10/11/2014HYPACK® Multibeam Training Seminar1 Retractable Bow Mounted Transducer POS/MV...

04/11/23 HYPACK® Multibeam Training Seminar 1

Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer

POS/MV positioning, POS/MV positioning, heading & motion heading & motion sensorsensor

Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow

INSTALLATIONINSTALLATION

HYPACK ® MULTIBEAM COURSE



Gahagan & BryantPort of LA/LB


Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow


Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer(Extending forward of bow)(Extending forward of bow)

Assembly hinge

RLDA, Inc. -- Puerto Rico


Side Mounted TransducerSide Mounted Transducer

US Army Corps of Engineers -- US Army Corps of Engineers -- Galveston DistrictGalveston District


Fixed Hull-Mounted Fixed Hull-Mounted Multibeam TransducerMultibeam Transducer

US Army Corps of Engineers -- US Army Corps of Engineers -- Norfolk & New York DistrictsNorfolk & New York Districts

RESON SeaBat 8101 with fabricated for-and-aft conical fairings

RESON SeaBat 8101 installation on Survey Vessel Adams II (Norfolk District)


Hydraulic Bow Mount with Tilt CapabilityHydraulic Bow Mount with Tilt Capability


Vessel of Opportunity -- 18’ Center ConsoleVessel of Opportunity -- 18’ Center Console


Aft – Side Mount with Tilt CapabilityAft – Side Mount with Tilt Capability


Aft – Side Mount with Safety TiltAft – Side Mount with Safety Tilt


Aft – Side Mount with Pivot Aft – Side Mount with Pivot Smaller Bow – Side Mount Smaller Bow – Side Mount with Pivotwith Pivot


Vessel of Opportunity -- 135’ Oil Rig Supply BoatVessel of Opportunity -- 135’ Oil Rig Supply Boat


Aft - Side Mount with Adjustable Pivoting BracketAft - Side Mount with Adjustable Pivoting Bracket


Elaborate Front Electronic MountElaborate Front Electronic Mount


Custom-built Vessel of Opportunity -- Rigid Bow MountCustom-built Vessel of Opportunity -- Rigid Bow Mount


Robotic Total Station Robotic Total Station for Positioning in the for Positioning in the

Canyon.Canyon.




Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow MOUNTING LOCATIONS MOUNTING LOCATIONS

AND AND OFFSETSOFFSETS

HYPACK ® MULTIBEAM COURSE


OK, so where do I mount my OK, so where do I mount my Multibeam System ??Multibeam System ??


Boat Reference Point Boat Reference Point (RP)(RP)

1)1) Locate your Boat’s Center Locate your Boat’s Center of Gravity (CG). of Gravity (CG).

2)2) This will be critical to This will be critical to performing very accurate performing very accurate and repeatable surveys.and repeatable surveys.

3)3) Understand that your boat’s Understand that your boat’s CG may be CG may be dynamicdynamic and and need to be monitored. need to be monitored.


1)1) Mount your Motion Sensor Mount your Motion Sensor (MRU or IMU) at the CG or as close as possible.(MRU or IMU) at the CG or as close as possible.

2)2) Multibeam Mounting (Main Concern - Multibeam Mounting (Main Concern - MOUNT AS RIGID AS POSSIBLEMOUNT 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 CGMoon Pool at boat’s CG• Pole Mount; Thru Hull, Over-the-BowPole Mount; Thru Hull, Over-the-Bow Mount or Over-the-Side Mount.Mount or Over-the-Side Mount.

3)3) Positioning System Positioning System Place your GPS antennae as high as possible and directly Place your GPS antennae as high as possible and directly above the Boat’s CG or as close as possible. Alternate Positioning Systems will 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)require the most visible “line of sight” as possible also (ie. Robotic Total Station)

4)4) Heading Device Heading Device Location not as critical, however, accurate Offset measurements Location not as critical, however, accurate Offset measurements and placement, will aid in the most accurate data possible.and placement, will aid in the most accurate data possible.

InstallationInstallation


Install your equipment and very accurately locate each Install your equipment and very accurately locate each piece with respect to the Boat’s RP/CG.piece with respect to the Boat’s RP/CG.

NOTE: NOTE: This is usually done with a Land Surveyor’s This is usually done with a Land Surveyor’s Total Station.Total Station.

“Red Rogers” and drawing of device locations


20’ Pontoon w/ Dual Ant. DGPS 20’ Pontoon w/ Dual Ant. DGPS and Small MB Systemand Small MB System


30’ SeaArk w/ RTK-POS MV30’ SeaArk w/ RTK-POS MV& High Res. Multibeam& High Res. Multibeam

22’ Jon Boat w/ Dual Ant. DGPS 22’ Jon Boat w/ Dual Ant. DGPS and Small MB Systemand Small MB System

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OffsetsOffsetsAdjusting the data for:

•Boat Reference Point: Boat Reference Point: Vessel Center of Gravity = XY (0,0) (Boat Origin) Static waterline = Z (0)

•Device LocationDevice 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 LatencyDevice Latency:: Time delay = data arrival time – data valid time. (Lack of Synchronization between Positioning Device

and Sonar Device.)

Tracking PointTracking 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 Seminar04/11/23 31

04/11/23 HYPACK® 2009 Training Seminar 32

MRU is at boat origin, Tracking Point is over the transducerMRU is at boat origin, Tracking Point is over the transducer..

MRU

MRU

Multibeam TRANSDUCER


+X+X

+X+X

+Y+Y

+Z+Z

Boat Reference System

Tracking Point

Boat Origin & Tracking PointBoat Origin & Tracking Point

04/11/23 32

HYPACK® Multibeam Training Seminar

33

MRUMRU


+X+X +X+X

+Y+Y


+Z+Z

MRU is on Side Mount Pole with the Multibeam Transducer, and the RTK MRU is on Side Mount Pole with the Multibeam Transducer, and the RTK GPS Antenna is over both the MRU and the Multibeam TransducerGPS Antenna is over both the MRU and the Multibeam Transducer. .

Then, Boat Reference Point can be at the Side Mount Pole location.Then, Boat Reference Point can be at the Side Mount Pole location.

Boat Reference Point

Exception to the RuleException to the Rule

RTK GPS

RTK GPS

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Step 1: HYPACK®Step 1: HYPACK® Hardware Exercise:Hardware Exercise:

Project: MB HYPACK Hardware ConfigProject: MB HYPACK Hardware Config

There are 6 Basic setups, There are 6 Basic setups,

They consist of :They consist of :

1)1)Basic DGPS 3) Basic INS w/ DGPSBasic DGPS 3) Basic INS w/ DGPS2)2)Basic RTK 4) INS – RTK Basic RTK 4) INS – RTK 5) INS w/ Separate RTK 5) INS w/ Separate RTK

6) Robotic Total Station6) Robotic Total Station


Step 1: HYPACK® HardwareStep 1: HYPACK® HardwareConfigure 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…


Step 1: HYPACK® HardwareStep 1: HYPACK® HardwareDevices:Devices:• Select Positioning System:

• GPS.DLLGPS.DLL for position from COM port. Heading and tide if needed.

• POSMV.DLLPOSMV.DLL or F180.DLLF180.DLL for positions over a network. Tide if needed.

• Geodimeter.DLLGeodimeter.DLL for the use with a Robotic Total Station.

• HYSWEEP.DLLHYSWEEP.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.


Step 2: HYSWEEP®Step 2: HYSWEEP® Hardware Exercise:Hardware Exercise:

Project: MB HYPACK Hardware ConfigProject: MB HYPACK Hardware Config

There are 5 Basic setups, There are 5 Basic setups,

They consist of :They consist of :

HYPACK Navigation HYPACK Navigation and and

1)1)MRU, Gyro, MB MRU, Gyro, MB 2)2)Dual Antenna DGPS w/ Heading, MRU, MBDual Antenna DGPS w/ Heading, MRU, MB3)3)INS Serial or Network w/ Motion & Heading, MBINS Serial or Network w/ Motion & Heading, MB4)4)INS Network w/ Motion & Heading, 7125 MBINS Network w/ Motion & Heading, 7125 MB5)5)INS Network w/ Motion & Heading, Riegl Laser LMS-120QINS Network w/ Motion & Heading, Riegl Laser LMS-120Q

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Step 2: HYSWEEP® HardwareStep 2: HYSWEEP® HardwareConfigure 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.


04/11/23HYPACK® Multibeam Training Seminar 43

Navigation DeviceNavigation Device

Offsets: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:Connect:• Shared Memory transfer is automatic and requires no configuration.


Heading Device Heading Device (Gyro or Dual Antenna GPS)(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.


Motion DeviceMotion DeviceHeave, 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)

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Multibeam DeviceMultibeam DeviceSetup Button:Setup Button:•Use the Setup button to enter manufacturer specific information.

HYSWEEP® Connect: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 Windows Network Network Setup:Setup:

•Network address of the survey computer is set under Windows TCP/IP properties.

HYPACK® Multibeam Training Seminar

10/11/2014HYPACK® Multibeam Training Seminar1 Retractable Bow Mounted Transducer POS/MV...

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