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Drivers Manual

Advanced Navigation Subsonus ANPP (USBL) - 02

Description

Driver to decode data from a Subsonus USBL/INS underwater acoustic positioning system using the manufacturer's own Advanced Navigation Packet Protocol (ANPP) stream.


The following data can be decoded and stored from the packet protocol stream:

  • USBL XYZ
  • USBL Targets
  • Positions
  • Heading
  • Motion (Roll and Pitch)
  • Sound velocity
  • Velocities, Accelerations and Rotations
  • Metadata (Status flags, Temperature, Pressure, etc.)



Driver Information

Driver

Advanced Navigation Subsonus ANPP

Interface Type TCP Driver Class Type Counted
UTC Driver (question) Yes Input / Output Input Executable

DrvQPSCountedTCP.exe

Related Systems
Related Pages



The Qinsy driver uses a network connection in order to communicate with the Subsonus and will act as a TCP client.

The Subsonus is by default configured as DHCP client. The downside of this is that the given IP address may change once in a while. The same IP address should be entered in the Qinsy database setup so it's very inconvenient that this changes.

Therefore you should configure the Subsonus with a static IP address in the same range as the Qinsy network interface, except for the last digit: this must be different.

For example when the Subsonus has IP address 192.168.1.10 then Qinsy should use 192.168.1.n where n is any number except 10.

The Subnet mask should be 255.255.255.0.

The Subsonus unit may have a known host-name, for example 'an-subsonus-1.local', but in the Qinsy database setup you can't use host-names.

You need to know the exact IP address instead.

For this you can use the Subsonus Tools utility in order to determine it.


Check the network connection by using the ping command from the Windows Command Prompt:

Select Start from the Windows Task bar, Run..., Cmd <Enter>, and 'ping' the address of the Subsonus unit.

For example: suppose the Subsonus IP address is 192.168.0.1.

The network connection is okay when you receive a reply three times within a few milliseconds.

You could also use the Subsonus Tools utility to check for a valid network connection.

From the Advanced Navigation website you can download a useful utility called Subsonus Tools:

It is useful to perform the following three actions:

  1. Determining the exact IP address of the Subsonus
  2. Checking the network connection with the Subsonus
  3. Logging raw data from the Subsonus for support and analyzing purposes
1. Determining the exact IP address of the Subsonus

Start the Subsonus Tools program and select from the File pull-down menu the option Discovery:

2. Checking the network connection with the Subsonus

In the main dialog of the program you can edit (or select) the host-name and then press Connect:

Immediately after a successful connection the program starts receiving data packets from the Subsonus.

3. Logging raw data from the Subsonus for support and analyzing purposes

After a successful connection you may press the Disconnect button:

Use the Browse button to open the file location where the raw data stream has been saved as an *.anpp file.
Note that this file is still binary so you may use the Convert button to generate comma-separated ASCII files.


Subsonus surface Web GUI

When there is a successful network connection you could use a standard web browser in order to communicate directly with the Subsonus.

Enter the IP address or host-name of the unit in the address bar of the browser.



Database Setup

Important is to use the same interfacing settings for all 'Advanced Navigation Subsonus ANPP' systems in your template setup:
  • Port number - Just try using 16718.
    Note that ANPP data packets are normally streamed over TCP via one of the following Port numbers: 16718, 16719, 16720 and/or 16721.
  • IP address - Enter the IP address of the Subsonus unit.
    Note that you can't enter the host-name of the Subsonus (e.g. an-subsonus-1.local). In case you need to determine the correct IP address please see section System Interfacing.
  • Maximum update rate - Leave it at zero

Add a Gyro Compass System to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (Heading)".

The heading observation will be decoded from the System State Packet (PID 20) so normally this will be the heading from the master (surface) vessel.

  • Select the correct object for the location. Normally this will be the main survey vessel on which the Subsonus Master unit is mounted.

Add a Pitch Roll Heave Sensor to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (Roll Pitch)".

The roll and pitch observation will be decoded from the System State Packet (PID 20) so normally this will be the motion from the master (surface) vessel.

  • Select the correct Node location. Normally this will be the node location of the Subsonus Master unit mounted on the main survey vessel.
  • Leave the sign conventions at their defaults: roll positive heeling to starboard, pitch positive bow up.

    Surface vessel mounted unit Subsea mounted unit

    Illustrations from the Advanced Navigation Subsonus Reference Manual

  • You may leave all parameters at their defaults

Add a USBL System to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (USBL)".

By default all USBL observations will be decoded from the roll and pitch corrected Remote Position XYZ from Remote Track Packet (PID 24).

  • Location
    Select the correct Transducer location which normally will be the node location of the Subsonus Master unit mounted on the main survey vessel.
    Make the Reference node the same as the Transducer.
  • Corrections Already Applied to Data
    If you decode the roll and pitch corrected Remote Position XYZ (default) then you should leave these settings at the default 'Corrected VRU'.
    If you decode the uncorrected Remote Position Raw XYZ then you should select 'None'.
    Note that whether you want to decode corrected XYZ or uncorrected raw XYZ depends on the Slot Ids which can be set on the last wizard page.
  • Leave the Sign convention for the Z at the default setting 'Positive downward (depth)'.

  • You may leave all parameters at their defaults

  • Add for each Subsonus Slave (or Transponder or Tag) a target node location.
    The Slot Id must be the unique device address of the Subsonus Slave that you want to track and is a number between 1 - 255.

    If you only enter a number then the roll and pitch corrected Remote Position XYZ will be used, which is recommended.
    If you enter a number followed by an 'R' character then the uncorrected Remote Position Raw XYZ will be used.
    If you enter a number followed by a 'C' character then also the roll and pitch corrected Remote Position XYZ is used, so this is the same as only entering a number.

Note that you can always change the Slot Id while online using the Controller's Computation Setup:

Add an ARPA System to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (USBL Targets)".

This optional system will decode the roll and pitch corrected Remote Position XYZ from Remote Track Packet (PID 24) as ARPA target observations and therefore can be easily visualized in a Navigation Display.

  • Select the correct Antenna location.
    This node location should be the same as selected for the Transducer in the USBL System setup so normally it is the node location of the Subsonus Master unit mounted on the main survey vessel.

Add an Underwater Sensor to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (Sound velocity)".

The sound velocity observation will be decoded from Raw Sensors Packet (PID 28).

  • Add an observation of type Sound Velocity and select the location of the Subsonus Master.
    You may change the default name of the observation as long as it doesn't exceed 16 characters.

  • Here you can also change the default name of the observation and you may leave all parameters at their defaults.

Add an Acceleration Velocity Sensor to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (Velo, Acc, RoT)".

Velocity, acceleration and rotation observations will be decoded from the System State Packet (PID 20).

  • Add the required observation types that you want and select for each one the same location of the Subsonus Master.
    You may change the default name for each observation as long as it doesn't exceed 16 characters.

  • Here you can also change the default name of each observation and you may leave all parameters at their defaults.

Add a Miscellaneous System to your template setup and select driver "Network (TCP) - Advanced Navigation Subsonus ANPP (Metadata)".

Generic observations will be decoded from the System State Packet (PID 20), the Status Packet (PID 23) and/or the Raw Sensors Packet (PID 28).

  • Here you can add up to eight generic observations that you may want to monitor.
    Each generic observation needs a unique Slot Id so the driver knows which field to decode.
    It is highly recommended to use the drop-down selection for the correct Slot Id:

    Of course you may change the default name for each observation as long as it doesn't exceed 16 characters.

    Observation Packet ID Slot 1
    System status System State Packet (PID 20)

    SYSTEMSTAT

    Filter status System State Packet (PID 20)

    FILTERSTAT

    G force (g) System State Packet (PID 20)

    G_FORCE

    Health status Status Packet (PID 23)

    SYSSTAT_23

    System status Status Packet (PID 23)

    FILSTAT_23

    Internal Temperature (Degrees C) Raw Sensors Packet (PID 28)

    INTER_TEMP

    Pressure Depth (m) Raw Sensors Packet (PID 28)

    PRES_DEPTH

    Water Temperature (Degrees C) Raw Sensors Packet (PID 28) WATER_TEMP
    Debug Information All packets DEBUG_INFO

    Note that the Slot ID is case-sensitive.

  • You may add manually an extra generic observation with Slot Id "DEBUG_INFO".
    This special observation decodes the packet ID of each incoming packet. If that packet has a device address or device id then it will be the quality indicator of that observation.
    Packets without a device address will have a quality indicator of zero.

  • Here you can also change the default name of each observation as long as it doesn't exceed 16 characters.
    You may leave all parameters at their defaults.



Online

The driver has no user-interface so you will need to set up several displays to see if data is received, decoded and what the computed results are.