Driver to decode cable tracker data, gyro heading, depth and altitude, and/or (generic) cable data from SMD ROV output strings.
Soil Machine Dynamics (SMD) is a Newcastle (UK) based company that builds ROVs, incorporating powerful cable burial tools that are designed for operation to at least 2500m water depth.
To compute a cable position from the cable tracker offsets, the QINSy Multibeam support must be enabled.
The cable tracker offsets can also be decoded as "generic observations", which can be stored in a database.
To decode the (horizontal and vertical) cable tracker offsets as (one) multibeam observation, from which the cable position can be computed, add a system of type "Multibeam echosounder" to the ROV object, select the "SMD ROV (CableTracker)" driver and add the appropriate interfacing and MBE system parameters.
In order to decode also other data fields from the same input string, be sure to select the same "SMD ROV" driver with the same serial interfacing parameters. In this case, QINSy will start up only one driver module. Slot numbers for the observations should correspond to the field sequence number in the SMD ROV string. The driver for the SMD ROV output data that was tested OK onboard the MV Ocean Commander (CTC) on 990630, was using the same slot numbers (data sequence) as given in the table above in the "Item" column.
To decode the ROV gyro heading, add a "Gyro" system to the database and select the "SMD ROV (Gyro Heading)"driver with interfacing and gyro observation parameters. To decode the echosounder observation, add a "Surface navigation system", select the "SMD ROV (Depth & Altitude)" driver with appropriate interfacing parameters, and add a "ROV altitude" observation to this system. To decode the cable tracker altitude, add a "Surface navigation system", select "SMD ROV (Depth & Altitude)" driver with appropriate interfacing parameters, and add another "ROV altitude" observation to this system. To decode the pressure transducer depth observation, add a "Surface navigation system", select the "SMD ROV (Depth & Altitude)" driver with appropriate interfacing parameters, and add a "ROV depth" observation to s system.
Cable tracker offsets, burial and trench depth and umbilical length can be decoded as "generic observations". To decode one or more of these data fields, add a system of type "Miscellaneous" to the database and select driver "SMD ROV (Cable Data)" with the appropriate serial interfacing parameters. Add an observation (of type "Generic") with its proper slot number for each of the additional data fields that must be decoded.
Note: This system does not deliver a Quality indicator.
First time online, use "Settings – Computation Setup" to select the computation to enable the MBE computations and to disable/enable beam 1 (target) and/or beam 2 (sea bottom).