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Drivers Manual

Network - Seatools (MROV - SROV) - 12

Description

This driver decodes multiple message received from Seatools via a UDP interface. The messages this driver decodes are:

  • ROV Position SROV
  • ROV Position MROV
  • Tether length and angles
  • Frame angles
  • Docking status and distances
  • Track offset
  • Umbilical information

All messages are received in ASCII and have an NMEA-like format.

Driver Information

Driver Network - Seatools (MROV - SROV) Interface Type UDP Driver Class Type Terminated 
UTC Driver (question)  Yes Input / Output Input  Executable DrvQpsTerminatedUDP.exe
Related Systems
Related Pages  



Database Setup

The various messages are decoded as the following system types:

Message type

System type

ROV Position MROV

Position Navigation

ROV Position SROV

Position Navigation

Tether length and angles

USBL

Frame angles

Rotation Angle Sensor

Docking status and distances

USBL

Track offset

Miscellaneous

Umbilical information

Miscellaneous & Underwater Sensor

Depth

Underwater Sensor

ROV Position MROV, SROV Setup

Create a database with a minimum of three object types to represent the vessel, MROV and SROV.
To decode the position select a Position navigation system on both the MROV and SROV.
On the first wizard page select as driver 'Network - Seatools (MROV - SROV)'.


Enter the port number on which data is transmitted.


The Receiver number is used as slot number to uniquely identify each Position navigation system.

Tether length and angles Setup

To decode the tether arms select a USBL system.


Verify that the correct driver is selected and that the port number is correct.


The values are received in meters, and recalculated to the survey unit of the database.
Make sure the unit on this wizard page is set to Meters.


The slot id's to use are TETH_PS (tether arm port side) TETH_SB (tether arm starboard side).

Frame angles Setup

To decode the angular data select a Rotation Angle sensor.

Verify driver and port number are correct.


All slot id's are predefined.


All values are received in degrees. Verify the unit is correct on this wizard page.

Docking status and distances

The docking status is decoded as a USBL sensor. Follow the steps described in 'Tether length and angles Setup'.
This observation is decoded as USBL Z.
The quality indicator is used to communicate the docking status (0 = undocked, 1 = docked).


Use as slot id DOCK.

Track offset & Umbilical information Setup

These observations are decoded as a Miscellaneous system type.


Verify driver and port number are correct.


All slot id's are predefined.

Depth Setup

Select an underwater sensor to decode the depth.


Verify driver and port number are correct.


The slot id's are predefined for both MROV & SROV. Select ROV Depth as observation type.


Values are received in meters and recalculated to the database survey units.
Verify the selected unit here is Meters.

Slot Id table

Below is a table that can be referred to to determine which slot id should be used to decode which observation.

Message

System

Observation

Slot id

Description

ROV Position (MROV)

Underwater sensor

ROV Depth

MROV_DEPTH

Depth

ROV Position (SROV)

Underwater sensor

ROV Depth

SROV_DEPTH

Depth

ROV Position (MROV)

Position Navigation System

-

1

-

ROV Position (SROV)

Position Navigation System

-

2

-

Tether

USBL

-

TETH_PS

-

-

-

-

TETH_SB

-

Angles

Rotation Angle Sensor

Rotation XYZ

MROV_SRVA

Survey arm angle [degr] MROV

-

-

Rotation XYZ

SROV_SRVA

Survey arm 2 angle [degr] SROV

-

-

Rotation XYZ

DEFA_SB

Deflector arm angle SB

-

-

Rotation XYZ

DEFA_PS

Deflector arm angle PS

-

-

Rotation XYZ

DEFF_SB

Deflector flap angle SB

-

-

Rotation XYZ

DEFF_PS

Deflector flap angle PS

Dock

USBL

USBL Z

DOCK

Distance SROV/MROV

Process

Miscellaneous

Generic

M_OFFSET

Track offset [m] MROV, starboard (+), port(-)

-

-

Generic

S_OFFSET

Track offset [m] SROV, starboard (+), port(-)

-

-

Generic

MRV_HEAD

MROV heading control mode

-

-

Generic

MRV_LAT

MROV lateral control mode

-

-

Generic

MRV_HEAV

MROV heave comp. mode

-

-

Generic

SROV_HCM

SROV heading control mode

-

-

Generic

SROV_LAT

SROV lateral control mode

-

-

Generic

SROV_LON

SROV longitudinal control mode

-

-

Generic

SROV_VCM

SROV vertical control mode

-

-

Generic

SROV_ACM

SROV attitude control mode

-

-

Generic

UMB_LF

Umbilical length Fallpipe [m]

-

-

Generic

UMB_LROV

Umbilical length ROV [m]

-

Underwater sensor

Draft

UMB_LF_D

Umbilical length Fallpipe [m]

-

Underwater sensor

Draft

UMB_LROV_D

Umbilical length ROV [m]

-

USBL

Z

UMB_LF_U

Umbilical length Fallpipe [m]

-

USBL

Z

UMB_LROV_U

Umbilical length ROV [m]

-

USBL

Z

FP_MOUTH

Umbilical length Fallpipe - Umbilical length ROV [m]

Online

Verify all data is decoded correctly. Open an Observation Physics display and select the observations you are interested in.
If no data is received it could be due to an incorrect database setup or no data is received on the selected port.
The IO-tester can be used to check if any data is received on the selected UDP port .
If all is well, the output of the observation physics will be similar to the illustration below: