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.