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Drivers Manual

Kongsberg Mesotech MS1000 Heading (Network) - 05

Description

Driver for network data from a Kongsberg Mesotech MS1000 PC Based Sonar.
The Driver connects as a client via TCP/IP to the MS1000 Sonar Software running on either the same or on a different computer than QINSy. The driver can decode the raw pixel data as a single channel sidescan system and the digitized points as a multibeam system. The driver will always assume that the MS1000 sonar is correctly time synchronized with UTC, it will decode the Timestamp from the sonar message and assume it is correct and in UTC.

The driver can not communicate with the scanner head directly nor control it, therefore the MS1000 software program is required. Note that the driver was tested with the MS1000 software version 4.32Beta9, older versions are not guaranteed to work. Please contact Mesotech for the latest software.

Driver Information

Driver Kongsberg Mesotech MS1000 Interface Type TCP-IP  Driver Class Type Counted 
UTC Driver (question)  Yes Input / Output Input  Executable DrvQpsCounted.exe 
Related Systems
Related Pages  



Decoding Notes

1. Multibeam

The driver decodes the orientation of the head as the beam angle and the range in one way travel time in seconds.

It will also group the received beams into a single ping container by looking at the direction of rotation. As soon as the rotation direction inverts then the collected beams are grouped as a single ping and sent to the rest of QINSy. The arrival of the beam after the direction change is considered to be the first beam of the next ping. The time offsets of the beams with respect to the first beam are calculated and stored within the beam data. The Beam Angles from the scanner are converted to QINSy convention hard coded in the driver.

2.

Sidescan

The MS1000 Message contains up to 5000 8 bits imagery samples. This is converted in the driver to QINSy 16 bits format by multiplying with 256.

3. Gyro

The MS1000 sonar scanner head can contain an optional magnetic compass which can be decoded by the driver, see chapter below on how to set this up.

4. Rotation Angles The MS1000 Angle of the Scanner head can be decoded by QINSy as a "Rotation Angle Sensor" observation. With this the possibility QINSy opens up to visualize a Sector Scan Image into the sounding grid, see below for setup. For dual axis transducer heads the second rotation angle (pan) can also be decoded. Note that this will be supported in future MS1000 versions of software.

Info

The driver will decode and use the time stamp that is contained in the message. The time is considered to be valid for the moment of sending and is in the UTC time frame.

The message also contains a Channel Id which is used for the decoding. The MS1000 Software supports multiple sonar heads so the channel Id is used as slot number in QINSy to identify the originating sonar head.

Data Message contains a "valid" flag. If this flag is 0 then the message is considered to be invalid and will not be decoded.

The Data message will only be decoded if several integrity checks on various data fields were passed.

System Configuration

The MS1000 software auto connects to clients requesting for data so in principle no additional settings are required in the program.


MS1000 scanner modes

The MS1000 can be used in three modes together with QINSy

1. Sidescan

The scanner transducer head will not rotate but will be in a fixed angle facing port or starboard, QINSy will show a traditional sidescan waterfall.

2.

Profiling

The scanner is mounted horizontally and will be scanning a sector. Bottom is detected by MS1000 software and decoded by QINSy as a multibeam system.

3. Sector Scan

The MS1000 scanner head is mounted vertically and will be scanning a sector or circularly. The Acoustic data is decoded as a regular sidescan system but the scan angle is also decoded by QINSy. By means of the so-called object linking functionality and the decoded scan angle, it is possible to fill a sounding grid with sidescan data in a circular fashion similar to an image shown by sector scanning sonar.

Mounting the scanner

The sonar scanner should be mounted in such a way that the decode angle is 180 for a vertically mounted scanner (transducer down) with transducer face pointing aft, or for a horizontally mounted scanner transducer pointing forward, face down. The driver has only been tested with these two configurations.

Database Setup

Start the Database Setup program to modify the system setup.

Object linking for Sector scan visualization


Add a second object to the Database, also add one node on this object that can serve as the link node. Add a new link from the vessel object - Scanner Node to the pivot node on the second object.

Make sure to define the sidescan system channel on the new object, orientation of the sidescan channel should be set to Forward.

Also define the rotation sensor on the second object. This should be sufficient, Online the filling of the grid by the sidescan should be setup appropriately. Minimal grid layer type can be used to guarantee overwriting of previous scan data.


Multibeam

Main Head



Name For example: "MS1000 Multibeam"
Type Multibeam Echosounder
Driver Kongsberg Mesotech MS1000(Network)
Port number 5000
IP Address

127.0.0.1            (MS1000 software run on own pc

xxx.xxx.xxx.xxx   (IP address of pc running the MS1000 software)

Secondary Head

For a dual head system add another "Multibeam Echosounder" system, select same IP number and port number and a different slot number corresponding with the Sonar Head Number (#).

Multibeam Echosounder Parameters

Max Beam Count 1600
Slot Identifier Sonar Head Number (#) as visible in the MS1000 software.

Echosounder Accuracy Parameters & Echosounder Correction 

Can be left at default settings if unknown.

Sidescan



Name For example: "MS1000 Sidescan Sonar"
Type Sidescan Sonar
Driver Kongsberg Mesotech MS1000(Network)
Port number 5000
IP Address

127.0.0.1            (MS1000 software run on own pc)

xxx.xxx.xxx.xxx   (IP address of pc running the MS1000 software)

Sidescan Sonar Channel Setup


Add a new channel:

Transducer Select the correct node (location)
Orientation Forward
Slot ID Sonar Head Number (#) as visible in the MS1000 software.

Gyro



Name

For example: "MS1000 Sidescan Sonar"
Type Gyro Compass
Driver

Kongsberg Mesotech MS1000 Heading (Network)

Port number 5000
IP Address

127.0.0.1            (MS1000 software run on own pc)

xxx.xxx.xxx.xxx   (IP address of pc running the MS1000 software)

Gyro Observation Parameters


Name Observation name, for example 'MS1000 Gyro'
Location Correct object
Slot ID 1 Sonar Head Number (#) as visible in the MS1000 software.
Slot ID 2 Should be set to Heading (this is case sensitive)

Rotation Angle Sensor



Name

For example: "MS1000 Sidescan Sonar"
Type Gyro Compass
Driver Kongsberg Mesotech MS1000 Scan Angle(Network)
Port number 5000
IP Address

127.0.0.1            (MS1000 software run on own pc)

xxx.xxx.xxx.xxx   (IP address of pc running the MS1000 software)

Observation Definition

Click on add

Select Type: 'Rotation (Z)'

Name: example 'Rotation (Z)'

At Node: any node on the object

Slot 1: Sonar Head Number (#) as visible in the MS1000 software.

Slot 2: Should be set to 'Angle' (case sensitive).


Click Next & Finish

Recap:

Type

Rotation (Z)
Name For example 'Rotation (Z)'
At Node Any node on the object
Slot 1

Sonar Head Number (#) as visible in the MS1000 software.

Slot 2

Should be set to 'Angle' (case sensitive).

Computation Setup

If you are going to perform a sector scan, make sure that you have a second Computation in which the MS1000 is activated.

Additionally make sure that the Heading Priority is set to the Rotation(Z) observation:

Echosounder Settings

In case of Sector Scan mode, make sure to change the attitude in the Sidescan Sonar Paramaters to Fixed value, otherwise the Sidescan sonar will try to track the bottom, however this is difficult in case of a Sector scan.