10/11/2014HYPACK® Multibeam Training Seminar2 Retractable Bow Mounted Transducer Gahagan & Bryant Port of LA/LB POS/MV positioning, heading & motion sensor Bow Mounted – transducer rotates thru slot in bow
10/11/2014HYPACK® Multibeam Training Seminar3 Retractable Bow Mounted Transducer (Extending forward of bow) Assembly hinge RLDA, Inc. -- Puerto Rico
10/11/2014HYPACK® Multibeam Training Seminar4 Side Mounted Transducer US Army Corps of Engineers -- Galveston District
10/11/2014HYPACK® Multibeam Training Seminar5 Fixed Hull-Mounted Multibeam Transducer US Army Corps of Engineers -- Norfolk & New York Districts RESON SeaBat 8101 installation on Survey Vessel Adams II (Norfolk District)
10/11/2014HYPACK® Multibeam Training Seminar6 Hydraulic Bow Mount with Tilt Capability
10/11/2014HYPACK® Multibeam Training Seminar7 Vessel of Opportunity -- 18’ Center Console
10/11/2014HYPACK® Multibeam Training Seminar22 OK, so where do I mount my Multibeam System ??
10/11/2014HYPACK® Multibeam Training Seminar23 Boat Reference Point (RP) 1) Locate your Boat’s Center of Gravity (CG). 2)This will be critical to performing very accurate and repeatable surveys. 3)Understand that your boat’s CG may be dynamic and need to be monitored.
10/11/2014HYPACK® Multibeam Training Seminar24 1)Mount your Motion Sensor (MRU or IMU) at the CG or as close as possible. 2)Multibeam Mounting (Main Concern - MOUNT AS RIGID AS POSSIBLE) (Order of preference) (Order of preference) Hull Mount at boat’s CG. Hull Mount at boat’s CG. Moon Pool at boat’s CG Moon Pool at boat’s CG Pole Mount; Thru Hull, Over-the-Bow Pole Mount; Thru Hull, Over-the-Bow Mount or Over-the-Side Mount. Mount or Over-the-Side Mount. 3)Positioning System Place your GPS antennae as high as possible and directly above the Boat’s CG or as close as possible. Alternate Positioning Systems will require the most visible “line of sight” as possible also (ie. Robotic Total Station) 4)Heading Device Location not as critical, however, accurate Offset measurements and placement, will aid in the most accurate data possible. Installation
10/11/2014HYPACK® Multibeam Training Seminar28 Install your equipment and very accurately locate each piece with respect to the Boat’s RP/CG. NOTE: This is usually done with a Land Surveyor’s Total Station. “Red Rogers” and drawing of device locations
10/11/2014HYPACK® Multibeam Training Seminar29 20’ Pontoon w/ Dual Ant. DGPS and Small MB System
10/11/2014HYPACK® Multibeam Training Seminar30 30’ SeaArk w/ RTK-POS MV & High Res. Multibeam 22’ Jon Boat w/ Dual Ant. DGPS and Small MB System
10/11/2014 31 Offsets Adjusting the data for: Boat Reference Point:Boat Reference Point: Vessel Center of Gravity = XY (0,0) (Boat Origin) Static waterline = Z (0) Device Location:Device Location: Offsets in X (Stbd), Y (Fwd), and Z (Vertical) measured from Boat Reference Point. Device RotationDevice Rotation: Pitch, Roll and Yaw orientation of directional devices (MRU & Gyro) with respect to the multibeam sonar. Device Latency:Device Latency: Time delay = data arrival time – data valid time. (Lack of Synchronization between Positioning Device and Sonar Device.) Tracking Point: Tracking Point: XY location of the sonar head. For Survey Program’s Left/Right Indicator. Important !! Important !! Crucial for collecting good overlapping Patch Test Data HYPACK® Multibeam Training Seminar 10/11/201431
10/11/2014HYPACK® 2009 Training Seminar32 MRU is at boat origin, Tracking Point is over the transducer. MRU Multibeam TRANSDUCER +X +X +Y +Z Boat Reference System Tracking Point Boat Origin & Tracking Point 10/11/201432 HYPACK® Multibeam Training Seminar
33 MRU Multibeam TRANSDUCER +X +X +Y +Z MRU is on Side Mount Pole with the Multibeam Transducer, and the RTK GPS Antenna is over both the MRU and the Multibeam Transducer. Then, Boat Reference Point can be at the Side Mount Pole location. Boat Reference Point Exception to the Rule RTK GPS 10/11/2014HYPACK® Multibeam Training Seminar 33
10/11/2014HYPACK® Multibeam Training Seminar38 Step 1: HYPACK® Hardware Exercise: Hardware Exercise: Project: MB HYPACK Hardware Config There are 6 Basic setups, They consist of : 1)Basic DGPS 3) Basic INS w/ DGPS 2)Basic RTK 4) INS – RTK 5) INS w/ Separate RTK 5) INS w/ Separate RTK 6) Robotic Total Station 6) Robotic Total Station
10/11/2014 39HYPACK® Multibeam Training Seminar Step 1: HYPACK® Hardware Configure HYPACK® Hardware for: 1)Positioning System and 2)HYSWEEP® data thru… Position, Tide, Draft, [Heading] Depth, Heave, Pitch, Roll, [Heading] HYSWEEP ® Survey HYPACK ® Survey Shared memory transfer…
10/11/2014HYPACK® Multibeam Training Seminar40 Step 1: HYPACK® Hardware Devices: Select Positioning System: GPS.DLL GPS.DLL for position from COM port. Heading and tide if needed. POSMV.DLLF180.DLL POSMV.DLL or F180.DLL for positions over a network. Tide if needed. Geodimeter.DLL Geodimeter.DLL for the use with a Robotic Total Station. HYSWEEP.DLL HYSWEEP.DLL for HYSWEEP® Nadir depth, Swath painting of Matrix in Map Window, and Heading and Motion data from Shared Memory. Click on Hypack Configuration, then under the Synchronize the Computer Clock : (Select the Device that is bringing in the ZDA and/or 1PPS data.) Click on Boat, then under the Coordinates of Tracking Point window, Enter the Multibeam Head Offsets.
10/11/2014HYPACK® Multibeam Training Seminar41 Step 2: HYSWEEP® Hardware Exercise: Hardware Exercise: Project: MB HYPACK Hardware Config There are 5 Basic setups, They consist of : HYPACK Navigation and 1)MRU, Gyro, MB 2)Dual Antenna DGPS w/ Heading, MRU, MB 3)INS Serial or Network w/ Motion & Heading, MB 4)INS Network w/ Motion & Heading, 7125 MB 5)INS Network w/ Motion & Heading, Riegl Laser LMS-120Q
10/11/2014 42HYPACK® 2009 Training Seminar Step 2: HYSWEEP® Hardware Configure HYSWEEP® Hardware for: MUST Use HYPACK Navigation driver. This will bring Position, Tide, and Dynamic Draft from HYPACK® Survey via shared memory. (Heading, if limited ComPorts are available) Add HYPACK Mobile driver, if multibeam is on an ROV, or towing Sidescan or collecting a redundant Positioning System. Multibeam, MRU and Heading from other HYSWEEP® network and COM drivers. Hardware program: Use buttons to Add / Remove device drivers. 10/11/201442HYPACK® Multibeam Training Seminar
10/11/2014HYPACK® Multibeam Training Seminar43 Navigation Device Offsets: Enter GPS antenna offsets measured from Boat Origin. Vertical offset is positive downward (i.e. negative above waterline). Enter GPS latency if any. (Offsets DO NOT carry thru Shared Memory) The HYPACK Navigation device is required and is installed by default. Not good if you delete it. Connect: Shared Memory transfer is automatic and requires no configuration.
10/11/2014HYPACK® Multibeam Training Seminar44 Heading Device (Gyro or Dual Antenna GPS) Connect: Connect: Serial Connection Offsets: Offsets: Gyro offsets are not critical but can be entered as measured from boat origin.
10/11/2014HYPACK® Multibeam Training Seminar45 Motion Device Heave, Pitch, and Roll Compensators (MRUs or IMUs) Connect: Connect: Either thru Serial or Ethernet connection Offsets: Offsets: Enter MRU/IMU offsets measured from boat origin. Vertical offset is positive downward (i.e. negative above waterline)
10/11/201446 Multibeam Device Setup Button: Use the Setup button to enter manufacturer specific information. HYSWEEP® Connect: A Port Number is required for all network devices. Internet Address required for TCP/IP devices. Refer to Hysweep Interfacing.doc for details. Your best configuration friend. Windows Network Setup: Network address of the survey computer is set under Windows TCP/IP properties. HYPACK® Multibeam Training Seminar