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Seapath Binary Format 26 Position (UTC) - 12

Description

Driver which can be used to decode roll-pitch-heave, heading and/or lat-lon-height, velocity, and rate of turn observations from a Kongsberg Seatex Seapath MRU, outputting the Seapath Binary messages, in Format 23 or Format 26.


Driver Information

Driver Seapath Binary Format 23
Seapath Binary Format 26
Interface Type TCP/UDP/Serial Driver Class Type Counted 
UTC Driver (question) Yes and No Input / Output Input  Executable

DrvQPSCountedTCP.exe SEAPATH_BIN26 PPS
DrvQPSCountedTCP.exe SEAPATH_BIN26 PPS NOCS
DrvQPSCountedTCP.exe SEAPATH_BIN23 PPS
DrvQPSCountedTCP.exe SEAPATH_BIN23 PPS NOCS
DrvQPSCountedUDP.exe SEAPATH_BIN26 PPS
DrvQPSCountedUDP.exe SEAPATH_BIN26 PPS NOCS
DrvQPSCountedUDP.exe SEAPATH_BIN23 PPS
DrvQPSCountedUDP.exe SEAPATH_BIN23 PPS NOCS
DrvQPSCounted.exe SEAPATH_BIN26 PPS
DrvQPSCounted.exe SEAPATH_BIN26 PPS NOCS
DrvQPSCounted.exe SEAPATH_BIN23 PPS
DrvQPSCounted.exe SEAPATH_BIN23 PPS NOCS

Related Systems

Related Pages

Decoding Notes


The Seapath MRU driver will reverse the sign of the heave so that +ve heave is up, as is standard in Qinsy. All units are converted to meters and degrees, respectively.

The protocol contains status flags for some observations.
Based on these flags, the observations can have the following quality indicators:

Status flag Quality indicator
None (OK) 0.0
Reduced -1.0
Invalid -2.0

All drivers have an "NOCS" version. If this version of the driver is selected, the driver will not verify the checksum in the message.
If it is enabled, the checksum will be verified and the data will be discarded if the checksum is incorrect.

System Interfacing


GPS Page 1

First thing to do after starting up the Seapath Operator software is to set the IP range Accordingly.

Operator SW is now available to change the IP adress of the Seapath unit. Make sure it is within range of all the other hardware.




Make sure to change the IP address in the same range as the other hardware


Restart

Restart the software to make the change work

System Configuration

The configuration can be changed under System, Nav Engine.

Vessel Geometry


Set up the Vessels Geometry and reference location:

Shape Type Ship
Shape Dimension Rough Geometry 
Survey Origin Reference location for the Sensor
NRP Navigation Reference Point, optional offset referenced to the Survey Origin

Sensors - GNSS


Set up the GNSS and potential Height and Heading offset

Antenna 1 Antenna location referenced to the Survey Origin
Heading offset Offset relative to the Ship reference
Height difference Difference in height from Antenna 1 to 2
Calibration Wizard Calibration to retrieve the heading and height offset

Sensor - MRU


Set up the Sensor location and Mounting angles 

Sensor location Location of MRU relative to Origin
Mounting angles Orientation of the MRU relative to the ship's frame

MRU Info

Keep the Origin and MRU location in mind when setting up the offset in Qinsy (for which location are you outputting motion/position to Qinsy)

  • Preferably offsets are entered in the MRU and the output is set for the CoG in Qinsy

Output


Set the appropriate outputs to Qinsy, either Serial or Network:

Type Ethernet or Serial
IO Properties Broadcast Unicast and Multicast aren't supported for this driver
Remote Port Example: 31099 This port number is used in Qinsy
Format Seapath 23/Seapath 26 Seapath 26 will allow to automatically record delayed heave in the Qinsy 'Import' folder
Monitoring Point Output location Make sure that the selected output location identical to the Qinsy node location
Interval (s) 25-50Hz (0.04 - 0.02)  Preferred output rate

Database Setup

Position navigation system


GPS Page 1

Name

For example: "GPS - Seapath 130"

Type Position Navigation System
Driver

Network (UDP) - Seapath Binary Format 26/23 Position (UTC)

or

Seapath Binary Format 26/23 Position (UTC)

Port number As set up in the Seapath system


GPS Page 2

Antenna

Reference location, set as output in the Seapath system

Datum Reference datum as set up in the Seapath system


To decode the position (Lat/Lon/Height), add a system of type "Position Navigation System", select the same driver name and the same I/O parameters as for the other systems and define the antenna node and reference datum.

Gyro compass system


Gyro Page 1

Name

For example: "Gyro - Seapath 130"

Type Gyro Compass
Driver

Network (UDP) - Seapath Binary Format 26/23 (heading)(UTC)

or

Seapath Binary Format 26/23 (heading) (UTC)

Port number As set up in the Seapath system


To decode the heading, add a system of type "Gyro and Compasses", select the appropriate driver, and define the heading parameters.

Pitch roll heave system


MRU Page 1

Name

For example: "MRU - Seapath 130"

Type Pitch Roll Heave Sensor
Driver

Network (UDP) - Seapath Binary Format 26/23 R-P-H (UTC)

or

Seapath Binary Format 26/23 R-P-H (UTC)

Port number As set up in the Seapath system


MRU Page 2

Node (Lever Arm)

Monitoring Location as set in the Seapath software

Rotation/Heave convention:

Observation Positive when
Roll Port up
Pitch Bow up
Heave Downward


To decode the pitch, roll and heave, add a system of type "Pitch, Roll and Heave sensor" to the Qinsy database and make sure to select the same driver name and the same I/O parameters as for the Gyro system.

Velocity & rate of turn

To decode velocity and/or rate of turn, add an "Acceleration, Velocity & Rotation rate" system to the setup and add the appropriate observations.

Add an observation of type "ROV Depth". The driver will automatically reverse the sign of the decoded height, in order to make it a 'depth'.

Extra info

The binary 26 protocol contains delayed heave.

If this protocol is used, the delayed heave data will be stored in your project folder under the 'Import' subfolder.

NOCS

NOCS stands for No Check Sum.

This will basically decode the message regardless of the status flag (see: Coding Notes)