My Tickets

Drivers Manual

Trackpoint II - 02

Description

Driver to be used to decode USBL X, Y, Z measurements to a target plus additional measurements such as vessel heading, roll, pitch & warning/error code. 
Driver can be used to decode ORE Trackpoint II ASCII Formats and NUWC TCT - TO (=Tracked Object) ASCII Format.

Two versions of the driver are available: a Serial version and a Network version (UDP). If a network driver for the Trackpoint II is required the NUWC TCT - TO driver can be used. 
The internal workings of the drivers are the same except for the data reception.

Driver Information

Driver NUWC TCT-TO
Trackpoint II
Interface Type UDP/Serial Driver Class Type Terminated <LF> 
UTC Driver (question) No Input / Output Input  Executable DrvUsblTerminatedUdp.exe ORE_TRACKPOINT
DrvUsblTerminated.exe ORE_TRACKPOINT
Related Systems
Related Pages



Decoding Notes

If the driver encounters a warning/error code in range 1 to 10 the update is ignored by the driver and therefore also isn't stored in the database.

Currently the following warning/error codes are known to us:

Error code

Description

0

No errors detected

1

Unusable signal received

2

Signal timing error

3

Range cannot be determined

4

Low quality factor

5

Target velocity excessive

6

No recent replies

7

Minimum range error

8

Simultaneous reply error

9

Transmitter inoperative

10

Travel time less than turn around time

14

Maximum slant range exceeded

15

Bearing limits exceeded

22

Telemetry signal timing error

23

Telemetry timing out of range

24

Telemetered depth greater than slant range

26

No recent telemetry replies

50

Target input depth not within normal limits of calculated depth

51

Pinger depression angle < 20 deg (including hydrophone offsets)

52

Pinger depression angle < 20 deg

53

Pinger depression angle 20 - 45. Position approximated

54

Target center mode cancelled

55

Compass not active

56

Transponder or Responder depression angle > 45 deg

57

Depth > slant range

59

No external key received within wait period. Target was internally keyed

60

System ignores phase count depression angle. Using slant range & input depth.

61

Calculated horizontal range > slant range

62

System performing auto offset function

64

Low quality factor

Note: warning codes do not apply to NUWC-TO format.

NUWC-TO:

The X,Y,Z, values are calculated from horizontal range and bearing (X,Y) and slant range and depression angle (Z).

The timestamp from the message is decoded as observation time (but only if a PPS system is defined in QINSy Template), the time-of-arrival time stamp is ignored.

UDP Version:

The UDP driver will only decode the formats successfully if a full message arrives per network packet.
If a message arrives scattered over multiple packets then it will not decode.

Database Setup

NUWC-TO format

Slot numbers

In order to decode transponder data it is necessary to enter the complete 'Tracked Object Identifier' (as found in the data string from the tracking computer) as slot number in Database Setup.
For instance, if transponder 3, upper transducer, raw data is required then use slot 'AU03'; lower transducer raw data -> 'AL03'.

USBLl system setup

In order to use transponder data for both usbl transducers (lower and upper) you should define two usbl systems: one for the upper transducer, one for the lower transducer.
If the communication parameters (com port number, baudrate etc.) are kept the same then only a single driver (reading from one comport) is started that will support both systems.
Add transponders 'xUxx' to the upper system and 'xLxx' to the lower system.

Choose per usbl system either only raw data (A) or Tracked data(T) transponders since the transducer location differs per data type: for A the range/bearing refers to the transducer array, for T it refers to the submarine reference point.
Note: Units should be set to feet.

Compass Heading

To decode the compass heading field, add a "System" of type "Gyro", select the driver, and define the heading parameters.
To decode all four observations (USBL range/bearing/depth and gyro heading), add both these system types to the QINSy database and make sure to select the same driver name and the same I/O parameters for both systems (does not apply to NUWC-TO format).

For the Slot Id enter the exact USBL target number.

Target bearing, depression angle, slant range and telemetry

To decode the target bearing, depression angle, slant range, telemetry and warning code fields of the NUWC & NUWC-EC formatted string, add a "System" of type "Miscellaneous", select the driver, and define 5 observation with the Slot 2 set using the following table.
In this case the "Slot 1" field is still used to designate the USBL target number for which you want to decode this data (does not apply to NUWC-TO format).

Observation

Slot 1

Slot 2

Target bearing

<USBL target number>

Bearing

Depression angle

<USBL target number>

VertAngle

Slant range

<USBL target number>

Range

Telemetry

<USBL target number>

Telemetry

Warning code

<USBL target number>

Warning

Below you will find an example for "target 1":