Drivers Manual
iXblue Std Bin (UTC) - 05
Description
This is a driver with user-interface in order to encode messages for - and decode messages from an iXblue INS that supports the STD BIN protocol.
Info
Note that the input of this driver works with versions 1 - 5 of the iXblue standard binary protocol.
Note that the output of this driver only works with version 3 and higher of the iXblue standard binary 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 3 versions of this driver:
- Serial
- Network - TCP
- Network - UDP
The user-interface for all 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
Decoding Notes
The following data blocks can be received and decoded from the INS:
Position navigation system
Slot ID What is it? INS Position result from the INS GPS1 Position input from GPS 1 as setup in the INS GPS2 Position input from GPS 2 as setup in the INS GPSMANUAL Manual position that was set in the INS USBL1 Position input from USBL 1 as setup in the INS USBL2 Position input from USBL 2 as setup in the INS USBL3 Position input from USBL 3 as setup in the INS LBLX_BYY Position input from LBLX (1,2,3,4) data block, beacon with ID BXX (e.g. B01, B02, etc.) as setup in 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.
The Quality indicators for pitch, roll and heave are their respective SDs.
Gyro compass
Slot ID Data block Comment Quality HEADING Gyro Compass data block Make sure to enter it using capitals Heading Standard deviation - Surface navigation
- LBL1, LBL2, LBL3, LBL4
- Quality indicators for LBL observation are the SDs.
- Time synchronization system
- External UTC
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 Quality Bearing COG Course and speed over ground
Course over ground None Speed SOG Speed over ground None EMLOG1 EMLOG1 data block Longitudinal water speed Speed standard deviation EMLOG2 EMLOG2 data block Longitudinal water speed Speed standard deviation DVL1W_SPD DVL1 Water speed data block
Speed vector calculated from longitudinal speed and transverse speed None DVL1G_SPD DVL1 Ground speed data block DVL2W_SPD DVL2 Water speed data block
DVL2G_SPD DVL2 Ground speed data block Angle DVL1W_ANG DVL1 Water speed data block Angle created calculated from longitudinal speed and transverse speed None DVL1G_ANG DVL1 Ground speed data block DVL2W_ANG DVL2 Water speed data block DVL2G_ANG DVL2 Ground speed data block Underwater Sensor
Observation type Slot Data block Value Quality ROV Depth DEPTH Depth data (Raw) Depth Depth standard deviation ROV Depth INS_HEIGHT INS Position Height result -Height INS Position Height standard deviation Sound velocity SOUND_VELO External Sound velocity External sensor speed of sound None Sound velocity DVL1G_SND DVL Ground Speed DVL speed of sound None ROV altitude DVL1G_ALT DVL altitude (bottom range) None Sound velocity DVL1W_SND DVL Water speed DVL speed of sound None Sound velocity DVL2G_SND DVL Ground Speed 2 DVL speed of sound None ROV altitude DVL2G_ALT DVL altitude (bottom range) None Sound velocity DVL2W_SND DVL Water speed 2 DVL speed of sound None 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 Quality Northing Speed NORTH_VELO Speed data block in geographic frame
North velocity
North velocity std. deviation Easting Speed EAST_VELO East velocity East velocity std. deviation Vertical Speed HGT_VELO Up velocity Up velocity std. deviation Velocity Y XV1_VELO Speed data block in vessel frame VX1 velocity None Velocity X XV2_VELO VX2 velocity Velocity Z XV3_VELO VX3 velocity Acceleration Y XV1_ACCL Accelerations data block in vessel frame
Acceleration XV1
None 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
None Rate of turn X XV2_RATE Rotation rate XV2 Rate of turn Z XV3_RATE Rotation rate XV 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 Quality TEMP_FOG Temperatures
Mean temperature FOG None TEMP_ACC Mean temperature ACC None TEMP_ANA Sensor board temperature None HEAVE Heave/Surge/Sway
Real time heave at selected lever arm
None SWAY Real time sway at selected lever arm
None SURGE Real time surge at selected lever arm
None HEAVE_RAW Real time heave without lever arm
None SMART Smart Heave Smart Heave At primary lever arm
None HDG_RATE Heading/Roll/Pitch rate
Heading rotation rate None ROLL_RATE Roll rotation rate None PITCH_RATE Pitch rotation rate None CURR_VELO Current data block in geographic frame
Current speed vector calculated from north and east current Square root of the TPU computed from eat and north SD CURR_DIR Current direction calculated from north and east current Square root of the TPU computed from eat and north SD HEAVE_VELO Heave/Surge/Sway speed
Real time heave speed (at selected lever arm)
None SWAY_VELO Sway speed (at selected lever arm)
None SURGE_VELO Surge speed (at selected lever arm)
None EAST_ACCL Acceleration data block in geographic frame
North acceleration None NORTH_ACCL East acceleration None HGT_ACCL Vertical acceleration None DMI_COUNT DMI data block
Pulse count
None EVENT_A Event marker A data blocks
Event count
None EVENT_B Event marker B data blocks Event count None EVENT_C Event marker C data blocks Event count None DVL1G_XV1 DVL1 Ground speed data block
XV1 longitudinal ground speed
XV1 speed standard deviation DVL1G_XV2 XV2 transverse ground speed
XV2 speed standard deviation DVL1G_XV3 XV3 vertical ground speed
XV3 speed standard deviation DVL1W_XV1 DVL1 Water speed data block
XV1 longitudinal water speed
XV1 speed standard deviation DVL1W_XV2 XV2 transverse water speed XV2 speed standard deviation DVL1W_XV3 XV3 vertical water speed XV3 speed standard deviation DVL2G_XV1 DVL2 Ground speed data block
XV1 longitudinal ground speed
XV1 speed standard deviation DVL2G_XV2 XV2 transverse ground speed
XV2 speed standard deviation DVL2G_XV3 XV3 vertical ground speed
XV3 speed standard deviation DVL2W_XV1 DVL2 Water speed data block
XV1 longitudinal water speed XV1 speed standard deviation DVL2W_XV2 XV2 transverse water speed XV2 speed standard deviation DVL2W_XV3 XV3 vertical water speed XV3 speed standard deviation INSSENST1 AHRS or INS Sensor Status
Sensor Status 1 None INSSENST2 Sensor Status 2 None INSALGST1 INS Algorithm Status
Algorithm Status 1 None INSALGST2 Algorithm Status 2 INSALGST3 Algorithm Status 3 INSALGST4 Algorithm Status 4 INSSYSST1 INS system status System Status 1 None INSSYSST2 System Status 2 INSSYSST3 System Status 3 INSUSRST INS User Status User Status None AHRALGST AHRS Algorithm
Algorithm Status
None AHRSYSST1 AHRS System Status System Status 1 None AHRSYSST2 System Status 1 AHRSYSST3 System Status 1 AHRUSRST1 AHRS User Status
User Status
None
Encoding Notes
The following messages can be sent to the INS:
- USBL1 / USBL2 / USBL3
This message contains the ROV position, as computed by Qinsy using USBL or LBL information. - GPS1 / GPS2 / Manual GPS
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 which output rate.
Interfacing Notes
Input
- Navigation Data Message (Incoming)
Normally the driver will time stamp the data when it arrives at the COM-port (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, it is recommended to use the time from the decoded messages in order to timestamp 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, preferably with an update rate of 1 Hz.
Output
- Std Bin USBL Position Message (Outgoing)
The time inside the output 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. - Std Bin Vessel Launch Position Message (Outgoing)
The time inside the output 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.
System Config
This part explains how to set up the iXblue web interface.
Output
- Only work with Version 3 of the Std Bin format.
- Make sure to set up the correct Lever Arm and that it corresponds with what is set up in Qinsy. (In one or the other, not both)
- Recommended update Rate is 20-25 Hz with a max of 50 Hz.
- You can still log Smart heave via a Miscellaneous system in Qinsy if Real Time Heave is selected here.
- Either Serial or Network can be selected here.
- The following network options work for Qinsy:
- UDP (example above)
- UDP Broadcast
- TCP Server
Input
Network settings
- Select the input of which you want to change the settings
- Select the iXblue Std Bin format
- Both Ethernet and Serial can be used.
- If Ethernet is selected then the following options can be used:
- UDP (example above)
- UDP Broadcast
- TCP Server
- Enter the IP address of the Qinsy PC
- Qinsy sends the data back on port + 1.
In Output port 8111 was entered so in this case Qinsy will send back on 8112.
GNSS settings
- In this example GPS1 is selected. Make sure the same is set for the USBL ID in the Qinsy User interface.
- Make sure to set up the correct Lever Arm and that it corresponds with what is set up in Qinsy. (In one or the other, not both)
USBL Settings
- In this example USBL 1 is selected. Make sure the same is set for the USBL ID in the Qinsy User interface.
- Make sure this Lever Arm matches with what was set up in Qinsy.
- No need to enter a TP Code.
UTC Settings
- Select the UTC item
- Select the correct pulse port
- Make sure this is set up correctly, especially the order of Pulse and Time.
Qinsy Configuration
All systems can be set up as normal in Qinsy Database Setup, using the slot IDs described below, to determine which source of data to use.
More information can be found under the tab Coding Notes.
General driver info
Port number | Should be the same as the output port on the iXblue web interface. |
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IP address | Default is 192.168.36.xxx xxx is the last part of the serial number of the unit. |
There are 3 options on how to work with this driver:
Input only | No output selected in the online user interface |
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Input & Output | Serial
UDP
TCP
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Output only | Only add an output driver. Qinsy will output on the port that is selected in the template. |
Position Navigation system
Receiver number |
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Receiver Positions | Select the datum the INS is outputting on. |
Gyro Compass
Slot ID | Enter HEADING in order to decode the heading message. |
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Pitch Roll Heave Sensor
Node (Lever Arm): | Make sure this offset matches with the Lever Arm selected in the iXblue web-interface. | ||||||||
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Conventions |
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Underwater Sensor
- After setting up the communication on the first page you can now Add the observations you want to decode:
Select the correct Observation and Location.
Observation Type You can select one of the following options:
- ROV Depth
- ROV Altitude
- Draft
- Pressure
- Sound Velocity
- Revolution
Location - At Node Location of sensor in iXblue web interface. - Make sure to select the correct Slot Value. See tab page Coding Notes for more information.
Note that there are two ROV Depth observations available: one with Slot "DEPTH" and the other one with Slot "INS_HEIGHT".
The first one will decode the raw depth reading as reported by the external depth sensor and the latter will use the decoded height from the INS position but with reversed sign. - Select the correct Unit and enter corrections if required.
ARPA System
The ARPA system can be used to expose LBL or USBL their positions. In order to set this up a selection of the vessel object and the object its radar antenna.
Output (Only)
- 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 (TCP) - iXblue Std Bin (Output only)".
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:
Output datum
Output datum is Survey Datum
Display - Generic
Received | Data is sent in the correct format and is decoded. |
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Valid | The decoded data is accepted by the algorithm and is also being used by the algorithm. |
Waiting | No data received. |
Rejected | The decoded data is not accepted by the algorithm and therefore not used by the algorithm. |
You can download the above display example XML here: iXblue - Std Bin format - Status.xml
- Add a Generic Display
- Open the above XML
Note that you need to add the following miscellaneous observations to decode these:
- To your Template:
- To the Generic Layout Editor when Online:
Adding extra items
In case you want to add more items yourself you'll need the iXblue manual and take the following steps:
- Go to Raw Data → Observation Systems
- Add
- Check the iXblue manual on what you want to decode and in which message it can be found
- Select the same one here
- Add a Value item
- Add a mask for Operator
- Check what the Status value is
- Open a Programmer calculator and enter it as a Hexadecimal value
- Check what the corresponding Decimal result is
- Enter this as Operator Value
- Add a Translation, example below:
Result will either be 0.00 or 1.00. - Select on what you would like to show.
Driver online user interface
Hiding user interface
It is possible, once the driver is set up or when no output is required to hide the user interface.
The option to do this can be found here:
- Open the "Driver Settings" from the Qinsy Controller
- Then with the checkbox you can hide it
Also, if you are just using the driver to decode information and not to output to an INS, you can hide the UI.
Driver Layout Menu: Setup
VESSEL SETUP | |||||||||||||||||||||||||||||||||||
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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. | ||||||||||||||||||||||||||||||||||
GNSS Identification: |
This setting should match with the setting on the input page of the iXblue interface. Options are:
If GNSS 1 is set in the iXblue web interface like shown in the picture:
You should select GPS 1 as well in the Qinsy user interface. |
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Launch Point Quality: | Select whether to use the qualities computed by the Computation (based on the SDs configured in Database Setup) or Manual qualities for the 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.
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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 Identification: |
This setting should match with the setting on the input page of the iXblue interface. Options are:
If USBL 1 is set in the iXblue web interface like shown in the picture:
You should select USBL 1 as well in the Qinsy user interface. |
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ROV 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.
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Driver Layout Menu: Results
Example sending Launch Point position | Example sending ROV position |
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Info
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 GPS data is sent to the INS, ROV data is shown when USBL data is sent.
Output
Launch Point / ROV: | The last encoded position for the selected Launch Point Node which will be outputted. Displayed are the [Update Time], Latitude, Longitude and height.
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Launch Point / ROV Quality: | The last encoded quality figures. Displayed are quality, latitude SD, longitude SD, height SD, latitude/longitude covariance. |
Input
INS Position: | The last decoded position data from the position data block. Displayed are the [Update Time], Latitude, Longitude and height.
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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
Lock Settings |
Enables locking the user-interface settings of the Setup and Options menu, in order to prevent making changes by mistake.
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Show Tooltips | When hovering the mouse over the left column rows, you will get some more information. Disable if this becomes annoying... |
iXblue INS Output: |
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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. Optionally, a 'maximum age' can be used. If this option is selected, the last sent USBL position will be resent if the maximum age expires before a new result has been computed. |
Max age | Only available when 'From system [every trigger + max age]' is selected under 'USBL position' The maximum age of the USBL output. The last sent USBL position will be resent after this many seconds if no new result has been computed. |
Output datum | By default this would be on source datum (normally WGS'84). With this option the user may force the outputted position to be on Survey datum. |
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. Note 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. Note that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings. The height value is not deskewed. |
Dialog Buttons
Setup | Invoke the Setup Menu |
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Results | Invoke the Results Menu |
Options | Invoke the Options Menu |
Clear | Will clear the messages displayed below. Note that at the moment (Qinsy 9.3.0) nothing is shown. |
Viewing ARPA targets
In order to view any LBL or USBL beacon as an ARPA target a Navigation Display must be added.
- Adding the navigation display can be done through Options on the menu bar
- Press Display Manager...
- Within the Display Manager, a display can be added using the Add display option.
- Give it an appropriate title and select
- Press OK to add it.
In order to see these targets the navigation display may need additional configuration
- Within the navigation display right click anywhere in the display to open up the context menu and press View Properties...
- Within the properties navigate to Layers > Targets and make sure to have Other system targets ticked.