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Description

This is a driver with user-interface in order to encode messages for - and decode messages from an iXBlue INS that supports the stdbin protocol.

During normal operation the INS will establish an accurate position for the ROV based on the integration of Inertial, Doppler, USBL, Depth Sensor and Surface Positioning (Computation Node Result) information.

This driver can send the necessary surface positioning information to the INS in order to enhance the INS solution. At the same time it will read and decode the integrated accurate ROV position and attitude data, which can be used in a separate Computation.


There are two versions of this driver: serial and TCP. UDP is currently not supported:

The user-interface for both drivers is exactly the same, only the I/O protocol is different.

See also the Interfacing Notes at the System Interfacing tab.

In case your setup does not require to receive any data from the unit, and you only need to send data to the INS, see the additional comment in the Output setup section at the QINSy Config tab.


    Driver Information

    Driver iXBlue stdbin INS Interface Type Serial / TCP Driver Class Type counted
    UTC Driver (question)  Yes Input / Output Input and Output  Executable DrvQPSCountedUI.exe
    DrvQPSCountedUITCP.exe
    Related Systems
    Related Pages
    Table of Contents

    Decoding Notes

    The following data blocks can be received and decoded from the INS:

    • Pitch Roll Heave Sensor

    In order to decode the Pitch Roll Heave Sensor data block the user does not need to enter any slot information.

    • Gyro compass

    In order to decode the Gyro Compass data block the user should enter a value of 'HEADING' in the slot ID field.

    • Surface navigation
      • LBL1, LBL2, LBL3, LBL4
    • Position navigation system
      • Position
      • External GPS 1, External GPS 2, External manual GPS
      • USBL1, USBL2, USBL3, USBL4
      • LBL1, LBL2, LBL3, LBL4
    • Time synchronization system
      • External UTC
    • Miscellaneous
      Most elements of the protocol are available as a miscellaneous observation, The following table shows which slot IDs to use for each data element:
      • Slot data block value
        TEMP_FOG

        Temperatures

        Mean temperature FOG
        TEMP_ACC Mean temperature ACC
        TEMP_ANA Sensor board temperature
        HEAVE

        Heave/Surge/Sway

        Real time heave at selected lever arm

        SWAY

        Real time sway at selected lever arm

        SURGE

        Real time surge at selected lever arm

        HEAVE_RAW

        Real time heave without lever arm

        SMART Smart Heave

        Smart Heave At primary lever arm

        HDG_RATE

        Heading/Roll/Pitch rate


        Heading rotation rate
        ROLL_RATE Roll rotation rate
        PITCH_RATE Pitch rotation rate
        CURR_VELO

         Current data block in geographic frame

        Current speed vector calculated from north and east current
        CURR_DIR Current direction calculated from north and east current
        HEAVE_VELO

        Heave/Surge/Sway speed


        Real time heave speed (at selected lever arm)

        SWAY_VELO

        Sway speed (at selected lever arm)

        SURGE_VELO

        Surge speed (at selected lever arm)

        EAST_ACCL

        Acceleration data block in geographic frame

        North acceleration
        NORTH_ACCL East acceleration
        HGT_ACCL Vertical acceleration
        DMI_COUNT

         DMI data block

        Pulse count

        EVENT_A

        Event marker A data blocks

        Event count

        EVENT_B Event marker B data blocks Event count
        EVENT_C Event marker C data blocks Event count
        DVL1G_XV1

         DVL1 Ground speed data block

        XV1 longitudinal ground speed

        DVL1G_XV2

        XV2 transverse ground speed

        DVL1G_XV3

        XV3 vertical ground speed

        DVL1W_XV1

         DVL1 Water speed data block

        XV1 longitudinal water speed

        DVL1W_XV2 XV2 transverse water speed
        DVL1W_XV3 XV3 vertical water speed
        DVL2G_XV1

         DVL2 Ground speed data block

        XV1 longitudinal ground speed

        DVL2G_XV2

        XV2 transverse ground speed

        DVL2G_XV3

        XV3 vertical ground speed

        DVL2W_XV1

         DVL2 Water speed data block

        XV1 longitudinal water speed
        DVL2W_XV2 XV2 transverse water speed
        DVL2W_XV3 XV3 vertical water speed
        INSSENST1

        AHRS or INS Sensor Status

        Sensor Status 1
        INSSENST2 Sensor Status 2
        INSALGST1

        INS Algorithm Status




        Algorithm Status 1
        INSALGST2 Algorithm Status 2
        INSALGST3 Algorithm Status 3
        INSALGST4 Algorithm Status 4
        INSSYSST1 INS system status System Status 1
        INSSYSST2
        System Status 2
        INSSYSST3
        System Status 3
        INSUSRST INS User Status User Status
        AHRALGST

        AHRS Algorithm

        Algorithm Status

        AHRSYSST1 AHRS System Status

        System Status 1
        AHRSYSST2 System Status 1
        AHRSYSST3 System Status 1
        AHRUSRST1

        AHRS User Status

        User Status

    • Speed log
      • Based on the selected slot, the following data elements can be decoded by the speed log system:

        Observation type Slot Data block Value
        Bearing COG

        Course and speed over ground

        Course over ground
        Speed SOG Speed over ground
        EMLOG1 EMLOG1 data block Longitudinal water speed
        EMLOG2 EMLOG2 data block Longitudinal water speed
        DVL1G_SPD

        DVL1 Water speed data block

        Speed vector calculated from longitudinal speed and transverse speed



        DVL1W_SPD DVL1 Ground speed data block
        DVL2G_SPD

        DVL2 Water speed data block

        DVL2W_SPD DVL2 Ground speed data block
        Angle DVL1G_ANG DVL1 Water speed data block Angle created calculated from longitudinal speed and transverse speed
        DVL1W_ANG DVL1 Ground speed data block
        DVL2G_ANG DVL2 Water speed data block
        DVL2W_ANG DVL2 Ground speed data block
    • Acceleration, velocity and rotation rate
      Based on the selected slot, the following data elements can be decoded by the acceleration, velocity and rotation rate system:

      Observation type Slot Data block Value
      Velocity Y NORTH_VELO

      Speed data block in geographic frame


      North velocity

      Velocity X EAST_VELO East velocity
      Velocity Z HGT_VELO Up velocity
      Velocity Y XV1_VELO Speed data block in vessel frame VX1 velocity
      Velocity X XV2_VELO VX2 velocity
      Velocity Z XV3_VELO VX3 velocity
      Acceleration Y XV1_ACCL

      Accelerations data block in vessel frame

      Acceleration XV1

      Acceleration X XV2_ACCL Acceleration XV2
      Acceleration Z XV3_ACCL Acceleration XV3
      Rate of turn Y XV1_RATE

      Body rotation rates data block in vessel frame

      Rotation rate XV1

      Rate of turn X XV2_RATE Rotation rate XV2
      Rate of turn Z XV3_RATE Rotation rate XV
    • Underwater Sensor

      Observation type Slot Data block Value
      ROV Depth DEPTH Depth data Depth
      Sound velocity SOUND_VELO External Sound velocity External sensor speed of sound
      Sound velocity DVL1G_SND DVL Ground Speed DVL speed of sound
      ROV alitutde DVL1G_ALT DVL altitude (bottom range)
      Sound velocity DVL1W_SND DVL Water speed DVL speed of sound
      Sound velocity DVL2G_SND DVL Ground Speed 2 DVL speed of sound
      ROV alitutde DVL2G_ALT DVL altitude (bottom range)
      Sound velocity DVL2W_SND DVL Water speed 2 DVL speed of sound

    Encoding Notes

    The following messages can be sent to the INS:

    • USBL1
      This message contains the ROV position, as computed by QINSy using USBL or LBL information.
    • GPS1
      This message contains the vessel's launch point position, as computed by QINSy, using GPS or RTK information.
    • UTC
      This message contains the exact UTC time for the time of output, from the QINSy Time Synchronization system.

    It is the user's responsibility which message or combination of messages are being sent to the INS and at what output rate.

    Interfacing Notes

    • Navigation Data Message (Incoming)

      Normally the driver will time stamp the data when it arrives at the COMport (or UDP port), but this may introduce latency due to variable calculations and/or serial/network characteristics. So, when the INS unit is interfaced with an external PPS/UTC input, then it is recommended to use the time from the decoded messages in order to time stamp the data.

      This can be achieved when the following criteria are met:

      • Your template setup has a valid Time Synchronization (PPS) system
      • The so-called 'UTC' driver is selected (See also paragraph Drivers.io Options below)
      • The Time System Data Message is received and preferably with an update rate of 1 Hz.

      When you are online, check the Messages list (drivers dialog lower pane) to see if it says 'Valid PPS system detected' AND 'Time fields will be used for timestamping'.
    • PSIMSSB USBL Position Message (Outgoing)

      The time inside the outputted message will be the exact time (UTC) for the computed ROV node position. In case option Deskew ROV Node Output is enabled, then it will be the exact moment of output.

    • GPGGA Vessel Launch Position Message (Outgoing)

      The time inside the outputted message will be the exact time (UTC) for the computed launch node position. In case option Deskew Launch Node Output is enabled, then it will be the exact moment of output.

    QINSy Configuration

    All systems can be setup as normal in QINSy Database Setup, using the slot IDs described in the decoding notes, to determine which source of data to use.

    Output  

    • You do not need to define an extra output driver in the template setup. The driver will automatically output the messages to the same port as the incoming data.

      In case your setup does not require decoding of any incoming message from the unit, and you only have to output data to the INS, then you can select driver "iXBlue Std Bin (Output only)", or "Network - iXBlue Std Bin (Output only) (TCP)". 

    QINSy Online

    The driver has user-interface, and therefore will always be present in the Windows task bar.

    When going on-line for the first time, locate the driver, and change the Setup parameters:

    Driver Layout Menu: Setup


    VESSEL SETUP
    Vessel: Select from the available defined objects the vessel from which the ROV will be launched.
    Launch Point Computation: Select the computation for the launch point of the ROV on the vessel. This output of this computation will be used for the GPS1 message.
    Launch Point Node: Select the node for the launch point of the ROV on the vessel. This node will be output as the GPS1 message.
    Launch Point Qualities: Select whether to use the qualities computed by the computation (based on the SDs configured in Database Setup) or manual qualities for the GPS1 message.
    Manual:

    Manual quality values for the GPS1 message.

    Enter the following values comma-separated: quality, latitude SD, longitude SD, height SD, latitude/longitude covariance.


    ROV USBL POSITIONING
    ROV: Select the ROV object.
    ROV Computation: Select the computation that is used to compute the position of the ROV under water.
    ROV Node: Select the node for which the calculated position should be sent to the INS in the USBL1 message.
    USBL Quality: Select whether to use the qualities computed by the computation (based on the SDs configured in Database Setup) or manual qualities for the USBL1 message.
    Manual:

    Manual quality values for the USBL1 message.

    Enter the following values comma-separated: latitude SD, longitude SD, height SD, latitude/longitude covariance.


    Driver Layout Menu: Results

    Note that either Launch Point or ROV data is shown based on which message is sent to the INS. Launch point data is shown when GPS1 data is sent to the INS, ROV data is shown when USBL1 data is sent.

    Launch Point:

    The last encoded position for the selected Launch Point Node which will be outputted as GPS1

    Displayed are the [Update Time], easting, northing and height.

    Launch Point Quality:

    The last encoded quality figures for the GPS1 message.

    Displayed are quality, latitude SD, longitude SD, height SD, latitude/longitude covariance.

    ROV:

    The last encoded position for the selected ROV Node which will be outputted as GPS1

    Displayed are the [Update Time], easting, northing and height.
    ROV Quality:

    The last encoded quality figures for the USBL1 message.

    Displayed are latitude SD, longitude SD, height SD, latitude/longitude covariance.
    INS Position:

    The last decoded position data from the position data block.

    Displayed are the [Update Time], Latitude, Longitude and height.

    INS Attitude:

    The last decoded attitude data from the Attitude & Heading data block.

    Displayed are the [Update Time], the Heading, Pitch and Roll.

    INS Velocity:

    The last decoded three axis velocity data from the Speed data block in vessel frame.

    Displayed are the [Update Time], Velocity XV1, XV2 and XV3.

    INS Time:

    The last decoded time information from the extUTC data block.

    Displayed is the UTC time.


    Driver Layout Menu: Options

    iXBlue INS Output:
    • UTC + USBL
      Output both UTC and USBL messages. This option is only useful when the ROV is in the water.

    • UTC + GPS
      Output both UTC and GPS messages. This option is only useful when the ROV is not in the water yet.

    • USBL
      Output USBL messages. This option is only useful when the ROV is in the water.

    • GPS
      Output GPS messages. This option is only useful when the ROV is not in the water yet.
    • UTC
      Output the UTC message. No position information is send to the INS, only time information.
    • [No Output]
      Disable any output.
    UTC Output: Select the desired output update rate for the UTC message. Output of this message can only be triggered on time. Every second is recommended.
    GPS Output: Select the desired output update rate for the GPS message. Output of this message can only be triggered on time.
    The position source is defined in the Setup menu under Vessel Setup.
    USBL Position:

    Select the desired output update rate for the USBL message. The output rate is defined as a fraction of the update rate of the computation was chosen in the setup.

    Deskew Launch Node Output: Select Yes in order to skew the time and position of the launch point node to the time of output (GPS message), using the current SOG and COG. Notice that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings. The height value is not deskewed.
    Deskew ROV Node Output: Select Yes in order to skew the time and position of the ROV node to the time of output (USBL message), using the current SOG and COG. Notice that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings.
    The height value is not deskewed.