4Asynchronous data are correlated with time tags. InterfacingBringing in the dataNetwork: For high volume data like multibeam. Data is received with UTC time tag.Serial RS-232: For lower data volume like GPS.Typically, Motion and Heading messages do not contain time tags. Data gets timed at arrival to COM port.Exception is GPS ($GPGGA has a UTC time tag).Network and COM inputsTime TaggingVery Important. Device data are correlated by time tags.All devices must use the same time base – UTC time or PC time. Without it, data will not be goodMBMBMBMRUMRUMRUMRUPOSPOS+ timeAsynchronous data are correlated with time tags.4
5Do I Need to Synch My Clock to UTC? If you have a device that sends datagrams with UTC time stamps, then the answer is:YesExamples of when time synch to UTC is required:GPS (UTC), Seabat (UTC), TSS DMS/05 (No time sent), Gyro (No time sent).POS/MV (UTC), Seabat (UTC), Single beam on a COM port (No time sent).You can improve your time synchronization from +/- 10mSec to +/- 1mSec by using a HYPACK 1PPS Box.5
6A Typical MB Configuration Position, Tide & Draft.Depth, Heading & HPRSHARED MEMORYHYPACK ®SURVEYHYSWEEP®SURVEYNetwork: Position & Time SyncNetwork: Multibeam DataNetwork: Heading & HPRPOS/MV Inertial SystemSeabat 7125ZDA and 1 PPS Time SyncHYPACK does NOT require 1PPS6
7Other Configurations: EM3000 Position, Tide & Draft.Depth, Heading & HPRSHARED MEMORYHYPACK ®SURVEYHYSWEEP®SURVEYCOM: Position & ZDA Time SyncNetwork: Sonar, Heading & HPRSonarKongsberg EM3002GPSHeading & HPRPosition & Time SyncHYPACK does NOT require 1PPS7
8Other Configurations: 1PPS Position, Tide & Draft.Depth, Heading & HPRSHARED MEMORYHYPACK ®SURVEYHYSWEEP®SURVEYCOM: Position & Time Sync1PPS BoxNetwork: Sonar DataCOM: Heading & HPRGPSTSS DMS/05SG Brown GyroSeabat 8101COM: Time SyncHYPACK requires time sync and needs a PPS box.8
9“Red Rogers” and drawing (device locations). OffsetsAdjustment for:Boat Origin (AKA Reference Point): Vessel Center of Gravity XY. Static waterline Z.Device Location: Offsets in X, Y and Z measured from boat origin.Device Rotation: Pitch, roll and yaw orientation of directional devices such as multibeam sonar.Device Latency:Time delay = data arrival time – data valid time.“Red Rogers” and drawing (device locations).Tracking Point: XY location of the sonar head. Used in Survey to adjust the Left/Right indicator. Entered in HYPACK HARDWARE.9
10MRU is at boat origin, tracking point is over the transducer. +YBoat Reference System+XMRUTracking PointMRU+XMultibeam TRANSDUCERMultibeam TRANSDUCER+ZMRU is at boat origin, tracking point is over the transducer.10
11Hardware HYPACK® and HYSWEEP ® Combined Hardware program ( new in 2014 ) will set the hardware for both HYPACK and HYSWEEP.Shared memory will handle the position, tides and draft to HYSWEEP and depth, motion and heading to HYPACK.No need to re-enter offsets in HYSWEEP for navigation deviceSystem: Include MultibeamMain page:Configure HYPACK devices and then HYSWEEP devices
12HARDWARE Positioning Devices: GPS.DLL for position from COM port. (Heading and RTK Tide if needed.)POSMV.DLL for POS/MV positions over a network. (RTK Tide if needed.)F180.DLL for POS/MV positions over a network. (RTK Tide if needed.)Select Time Synch option on the HYPACK configuration page.Enter Tracking Point offsets (Multibeam Head Offsets) on Mobile tab for BOAT
13HARDWAREConfigure the multibeam section of HARDWARE for a Multibeam, Motion sensor and Heading. Select from list and include on the INSTALLED section.Note: Sonar multibeam systems may include MRU and Heading on their driverNO LONGER NEEDED is HYPACK NAVIGATION. This is already included in the hardware programThe HYPACK Navigation will automatically come from shared memory, and no set-up is needed in the multibeam section13
14Multibeam Device Setup Button: Connect: Use the Setup button to enter manufacturer specific information.Connect:Pretty much all sonars are network. Determined the correct Port Number andInternet Address required for TCP/IP devices.Refer to “HYSWEEP Interfacing.pdf” for details.
15Multibeam Device Offsets: Select Sonar Head 1 or 2. Enter Location offsets measured from boat reference.Enter Rotation offsets from Patch Test.Latency should be zero. (Navigation Latency is handled in the GPS set-up)
16Motion and Heading Sensors Devices:Select the driver, if listed. If not…The “TSS1” message is standard for Heave, Pitch and Roll (TSS DMS driver).The NMEA “HDT” message is standard for Heading (NMEA-0183 Gyro driver).The Generic Attitude can be configured to parse ASCII datagramsConnect:Enter Network or COM settings. Remember “HYSWEEP Interfacing.pdf”.Offsets:MRU Location offsets measured from boat reference.MRU Rotation offsets can be used to “zero” Pitch and Roll.Heading Rotation offset (Yaw) can be used to correct to grid north.
17Testing and Saving…In the CONNECT Tab COM Test and Network test to verify sensor is sending dataI have a note about saving the changes. Last year’s slide says to save the changes [meaning click the Yes button when the prg asks to save changes] and gives the full path to the Hysweep.ini. That seems more clear/exact. There was a note on that slide [changes saved to Hysweep.ini] but this is another I don’t remember what he wanted different.Alternate Hardware Configurations:You can Open and Save alternate configurations using the IMPORT and EXPORT17
18A Sample SessionNote to change dialog with scroll bar????