The Side Scan Sonar driver can decode the TruePix messages (TPX0 packets, as from QINSy CD version 8.10.2012.05.06.1) and show them as sidescan data. It is also possible to log the raw TruePix messages in the Database.
|Deck of Cards|
|Driver||R2Sonic 2000 Series (Network) ||Interface Type||UDP/IP Client||Driver Class Type|| |
|UTC Driver ||Yes||Input / Output||Input||Executable||DrvR2Sonic.exe |
|Content by Label|
|cql||label = "dm-0316" and space = "dm"|
|Related Pages|| |
|Table of Contents|
|Table of Contents|
|DM-0316 - Format|
|DM-0316 - Format|
TimingThe time tag from the data packets is always decoded and used. Therefore make sure that the R2Sonic System is fully time synchronized to UTC.
Received BeamsThe reported beam angles are with respect to the face of the transducer.
No quality flags are available in the message, but one can distinguish valid detected beams from invalid beams by looking at the travel times: invalid beams will have a zero travel time and hence no range.
Note that older drivers decoded brightness and colinearity flags from the message but such filtering has never been implemented in the R2Sonic firmware. But as a side effect it was possible to block ranges with zero values this way. For clarity's sake as of December 2012 the option to filter on these flags has been removed. You will have to set up a range or depth blocking to filter out the invalid detections.
As from Sonic Control 2000 built June 27th, 2014 you can select the required output in the user interface and check the installed options:
|title||Port Setup in R2Sonic Control Program|
Note that as of March 2013 the driver will automatically determine and open the actual UDP ports. So make sure to set the output UDP Base port in the Sonic Control program to the same number (e.g. 4000) for every data type!
- Density modes
R2Sonic multibeam echosounders have the possibility to increase the point density with different "Density Modes":
- Normal mode
- Dual Mode
- Quad Mode
This does not increase the beam count but "projects" extra swaths in between the pings.
Page 53 of the Sonic 2024/2022 Operation Manual v5.0 Revision 002 contains a more detailed description of this option.
|title||*Setup for XTF files*|
If you would like to record the raw data packets for the purpose of XTF export later or for XTF file creation online, then please select the appropriate Driver Specific Settings in Database Setup (see table above). This applies to both multibeam and side scan systems.
Multibeam EchosounderAdd a new Multibeamer System, select driver "R2Sonic 2000 Series (Network)". Select port number identical to the output port that is set up in the R2Sonic 2000 control program (See menu Settings|Network|Data acq PC). The default port is 4000, this is also called the "Base port". In case of a dual head system two instances of the system need to be defined. The default port for the second head is 5000. Note that in both cases (single or dual head system) the driver will automatically open the correct ports for snippets (Base Port + 6) and water column data (Base port + 5).
Driver Specific Parameters
In Database Setup for this driver some driver specific settings can be entered. These supersede the command line parameters and XTF options that where used in the past.
The following settings can be selected for the Multibeam system:
|Raw Bathymetry Storage||Disabled|
Only the decoded (raw) multibeam data is stored.
Online the data can be used to fill a navigation grid and it be viewed in a Raw Multibeam Display and a Swath Display
|Enabled||Both the decoded (raw) multibeam data and the original Raw Bathymetry packets (e.g. BTH0) are stored in the database for usage in Fledermaus and Export to 3rd party formats like XTF.|
|Raw Snippet Storage||Disabled||SNP0 messages are not decoded and not stored in the QINSy DB files|
The Snippet message (SNP0) is stored in the database.
Online the data can be viewed in a Raw Multibeam Display and it can be used to fill a sounding grid on the fly.
In the past Snippet data was stored as part of the Sidescan system data but this is now part of the multibeam data.
|Water Column Usage||Disabled||No WCD data can be displayed in the Raw Multibeam Display.|
The WCD is decoded by the Driver and can be displayed in the Raw Multibeam Display.
The STORAGE of the water column is activated with a setting in the Online Controller - Session Setup - Database page.
If you would like to use the Water Column Data then make sure that the setting "Water Column Usage" is set to "Enabled". If the R2Sonic outputs WCD0 messages this will make sure that they are decoded.
Multibeam Echosounder Parameters
Set the "Transducer Setup" always to "Assume Common Acoustic Center".
For the acoustic center definition refer to the figures below. Note that the Projector Z offset needs to entered in the R2sonic GUI. Non-standard mountings are described in the R2Sonic manual which can be accessed in the R2Sonic GUI through the Help menu. Non-standard mountings also use the Assume Common Acoustic Center setting.
|R2Sonic 2026|| || |
Max. Beam per ping
The Depending on the frimware version the R2Sonic delivers 256 or 1024 beams per ping so the "Max. beams per ping" value should be 256 or 1024
Since the surface sound velocity sensor is fed straight into the sonar QINSy doesn't need to recalculate the Beam Angles.
Sound Velocity ProfileSVP can be entered/imported/selected during Online/Replay.
The R2Sonic will always report its used beam angles relative to the Multibeam local frame, so QINSy will always be able to calculate the correct footprints whether the stabilization features of the sounder are used or not. Nor will the option equidistant have a negative effect due to relative beam angles reported.
Echosounder Accuracy Parameters
The settings above are model and frequency (2020 / 2022 / 2024) dependent. Check the R2Sonic documentation for related parameter information.
The parameters above are used for calculating Total Propagated Uncertainties (TPU), which are used for filtering (IHO-S44, IMCA, NL-NORM, CUBE, QPS Spline filters)
Multibeam Echosounder Corrections
On the page, Multibeam Echosounder Corrections, you could select sensors that would be used for adjustable alignments of the multibeam installation. Some vessels can rotate the multibeam for quay wall / jetty / breakwater inspections.
- Related Systems
When finishing the setup wizard you will be prompted by a dialog that will offer you the option to install other systems that use the same driver executable:
When you click on OK a new wizard will be started to set up the related Side Scan Sonar system.
Sidescan Sonar (TruePix)For TruePix decoding:
- New System
If you cancelled the prompted additional driver wizard mentioned above you have two options:
- Right click with your mouse on the MBES system you have set up and select the related Sidescan Sonar driver:
Driver type, Driver, Port number and IP are already selected for you and correspond with the related MBES driver
- Manually add a Side Scan Sonar (SSS) system
- select driver "R2Sonic 2000 Series (Network) TruePix",
- Select port number identical to the output port that is set up in the R2Sonic 2000 control program. The default port is 4000, this is also called the "Base port". In case of a dual head system two instances of the system need to be defined. The default port for the second head is 5000. Note that in both cases (single or dual head system) the driver will automatically open the correct ports for TruePix (Base port + 1).
Driver Specific Parameters
The following settings can be selected for the Sidescan Sonar system:
|Raw TruePix Storage*||Disabled|
TruePix will be decoded as a Side Scan Sonar system and stored as sidescan data.
Online the decoded side sidescan data will be displayed in a Sidescan Display
|Enabled||The Raw (original) TruePix packets (e.g. TPX0) are stored alongside the decoded sidescan data in the database. The Raw stored data is for usage in Fledermaus and Export to 3rd party formats like XTF.|
Sidescan Sonar General Parameters
Add a Port side and Starboard channel (read more about SSS systems in: 'Howto Sidescan Sonar / MBES Backscatter' in the QINSy Knowledge Base).
Please note: There is no XTF ID available yet in the XTF description for TruePix at the moment of writing.
Time Synchronization System (previously PPS)
Read more about timing in QINSy in the Drivers Manual and the QINSy Knowledge Base:
- Drivers Manual:
- Time Synchronization Drivers
- Knowledge Base:
In the Knowledge Base you can find a document named 'Howto Create XTF'.
Sound VelocityIt is advised to check the reported Sound Velocity (SV) by the MBES against the Sound Velocity Profile (SVP) used during acquisition. The reported SV by the MBES cannot be altered afterwards or during Replay.
An alert can be set to compare the SV against the SVP:
BTH0 - Intensity Beam Average
To be able to see the Per_Beam_Intensity one needs to use a Sounding Grid in the Session Setup.
When using a layer of the type Sidescan, one will be able to use a different color table for the Intensity data.
The layer needs to be selected in the Navigation display to be able to see the (backscatter) layer with the BTH0 - Beam Average values.
|BTH0 - Bathymetry||BTH0 - Intensity Beam Average|
Shade layer: BTH0 - Bathymetry
Water Column Data
If you enabled the Raw Data for water column usage in Database Setup and you want to record the WCD0 data in the database, you can enable it in the Session Setup Dialog: Storage - Database options.
For more info on water column handling and processing refer to the Knowledge Base article "Howto Water Column Data".