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id0002
Card
labelDriver Info

Driver Information

DriveriXBlue stdbin INSInterface TypeSerial / TCPDriver Class Typecounted
UTC Driver (question) YesInput / OutputInput and Output ExecutableDrvQPSCountedUI.exe
DrvQPSCountedUITCP.exe
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Card
labelFormat

Include Page
DM-0404 - Format
DM-0404 - Format

Card
labelDecoding Notes

Decoding Notes

The following data blocks can be received and decoded from the INS:

  • Pitch Roll Heave Sensor

In order to decode the Pitch Roll Heave Sensor data block the user does not need to enter any slot information.

  • Gyro compass

In order to decode the Gyro Compass data block the user should enter a value of 'HEADING' in the slot ID field.

  • Surface navigation
    • LBL1, LBL2, LBL3, LBL4
  • Position navigation system
    • Position
    • External GPS 1, External GPS 2, External manual GPS
    • USBL1, USBL2, USBL3, USBL4
    • LBL1, LBL2, LBL3, LBL4
  • Time synchronization system
    • External UTC
  • Miscellaneous
    Most elements of the protocol are available as a miscellaneous observation, The following table shows which slot IDs to use for each data element:
    • Slotdata blockvalue
      TEMP_FOG

      Temperatures

      Mean temperature FOG
      TEMP_ACCMean temperature ACC
      TEMP_ANASensor board temperature
      HEAVE

      Heave/Surge/Sway

      Real time heave at selected lever arm

      SWAY

      Real time sway at selected lever arm

      SURGE

      Real time surge at selected lever arm

      HEAVE_RAW

      Real time heave without lever arm

      SMARTSmart Heave

      Smart Heave At primary lever arm

      HDG_RATE

      Heading/Roll/Pitch rate


      Heading rotation rate
      ROLL_RATERoll rotation rate
      PITCH_RATEPitch rotation rate
      CURR_VELO

       Current data block in geographic frame

      Current speed vector calculated from north and east current
      CURR_DIRCurrent direction calculated from north and east current
      HEAVE_VELO

      Heave/Surge/Sway speed


      Real time heave speed (at selected lever arm)

      SWAY_VELO

      Sway speed (at selected lever arm)

      SURGE_VELO

      Surge speed (at selected lever arm)

      EAST_ACCL

      Acceleration data block in geographic frame

      North acceleration
      NORTH_ACCLEast acceleration
      HGT_ACCLVertical acceleration
      DMI_COUNT

       DMI data block

      Pulse count

      EVENT_A

      Event marker A data blocks

      Event count

      EVENT_BEvent marker B data blocksEvent count
      EVENT_CEvent marker C data blocksEvent count
      DVL1G_XV1

       DVL1 Ground speed data block

      XV1 longitudinal ground speed

      DVL1G_XV2

      XV2 transverse ground speed

      DVL1G_XV3

      XV3 vertical ground speed

      DVL1W_XV1

       DVL1 Water speed data block

      XV1 longitudinal water speed

      DVL1W_XV2XV2 transverse water speed
      DVL1W_XV3XV3 vertical water speed
      DVL2G_XV1

       DVL2 Ground speed data block

      XV1 longitudinal ground speed

      DVL2G_XV2

      XV2 transverse ground speed

      DVL2G_XV3

      XV3 vertical ground speed

      DVL2W_XV1

       DVL2 Water speed data block

      XV1 longitudinal water speed
      DVL2W_XV2XV2 transverse water speed
      DVL2W_XV3XV3 vertical water speed
      INSSENST1

      AHRS or INS Sensor Status

      Sensor Status 1
      INSSENST2Sensor Status 2
      INSALGST1

      INS Algorithm Status




      Algorithm Status 1
      INSALGST2Algorithm Status 2
      INSALGST3Algorithm Status 3
      INSALGST4Algorithm Status 4
      INSSYSST1INS system statusSystem Status 1
      INSSYSST2
      System Status 2
      INSSYSST3
      System Status 3
      INSUSRSTINS User StatusUser Status
      AHRALGST

      AHRS Algorithm

      Algorithm Status

      AHRSYSST1AHRS System Status

      System Status 1
      AHRSYSST2System Status 1
      AHRSYSST3System Status 1
      AHRUSRST1

      AHRS User Status

      User Status

  • Speed log
    • Based on the selected slot, the following data elements can be decoded by the speed log system:

      Observation typeSlotData blockValue
      BearingCOG

      Course and speed over ground

      Course over ground
      SpeedSOGSpeed over ground
      EMLOG1EMLOG1 data blockLongitudinal water speed
      EMLOG2EMLOG2 data blockLongitudinal water speed
      DVL1G_SPD

      DVL1 Water speed data block

      Speed vector calculated from longitudinal speed and transverse speed



      DVL1W_SPDDVL1 Ground speed data block
      DVL2G_SPD

      DVL2 Water speed data block

      DVL2W_SPDDVL2 Ground speed data block
      AngleDVL1G_ANGDVL1 Water speed data blockAngle created calculated from longitudinal speed and transverse speed
      DVL1W_ANGDVL1 Ground speed data block
      DVL2G_ANGDVL2 Water speed data block
      DVL2W_ANGDVL2 Ground speed data block
  • Acceleration, velocity and rotation rate
    Based on the selected slot, the following data elements can be decoded by the acceleration, velocity and rotation rate system:

    Observation typeSlotData blockValue
    Velocity YNORTH_VELO

    Speed data block in geographic frame


    North velocity

    Velocity XEAST_VELOEast velocity
    Velocity ZHGT_VELOUp velocity
    Velocity YXV1_VELOSpeed data block in vessel frameVX1 velocity
    Velocity XXV2_VELOVX2 velocity
    Velocity ZXV3_VELOVX3 velocity
    Acceleration YXV1_ACCL

    Accelerations data block in vessel frame

    Acceleration XV1

    Acceleration XXV2_ACCLAcceleration XV2
    Acceleration ZXV3_ACCLAcceleration XV3
    Rate of turn YXV1_RATE

    Body rotation rates data block in vessel frame

    Rotation rate XV1

    Rate of turn XXV2_RATERotation rate XV2
    Rate of turn ZXV3_RATERotation rate XV
  • Underwater Sensor

    Observation typeSlotData blockValue
    ROV DepthDEPTHDepth dataDepth
    Sound velocitySOUND_VELOExternal Sound velocityExternal sensor speed of sound
    Sound velocityDVL1G_SNDDVL Ground SpeedDVL speed of sound
    ROV alitutdeDVL1G_ALTDVL altitude (bottom range)
    Sound velocityDVL1W_SNDDVL Water speedDVL speed of sound
    Sound velocityDVL2G_SNDDVL Ground Speed 2DVL speed of sound
    ROV alitutdeDVL2G_ALTDVL altitude (bottom range)
    Sound velocityDVL2W_SNDDVL Water speed 2DVL speed of sound
Card
labelEncoding Notes

Encoding Notes

The following messages can be sent to the INS:

  • USBL1
    This message contains the ROV position, as computed by QINSy using USBL or LBL information.
  • GPS1
    This message contains the vessel's launch point position, as computed by QINSy, using GPS or RTK information.
  • UTC
    This message contains the exact UTC time for the time of output, from the QINSy Time Synchronization system.

It is the user's responsibility which message or combination of messages are being sent to the INS and at what output rate.

Card
labelSystem Interfacing

Interfacing Notes

  • Navigation Data Message (Incoming)

    Normally the driver will time stamp the data when it arrives at the COMport (or UDP port), but this may introduce latency due to variable calculations and/or serial/network characteristics. So, when the INS unit is interfaced with an external PPS/UTC input, then it is recommended to use the time from the decoded messages in order to time stamp the data.

    This can be achieved when the following criteria are met:

    • Your template setup has a valid Time Synchronization (PPS) system
    • The so-called 'UTC' driver is selected (See also paragraph Drivers.io Options below)
    • The Time System Data Message is received and preferably with an update rate of 1 Hz.

    When you are online, check the Messages list (drivers dialog lower pane) to see if it says 'Valid PPS system detected' AND 'Time fields will be used for timestamping'.
  • PSIMSSB USBL Position Message (Outgoing)

    The time inside the outputted message will be the exact time (UTC) for the computed ROV node position. In case option Deskew ROV Node Output is enabled, then it will be the exact moment of output.

  • GPGGA Vessel Launch Position Message (Outgoing)

    The time inside the outputted message will be the exact time (UTC) for the computed launch node position. In case option Deskew Launch Node Output is enabled, then it will be the exact moment of output.
Card
labelQINSy Config

QINSy Configuration

All systems can be setup as normal in QINSy Database Setup, using the slot IDs described in the decoding notes, to determine which source of data to use.

Output  
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  • You do not need to define an extra output driver in the template setup. The driver will automatically output the messages to the same port as the incoming data.

    In case your setup does not require decoding of any incoming message from the unit, and you only have to output data to the INS, then you can select driver "iXBlue Std Bin (Output only)", or "Network (TCP) - iXBlue Std Bin (Output only)(TCP)". 
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labelQINSy Online

QINSy Online

The driver has user-interface, and therefore will always be present in the Windows task bar.

When going on-line for the first time, locate the driver, and change the Setup parameters:

Driver Layout Menu: Setup


VESSEL SETUP
Vessel:Select from the available defined objects the vessel from which the ROV will be launched.
Launch Point Computation:Select the computation for the launch point of the ROV on the vessel. This output of this computation will be used for the GPS1 message.
Launch Point Node:Select the node for the launch point of the ROV on the vessel. This node will be output as the GPS1 message.
Launch Point Qualities:Select whether to use the qualities computed by the computation (based on the SDs configured in Database Setup) or manual qualities for the GPS1 message.
Manual:

Manual quality values for the GPS1 message.

Enter the following values comma-separated: quality, latitude SD, longitude SD, height SD, latitude/longitude covariance.


ROV USBL POSITIONING
ROV:Select the ROV object.
ROV Computation:Select the computation that is used to compute the position of the ROV under water.
ROV Node:Select the node for which the calculated position should be sent to the INS in the USBL1 message.
USBL Quality:Select whether to use the qualities computed by the computation (based on the SDs configured in Database Setup) or manual qualities for the USBL1 message.
Manual:

Manual quality values for the USBL1 message.

Enter the following values comma-separated: latitude SD, longitude SD, height SD, latitude/longitude covariance.


Driver Layout Menu: Results

Note that either Launch Point or ROV data is shown based on which message is sent to the INS. Launch point data is shown when GPS1 data is sent to the INS, ROV data is shown when USBL1 data is sent.

Launch Point:

The last encoded position for the selected Launch Point Node which will be outputted as GPS1

Displayed are the [Update Time], easting, northing and height.

Launch Point Quality:

The last encoded quality figures for the GPS1 message.

Displayed are quality, latitude SD, longitude SD, height SD, latitude/longitude covariance.

ROV:

The last encoded position for the selected ROV Node which will be outputted as GPS1

Displayed are the [Update Time], easting, northing and height.
ROV Quality:

The last encoded quality figures for the USBL1 message.

Displayed are latitude SD, longitude SD, height SD, latitude/longitude covariance.
INS Position:

The last decoded position data from the position data block.

Displayed are the [Update Time], Latitude, Longitude and height.

INS Attitude:

The last decoded attitude data from the Attitude & Heading data block.

Displayed are the [Update Time], the Heading, Pitch and Roll.

INS Velocity:

The last decoded three axis velocity data from the Speed data block in vessel frame.

Displayed are the [Update Time], Velocity XV1, XV2 and XV3.

INS Time:

The last decoded time information from the extUTC data block.

Displayed is the UTC time.


Driver Layout Menu: Options

iXBlue INS Output:
  • UTC + USBL
    Output both UTC and USBL messages. This option is only useful when the ROV is in the water.

  • UTC + GPS
    Output both UTC and GPS messages. This option is only useful when the ROV is not in the water yet.

  • USBL
    Output USBL messages. This option is only useful when the ROV is in the water.

  • GPS
    Output GPS messages. This option is only useful when the ROV is not in the water yet.
  • UTC
    Output the UTC message. No position information is send to the INS, only time information.
  • [No Output]
    Disable any output.
UTC Output:Select the desired output update rate for the UTC message. Output of this message can only be triggered on time. Every second is recommended.
GPS Output:Select the desired output update rate for the GPS message. Output of this message can only be triggered on time.
The position source is defined in the Setup menu under Vessel Setup.
USBL Position:

Select the desired output update rate for the USBL message. The output rate is defined as a fraction of the update rate of the computation was chosen in the setup.

Deskew Launch Node Output:Select Yes in order to skew the time and position of the launch point node to the time of output (GPS message), using the current SOG and COG. Notice that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings. The height value is not deskewed.
Deskew ROV Node Output:Select Yes in order to skew the time and position of the ROV node to the time of output (USBL message), using the current SOG and COG. Notice that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings.
The height value is not deskewed.