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Drivers Manual

Sonardyne Fusion (PSONALL) - 12

Description

This driver is used to read in the Sonardyne Fusion $PSONALL message format which contains grid position, depth, heading, course made good, pitch, roll, speed over ground, position accuracy and depth accuracy.

In order to read this information into QINSy the following system types are supported by this driver:
Position Navigation System, Underwater Sensor, Gyro and Compass System, Speed Log, Pitch, Roll and Heave Sensor.

  • The Position Navigation System is used to decode the grid easting and northing fields in the format.
    This grid position is presumed to be on Survey Datum and Survey Projection. The Underwater Sensor is used to decode the depth field.
    The depth field is expected to use the actual sea level reference.
  • The Gyro and Compass System is used to decode the heading field in the format.
    The heading is converted to true north, depending on the heading type field.
  • The Speed Log system is used to decode the course made good and the speed over ground fields.
    The course made good is converted to grid north depending on the heading type field.
  • The Pitch, Roll and Heave Sensor is used to decode the pitch and roll fields in the format.

Driver Information

Driver Sonardyne Fusion ($PSONALL) Interface Type Serial  Driver Class Type Terminated 
UTC Driver (question) Yes Input / Output Input  Executable DrvQPSTerminated.exe SONARDYNE_PSONALL PPS
Related Systems
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Decoding Notes

The UTC field is only used if the PPS command option is added in the drivers.io file and if the system definition contains a PPS driver which is working properly.

The heading type field is used to convert the heading to true north and the course made good to grid north.

The position accuracy is stored in the RMS field of the position system, except when a Miscellaneous System is defined with a Generic Observation with slot id 'An' connected to it.
In the latter case, the value from the position accuracy field is saved as the generic observation value.
The depth accuracy is stored in the quality indicator field of the depth observation, except when a Miscellaneous System is defined with a Generic Observation with slot id 'Bn' connected to it.
In the latter case, the value from the depth accuracy field is saved as the generic observation value.

The driver does not perform any data validation.

Interfacing Notes

 As no data is send by the driver a one-way cable will suffice.

System Configuration

 It is advised to set the baud rate as high as possible.

Database Setup

The driver supports the following observation slots:

First the Node name field is decoded as a number. i.e. 01CRP becomes slot 1.
This number is used as the node identifier.

System/Observation Type

Slot

Example

Position Navigation System

Receiver number should be set to the node identifier mentioned above

1

Underwater Sensor

D followed by node identifier

D1

Gyro or Compass System

H followed by node identifier

H1

Speed Log / Course Made Good
Speed Log / Speed Over Ground

C followed by node identifier
S followed by node identifier

C1
S1

Pitch Roll and Heave Sensor

PR followed by node identifier

PR1

Miscellaneous System / AAA.a Field
Miscellaneous System / BBB.b Field

A followed by node identifier
B followed by node identifier

A1
B1

Drivers IO Notes

The driver supports the following command line parameters:

Command line option

Description

Default

NOCS

Disable checksum verification

Not used

PPS

Enable usage of UTC time field

Used