AUV technology Migration

Ian Florence

Kongsberg Maritime Ltd.

AUVs the early years• The AUV has three acoustic links

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Data uplink Command

downlink

HiPAP Navigation

Cymbal (PSK) for AUV

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AUV Dashboard

Multibeam

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Multibeam Commander

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Sidescan

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Data Transfer

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Transferring technology

• I need to use the modem technology

• My vessel has a HiPAP

• I have my own equipment with my own data

• The vessel does not have the modem function

• The vessel owner won’t let me use their HiPAP

• How do I get the data out?

• How do I speak from my computer to the HiPAP ?

• Are the commands open to me ?

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Using the vessel HiPAP

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Survey APOS function

• Survey APOS communicates via a high speed serial line directly to the vessel HiPAP

• Modem option software is enabled on the Survey APOS so the vessel system does not have to be upgraded

• The Survey APOS is on a serial line mitigating network interfacing into the vessel system

• Serial or network communication from the customers computer to the survey APOS for modem data input and output

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Modem Modes

• The modem can operate in two different modes;

• 1) Maximum speed.

• 2) Navigation interleaved with communication.

• The first mode will transfer all incoming data to the subsea unit and possible reply in return as fast as possible.

• Navigation tasks will halt on the transceiver during the modem transmission.

• The second mode will divide the modem transfer into time slots letting navigation tasks proceed almost as normal.

• The transfer time for modem data will increase in this mode.

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Sharing with DP

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Data and Position

• The added bonus of the function is you also get the transponder position as well as the data

• The position comes out as the standard $PSIMSSB string

• The data the customer requires is sent out on a serial or network port

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cNODE Modem

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Communication Profiles

• Data speed can be altered depending on message size and environment

Data Controls on APOS

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E.g. three transponders at 1500 m depth will typically

need 2 x 3 seconds for update of all thee. A value of 6

seconds will allow update of all transponders between

each telemetry operation. NOTE! Interleaving navigation

will slow down modem telemetry

Data control

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Transmit and receive data can be set at

different baud rates

If the acoustic link communication fails, it is

possible to let the system retry automatically.

Setting Max Retries > 0 will enable this

functionality. A setting of 1 to 3 is

recommended.

The number of bytes the system will

buffer before data is sent on the acoustic

link. .

This setting will typically be used in cases where the

subsea unit has some processing to do before a reply

can be generated.

Stand alone Modem

• My vessel has no HiPAP

• I want to control everything on my computer.

• Kongsberg will supply a document called

• “User Link Protocol”

• This lists a full set of command that the customer can incorporate into their own software package

• Also there is the new MiniS Modem

• A complete transmitter and receiver modem

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Configurations

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cNODE Embed and cNODE Modem Embed

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Transducer options:

80V (low profile, flush

mount)

180 (Mini TD)

cNODE Explorer and cNODE Modem Explorer

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Data example

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Sensor was outputting a NMEA string containing Pitch, Roll

and Altitude at 1 HZ

Other Applications Used

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Summing up• No one likes to be customer No 1

• The Modem has been used and proven for years on AUVs

• To me it is wonderful to see proven technology moving to new application with little or no modifications

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Any easy questions ?

Reality is for people who can’t handle √-1