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Drivers Manual

Network - iXBlue Std Bin (Output only) (TCP) - 15

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.

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:

  1. Serial 
  2. Network - TCP
  3. Network - UDP

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

Decoding Notes

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

  • Position navigation system

    Slot ID What is it Quality
    INS Position result from the INS None
    GPS1 Position input from GPS 1 as setup in the INS

    Quality

    indicator

    Corresponding SD

    attributed to GPS

    position fix if no

    GST is received

    Positioning system

    mode indicator

    0 Data invalid N/A
    1 10 m Natural
    3 m Differential
    3 10 m Military
    4 0.1 m RTK
    5 0. 3 m Float RTK
    6 - 255 Data invalid Other mode
    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 None
    USBL2 Position input from USBL 2 as setup in the INS None
    USBL3 Position input from USBL 3 as setup in the INS None
    LBL1 Position input from LBL 1 as setup in the INS None
    LBL2 Position input from LBL 2 as setup in the INS None
    LBL3 Position input from LBL 3 as setup in the INS None
    LBL4 Position input from LBL 4 as setup in the INS None


  • 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 indicator 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 obervations 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 Depth Depth 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 alitutde 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 alitutde 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
    Velocity Y NORTH_VELO

    Speed data block in geographic frame


    North velocity

    North velocity std. deviation
    Velocity X EAST_VELO East velocity East velocity std. deviation
    Velocity Z 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 Info
    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
    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 which output rate.


Interfacing Notes

Input

  • 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, 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.

    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'.

Output

  • 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 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.

Qinsy Configuration


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

Pitch Roll Heave Sensor

Item Convention
Heading Positive turning to starboard
Roll Positive heeling to starboard
Pitch Positive bow down

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.