12 to provide the AGC control voltage for the AD603 The 081 op amp Copyright Marine Electronics Ltd Page 8 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 buffers the detected signal output and scales it to 20mV per dB therefore if the input signal changes by 40dB the output voltage will change by 0 8v 3 3 Umbilical Cable The 30m underwater cable is moulded on one end to connect to the sonar and a 19 way Metal lok Bantam connector is required to join to the EPU Care should be taken to ensure that the connectors are correctly aligned before turning the locking ring to secure them The 19 way connector has a larger keyway adjacent to Pin 1 3 4 Serial USB Cable The system is supplied with a 2m USB cable to connect EPU to the host via the RS485 USB interface The system runs at a baud rate of 1Mb 3 5 RS485 to USB Adapter The supplied RS485 USB adapter allows easy connection of the high speed RS485 telemetry to a host P C as it is powered via the USB socket The adapter connects to the P C via a short USB A to B lead and is normally mounted inside the EPU enclosure The RS485 USB adapter is supplied with a driver disk to install under either Windows 98 or Windows XP The USB adapt
11. 3D Remote Profiling Sonar User Manual 15 March 2010 User Manual for the 3D Sand Ripple Profiling Remote Sonar Issue 1 1 415 March 2010 Marine Electronics Ltd Unit 10 Barras Lane Industrial Estate Vale Guernsey Channel Islands GY6 8EQ Tel 44 0 1481 253181 Fax 44 0 1481 253182 Email sales marine electronics co uk Copyright Marine Electronics Ltd Page 1 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 Table of Contents TABLE CONTENTS 2 cescccadabcnccs cc cssesscdstelessssncsedscseceostscessecenaads casdeteocesecescceccescessuegeesvebaccescoscedsseseses 4 1 1 IDENTIFICATION et ee 4 1 2 INTRODUCTION aaa Rink eae Rad Ae ea ea 4 1 3 SYSTEM OVERVIEW RE eli 4 14 DOCUMENT OVERVIEW 5 2 APPLICABLE DOCUMENTS cccsssssssssssscccessssccccssssscccccsssscccccssssccccscsscccescssscceeeees 6 3 SYSTEM HARDWARE 6 ccccccssesecdscccececesceesseviaseesececeoctsctsecasecdesesdbecetcestoseedesesdsesssbeaseseetes 7 3 1 SCANNING SONAR ON 7 32 ELECTRONICS PROCESSING 7 3 2 1 Mains KOAA 0 7 3 2 2 Microcontroller 0 1 010 7 3 2 3 Transmitter Receiver 240206
12. 3D View windows Each click of the Filter Image option applies a single pass of a median filter over the data If there are a lot of spikes in the data due to mid water echoes from fish or suspended sediments then several applications of the filter may be necessary to reduce the effect the spikes have on the overall image The filtering process does not affect either the raw or x y z data so if a survey is filtered then saved when it is reloaded the data will not be filtered 4 3 2 9 Fill Mesh When checked the Fill Mesh option uses Gouraud shading to represent the data in the 3D View as a solid model If unchecked the data is shown as a wireframe mesh Sometimes the wireframe mode can be useful to see shallow trenches in the data where the shading of the filled option is too subtle 4 3 3 Options Menu 4 3 3 1 Comm Port This option allows the user to change the Comm Port that the sonar is using without having to close and re open the program 4 3 3 2 Colour The Colour menu option allows the choice of several different colour palettes for representing the data All three data windows are affected by the choice of colour palette Copyright Marine Electronics Ltd Page 14 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 4 3 3 3 Tank Setup The Tank Setup menu option opens the Tank Setup dialogue window which allows the user to input the dimensions of a rectangular or circular vessel in which the sonar is dep
13. CIA adapters 7 Ports COM amp LPT 7 Communications Port 1 ECP Printer Port LPT1 USB Serial Port COMS SB Processors Sound video and game controllers 5 System devices Universal Serial Bus controllers 4 3 Main Screen When the OK button on the Comm Port select screen is clicked the main program screen is loaded The main program screen consists of a main window containing the system menu options with several child windows contained within it The child windows currently available are Control Swath View Plan View and 3D View If the program is being run for the first time after installation then the child windows are shown in cascade mode By clicking on the Window menu option followed by Tile Horizontally the screen layout will look like the screenshot below The software is best viewed at a screen resolution of at least 1024 x 768 pixels with either 16 or 32 bit colour depth Graphics cards using the 24 bit colour mode are not recommended as DirectX is not as quick in this graphics mode as it is in either 16 or 32 bit mode Any of the child windows can be maximized to fill the main window for viewing images in greater detail Copyright Marine Electronics Ltd Page 11 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 3D Profiler C Archive Ep_3D_Profiler Data marina9
14. DC power for the microcontroller PCB connects to and is filtered by FL1 before being converted to SVDC by PSUI the control functions for this PCB originate from the microcontroller ICS 18 452 The microcontroller is clocked from an 8MHz crystal XTALI and internally quadruples this frequency to run at 32MHz The logarithmically compressed envelope of the acoustic receive signal is connected to PLS pin 4 from where it is buffered by the 082 op amp 2 before being digitised by an AD775 eight bit flash A D converter IC1 The digital output of the AD775 is buffered by an AM7204 digital FIFO buffer IC4 which can hold 4096 bytes The sample clock for the A D and write clock for the FIFO is generated by the pulse width modulated PWM output from the PIC18F452 and can be programmed from lusec to 100usec which specifies the sample interval The A D is scaled such that a 1 5v peak signal on the input reaches full scale or OxFF Data from the FIFO is read via PortD of 5 from where it is output from the microcontrollers internal via the MAX485 5485 transceiver IC3 Each acoustic ping worth of data is transmitted at 1Mb sec via IC3 before the sonar can transmit again The stepper motor which rotates the acoustic transducer is connected through a 10 1 gearbox thus 10 motor steps are needed for each acoustic transmission to give an angular resolution of 0 9 The four phase hybrid stepper motor is
15. ammed angle around the vertical axis and repeats the process until a circular area underneath the sonar has been scanned in a sequence of radial spokes The movement of the sonar head and the transmission reception of the acoustic data is performed by the EPU acting as a slave to a Windows program running on a P C The raw acoustic echo data is telemetred to the p c via the RS485 USB link at a baud rate of 1Mb per second The raw data represents the signal amplitude of the envelope of the returned echoes with logarithmic compression to achieve an overall dynamic range of greater than 90dB The Windows program processes the raw data to generate a line profile for each swath and then combines the swaths to construct a 3D model of the area scanned The model data may be saved in an ASCII x y z format for importing into other third party software such as CAD or spreadsheet programs 1 3 System Overview The 3D Remote Profiling Sonar comprises the following items as shipped from the factory 1 Scanning Sonar Unit which contains the acoustic transducer rotation motor tilt motor position reference sensor and pressure balancing mechanism No semiconductors are incorporated into the Sonar Unit so that it may be deployed in areas where there is significant radioactivity A nineteen pin underwater connector provides a connection for the umbilical cable to connect to the EPU 2 Electronics Processing Unit which contains the acoustic transmitter receive
16. athered by the sonar for each motor step position is optimized by the system software up to a maximum of 1000 samples The software uses the largest number of samples for a given range with the smallest sample interval possible with the limitation the number of samples cannot exceed 1000 Swath View The format of the Swath View window is shown typically below Copyright Marine Electronics Ltd Page 19 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 16 17 29 06 2004 The Start Depth is shown as a green line at 2 5m and the Stop Depth is shown as a red line at 5 0m The blue lines show the limits of the swath arc in this case 150 degrees When the system has either finished a survey or read a raw file in from disk the slider at the base of the Swath View window may be used to view any of the swaths within the current survey Also the display may be toggled between Profile Data and Both modes to show where the algorithm is detecting the profile from within the raw data The screenshot below shows the same swath as above in Profile mode the white dots being where the algorithm has detected the sea bed 4 JD Profiler C Archive tp_3D_ProfilerWWataimarina raw File Options Window Help 5 Xx Profile Data Both 16 16 29 06 2004 Copyright Marine Electronics Ltd Page 20 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 4 7 Plan Vie
17. e to make it easy to extract just the xyz data when re processing the file with third party software The header should be read by third party software on a line by line basis The first line of the file reads 3D_ Profiler which the system software looks for to Copyright Marine Electronics Ltd Page 23 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 ensure the file is of the correct type when trying to open it The second line of the file is a time and date stamp when the file was recorded by the sonar The following 15 lines give the parameter of the sonar followed by the blank line signalling the start of the xyz data The parameter values are in the following units and are explained in more detail below MaxRange 10000 mm Arc 166 Gradians 0 9 degree steps SwathStep 1 Number of 0 9 degree steps between swaths RotateStep 1 Number of 0 9 degree steps between swaths Tx Pulse 50 microseconds Mute Pulse 100 microseconds not adjustable Delay 3333 microseconds Sample Interval 11 microseconds No of Samples 909 Threshold 30 percentage from 10 to 90 Blanking 1 not used Start Range 2500 mm Stop Range 5000 mm Filter 10 Number of samples to average for detect base level Velocity of sound 1500 metres per second 5 1 2 ASCII XYZ data The ASCII data is stored in three columns per line with comma separators and a carriage return linefeed at the end of each l
18. er Manual 15 March 2010 System Hardware 34 Scanning Sonar Unit The Scanning Sonar Unit contains the acoustic transducer rotation motor with gearbox tilt motor position reference sensor and pressure balancing mechanism The complete sonar unit is oil filled and must not be opened except by the manufacturer There are no user serviceable parts inside the sonar unit If the sonar unit is physically damaged or non functional then it must be returned to the manufacturer or their appointed agent for repair replacement 3 2 Electronics Processing Unit The Electronics Processing Unit contains the acoustic Transmitter Receiver PCB the Microcontroller PCB the a c mains power supply and fused mains inlet filter with voltage select switch and the RS485 to USB converter 3 2 1 Mains Power Supply The power supply has transformer taps for either 1 1OVAC or 220 240VAC which are switched by the voltage select switch mounted on the chassis plate inside the EPU enclosure WARNING Ensure that the voltage select switch is set correctly for the local mains voltage otherwise serious damage to the equipment or fire could result Also mounted on the chassis plate is a mains fuse for operation on 110VAC input this should be rated at 2A anti surge and for operation on 220 240VAC should be rated at 1A anti surge The output of the power supply is 12VDC which connects directly to the microcontroller PCB 3 2 2 Microcontroller PCB EP01A0106 The 12V
19. er should be plugged in to the P C and then the driver loaded when Windows recognizes that new hardware is attached Updated drivers can be downloaded from the www ftdichip com website 3 6 Alternate System Configuration If the RS485 USB adapter is removed from the EPU then it is possible to extend the distance between the EPU and the host PC by interconnecting the system components as shown in the diagram below Electronics module 110 240 VAC Screened twisted pair RS485 cable 7m Multicore underwater cable Sonar Transducer unit No electronics iN RS485 to USB Qa A Interface NA AAAS C Windows P C running Sonar Control Software Copyright Marine Electronics Ltd Page 9 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 System Software and Setup 4 1 Installation The system software is supplied on a CDROM disk To install the software run the setup exe program in the root directory of the CD The Windows should already have a version of DirectX installed the 3D Profiler software requires at least version 8 of DirectX to function correctly The version number and the status of the installed DirectX can be checked by running the dxdiag exe program which is in either the C windows system directory for Windows 798 or C windows system32 for Windows XP The latest version of DirectX is avai
20. ht Marine Electronics Ltd Page 15 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 4 3 4 2 Tile Vertically The child windows within the main screen are re arranged vertically 4 3 4 3 Cascade The child windows within the main screen are re arranged one on top of the other as a series of pages cascading from the top left of the main window 4 3 44 Arrange Icons If any of the child windows within the main screen are minimized then the icons that represent the minimized windows are re arranged around the bottom left of the main window 4 3 45 13 View This option selects and brings to the front 3D View window 4 3 4 6 2 Plan View This option selects and brings to the front the Plan View window 4 3 4 7 3 Swath View This option selects and brings to the front the Swath View window 4 3 4 8 4 Control This option selects and brings to the front the Control window 4 3 5 Help The Help menu option provides access to the About box which provides contact details for the equipment manuacturer as well as access to the windows System Information which is useful for diagnosing problems with windows installations 4 4 Control Window The parameters that control the operation of the sonar are adjusted using the controls within the Control Window which is shown below Copyright Marine Electronics Ltd Page 16 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 3D
21. illator is disabled by high level at its enable pin 4 The TXGATE signal is an active high 5v pulse of width set by the transmit pulse width parameter applied to PL1 pin 1 The oscillator ICS then generates anti phase clocks at pins 10 and 11 which drive the dual emitter followers TR3 to TR6 The push pull outputs of the emitter followers have their rising edge delayed by the D4 R14 and 05 16 networks to ensure there is no overlap in the pulses fed to the gates of the MOSFET transistors TRI and TR2 The drains of TR1 TR2 are connected to the centre tapped toroidal output transformer T1 which steps up the transmit pulse to drive the transducer Capacitors C11 C14 and C15 and the inductance of T1 combine to tune the waveform applied across the transducer to an approximation of a sine wave Diode networks D7 D8 and D1 D6 provide the transmit receive gating function such that high voltages are not applied across the receiver input and low level receive signals are not shunted by T1 The receiver has an input low pass filter L6 C19 to limit the input bandwidth to less than 4MHz and a clamping circuit around TR8 to shunt the input to ground during the MUTE pulse which limits the overload caused by the transmit pulse The receiver input pre amplifier stage is an AD603 IC3 which is a voltage controlled variable gain amplifier with up to 40dB of gain and very low input noise into its 100ohm input impedance The output of the IC3 is coupled through a
22. ine The data is ordered x y z and each of the xyz values are in mm with a leading sign character either or Note that z value is the distance BELOW the transducer at which the seabed was detected NOT the actual seabed height relative to any charted datum 5 2 Raw data file structure The raw data files are made up of two distinct elements the first being an identical ASCII header to the XYZ file format except for the first line which contains the different file type identifier of 3D_ Profiler RAW The following data represents the binary signal amplitudes of each sample taken by the sonar during a survey The data may be decoded by a custom program from a knowledge of the sonar parameters The data is stored sequentially with each data block being Number of Samples long and starting at the first ping of swath 1 followed by the second ping of swath 1 up to the Arc size and then followed by the first ping of swath 2 etc Note that some digital camera display software and some paint programs e g Paint Shop Pro can read raw data files if you count the number of bytes used by the ASCII header don t forget the blank line and input it when the raw file dialogue appears To use Paint Shop Pro specify the size of the header the number of samples to match the width dimension and the number of swaths multipled by the number of pings per swath to match the height dimension For example if 20 swaths at 150 166 s
23. ing at least 0 5m more than the Start Depth and the Stop Depth cannot be more than the Maximum Range setting 4 4 4 Colour Scale The Colour Scale slider specifies how many metres is represented by the range of the colour palette i e if the Colour Scale is 1 0m then 0m would represent colour 0 and 1 0m would represent colour 255 The Colour Scale is the only control that may be adjusted whilst the sonar is scanning to change the height representation of the colour palette Copyright Marine Electronics Ltd Page 17 of 27 4 5 3D Remote Profiling Sonar User Manual 15 March 2010 4 4 5 Swath Arc The arc swept by the sonar as it gathers the data can be set in 30 degree increments The limits of the data capture area are shown in the Swath View window to aid setting the system for optimum coverage 4 4 6 Advanced Button The Advanced button opens the Advanced Sonar Parameters dialogue shown below where further parameters may be found to modify how the sonar gathers its survey data Advanced Sonar Parameters 4 51 Velocity of Sound The Velocity of Sound text box allows the speed of sound in the water to be compensated to improve the accuracy of the calculated target ranges Typically the speed of sound in fresh water is set to 1500 metres per second but the adjustment range of this control allows values from 1400 to 1600 metres per second to be used to calibrate the system Advanced Sonar Parameters Velocity of
24. k in either an ASCII x y z format or the systems raw binary format The ASCII x y z files are much smaller in size than the raw binary files which can be as large as 40Mb The raw binary files contain each ping acoustic transmit receive cycle of the sonar and as they are loaded in the data is presented as if the sonar is scanning i e the individual swaths are displayed and the plan display builds up The ASCII x y z files only contain the data for the plan display and so no swaths are drawn when an ASCII file is loaded Both file formats display the plan and 3D views when subsequently loaded 4 3 1 4 Print Preview The Print Preview option shows the screen area that will be output to the printer with subsequent print operations The printing function is a simple screen capture and so the aspect ratio of the print preview window may need adjusting by dragging the window to view the image without distortions By maximizing a particular window before selecting print or print preview then a single display mode may be printed rather than all of the displayed windows 4 3 1 5 Print The Print option send the contents of the main display screen to the currently selected Windows printer 4 3 1 6 Exit The Exit option closes the program A message is displayed asking for confirmation to close the program allowing the user to cancel the operation 4 3 2 View Menu 4 3 2 1 Control Panel If this option is checked the Control Window is visib
25. lable for download from the official Microsoft website 4 2 Communications Port Setup Screen When the Profiler3D program is run the first screen that appears is the Communications Port Setup screen as shown below Wa Communications Port Setup Sonar Serial Port Comm Comm2 Comm3 4 5 Comms The RS485 USB adapter will install to a virtual Comm Port on the P C where there is no conflict with existing hardware The Comm port chosen by the USB driver will be after any existing Comm Port Drivers To find out which Comm Port the driver has selected you can use the Windows Device Manager to look at the list of available serial ports as shown in the screenshot below To access the Device Manager from Windows select Control Panel followed by System then Hardware In this instance the USB Comm Port has installed as CommS Copyright Marine Electronics Ltd Page 10 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 Device Manager SE File Action Help R Batteries Computer amp Disk drives 3 Display adapters 5 DYD CD ROM drives Human Interface Devices 53 IDE controllers S IEEE 1394 Bus host controllers Intel AIM 3 0 Codec gt Keyboards 7 Mice and other pointing devices Modems Monitors 88 Network adapters E PCM
26. le within the main screen window 4 3 2 2 Plan View If this option is checked the Plan View Window is visible within the main screen window 4 3 2 3 Swath View If this option is checked the Swath View Window is visible within the main screen window 4 3 2 4 3D View If this option is checked the 3D View Window is visible within the main screen window Copyright Marine Electronics Ltd Page 13 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 4 3 2 5 Graticule A graticule may be displayed over either of the Plan or Swath windows The graticule is displayed if the option is checked by left clicking with the mouse similarly the graticule is erased if there is no check mark 4 3 2 6 Cursor If this option is checked then a cursor is overlaid on the Plan View window allowing horizontal distance measurements to be made There are two end point cursors a which is moved by holding the left mouse button down and dragging or clicking at a point of interest on the plan view and a x which is moved by dragging or clicking with the right mouse button The positions of the two end points is shown along with the distance and bearing between the two cursors 4 3 2 7 Tank Walls If this menu option is checked then the current tank outline is overlaid on the Plan View Window 4 3 2 8 Filter Image The Filter Image option is used to remove isolated spikes from the data in both the Plan View and
27. loyed The Tank Setup dialogue is as shown below 27 Tank Setup Tank Type Sonar Position relative to Tank Centre Circular x offset 25 m Y offset 1 m Rectangular 3 Direction 200 degrees The general principle for modifying the on screen values is to first select the data field to be modified by either left clicking the mouse once on the data field or using the TAB key to advance to the required field The data may then be modified by overtyping a new value and or using the BACKSPACE or DELETE keys to modify the data When finished with a particular field use either the ENTER key to register the change or move to a different data field The boxes coloured green on the setup screen represent parameters that can be edited in the current mode The x and y offset of the sonar from the center of the tank can be entered together with a rotation offset to specify in which direction the sonar was deployed The blue dot and line represent the position of the sonar and the direction of the forward looking arrow on the sonar The forward looking position of the sonar is always plotted up the screen in the Plan View window whereas the tank wall overlay is rotated around the sonar position The Clip data to tank walls options will limit the data plotted to lie within the tank walls 4 3 4 Window Menu 4 3 4 1 Tile Horizontally The child windows within the main screen are re arranged horizontally Copyrig
28. r board microcontroller board power supply 110VAC 240VAC mains inlet filter and RS485 to USB converter Copyright Marine Electronics Ltd Page 4 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 3 30m underwater cable to join item 1 to item 2 4 2m USB A B cable to join item 2 to the host P C running Windows recommended minimum specification for the host is Pentium 1GHz 64Mb Ram 1024x768 3D graphics accelerator with DirectX8 compatibility CDROM hard disk with minimum 100Mb free space parallel printer port and a free USB port 3D Profiler Software on CDROM for Windows 98SE XP compatible Ox User manual this document 1 4 Document Overview The purpose of this document is to provide user instructions for setting up and operating the 3D Remote Profiling Sonar This section Section 1 provides an overview and general introduction Section 2 details the documents applicable to this document Section 3 details the system hardware Section 4 details the system software Section 5 explains the Stored File Formats Section 6 shows the connection details Copyright Marine Electronics Ltd Page 5 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 2 Applicable Documents The following documents are applicable to this document Installation Guide of Hi Speed Vscom USB Industrial I O Adapter Copyright Marine Electronics Ltd Page 6 of 27 3D Remote Profiling Sonar Us
29. raw 24 06 04 12 28 51 File Options Window Help Plan View Scanning Parameters Max Range Swath Arc EE Swath View folk 3 view Profile Data 16 33 28 06 2004 4 31 File Menu 4 3 1 1 New Survey The New Survey menu option should be selected before starting a new sonar scan When a scan is complete or when a saved dataset is loaded the Scanning Parameters on the Control Screen are disabled so that the on screen measurements cannot be changed Selecting the New Survey option will unlock the controls and erase all data from memory To prevent unwanted data loss a warning message box appears when the New Survey option is selected to give the user the opportunity to cancel the operation 4 3 1 2 Open The Open menu option allows previously stored ASCII x y z files and raw data files to be loaded back into the system memory for viewing analysis and printing Note that only files that have been saved by the Profiler3D software may be loaded back into the program When loading raw data files the current Tank Setup is used to clip the data if the Clip to Tank option is checked This option is useful to trim edge effects from the data to present a clean 3D image Copyright Marine Electronics Ltd Page 12 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 4 3 1 3 Save The Save menu option gives the user the facility to save the current survey data to dis
30. renced to the deepest data point that the sonar scanned and measured above that base level The x y z data stored in the ASCII txt file created by the sonar represents the height below the sonar transducer that a target was detected Copyright Marine Electronics Ltd Page 22 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 Stored File Formats 5 1 XYZ Data File Structure The ASCII x y z data files are made up of two distinct elements the first being an ASCII header containing the sonar parameters set when the data was captured and the second being the x y z data captured by the sonar The start of a sample XYZ file is shown below 5 1 1 ASCII 3D_Profiler 24 06 04 12 29 17 MaxRange 10000 Arc 166 SwathStep 1 RotateStep 1 Tx Pulse 50 Mute Pulse 100 Delay 3333 Sample Interval 11 No of Samples 909 Threshold 30 Blanking 1 Start Range 2500 Stop Range 5000 Filter 10 Velocity of sound 1500 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 000000 008965 004219 000000 008679 004252 000000 008395 004277 000000 008319 004405 000000 007779 004277 000000 007596 004333 000000 007364 004355 etc etc etc Header The ASCII header is separated from the ASCII xyz data by a blank lin
31. teps and 600 samples were taken then the Width is set at 600 the Height at 3360 The resultant B Scan display gives a quick indication of what is in the file Copyright Marine Electronics Ltd Page 24 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 The first few bytes in a sample raw data file are shown below 3D_Profiler_RAW 24 06 04 12 28 51 MaxRange 10000 Arc 166 SwathStep 1 RotateStep 1 Tx Pulse 50 Mute Pulse 100 Delay 3333 Sample Interval 11 No of Samples 909 Threshold 30 Blanking 1 Start Range 2500 Stop Range 5000 Filter 10 Velocity of sound 1500 Copyright Marine Electronics Ltd Page 25 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 6 Connection Details 6 1 19 way Electronics Processing Unit Connector 6 2 1 Connector 25 way Buccaneer by Bulgin Part PX0822 S 6 2 2 Connector Supplier Farnell Canal Road Leeds LS12 2TU Tel 44 8701 200 200 www farnell co uk 6 2 3 Pin Connections View looking into 25 way bulkhead connector on Electronics Processing Unit 19 54 70 W454 H K i 6 17 gt 1 20 21 00007070 oe 22 23 24
32. ternally in the EPU enclosure however it may be removed to extend the telemetry to up to 100m between the EPU and the PC The connectors used into the RS485 USB adapter are 9 way male and female D types The following pins are connected Male Pin 1 Data ve Female Pin 1 Male Pin2 Data ve Female Pin 2 Male Pin 5 Ov shield Female Pin 5 Copyright Marine Electronics Ltd Page 27 of 27
33. th Views 725 sieve alacant 16 4 3408 4 aa ab deeb 16 4 3 5 16 44 ONH LGI PANTA INI DIDA A 16 4 4 1 Maximum Range 8 17 4 4 2 Start Depth ab tas 17 4 4 3 Stop 17 4 4 4 COLO es ais 17 4 4 5 Dies 18 4 4 6 tein he 18 4 5 ADVANCED SONAR 18 4 5 1 Velocity Of 18 4 5 2 18 4 5 3 a Shs ea 18 4 5 4 Detection 4 19 4 5 5 SWA SESZ 19 4 5 6 R tati n St p ee 19 4 5 7 19 4 5 8 Sample Intervals E echt eae eats 19 4 5 9 Number Of Samples
34. w The Plan View window shows the processed height data scaled according to the Colour Scale slider in a view looking vertically down on the area scanned 3D Profiler C Archive Ep_3D_Profilerata marina8 File View Options Window Help o Centre Cursor 17 20 29 06 2004 The cursor measurement tool allows the distance and bearing between objects in the plan view to be measured The example above shows a circular tank outline of 10m diameter used to clip the data with the sonar offset from the center of the tank 48 3D View The 3D View window provides controls for manipulating the 3D image so that objects within the data can be viewed from different angles A typical 3D View is shown below Copyright Marine Electronics Ltd Page 21 of 27 3D Remote Profiling Sonar User Manual 15 March 2010 File View Options Window Help 1728 29 06 2004 The upper group of six arrows move the observers position around the 3D environment the diagonal arrows zoom in and out of the image The icon in the middle of the arrows may be clicked to return all the movement and rotation back to the starting default or home position The lower group of 4 curved arrows provide rotation around the vertical axis or the horizontal axis so that the image may be tilted The colour bar across the bottom of the image shows the settings of the Colour Scale slider and the maximum height setting The 3D image data heights are refe
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