IXSEA Rovins Bedienungsanleitung

Quick Start

Guide

Quick Start

Guide

Rovins

gyro to ins

2010-05/MU/ROVINS-001-B

FOREWORD

ROVINS QUICK START GUIDE

Objective

This guide describes how to install the ROVINS, and the basic conﬁgurations required before beginning the positioning

Contents

OBJECTIVE...........................................................................................................................................................................................01

CONTENTS...........................................................................................................................................................................................01

CONVENTIONS.....................................................................................................................................................................................02

ROVINS SYSTEM OVERVIEW.................................................................................................................................................................03

VERIFICATION OF PACK CONTENTS ...................................................................................................................................................03

BASIC INSTALLATION..........................................................................................................................................................................03

STEP 1 - INSTALLING ROVINS...............................................................................................................................................................05

STEP 2 - ACTIVATING THE PRODUCT LICENSE....................................................................................................................................10

STEP 3 - CONFIGURING ROVINS.......................................................................................................................................................19

STEP 4. NAVIGATING WITH ROVINS.....................................................................................................................................................24

MORE......................................................................................................................................................................25

CUSTOMER SUPPORT..........................................................................................................................................................................29

IXSEA CONTACT...................................................................................................................................................................................30

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The following conventions are used in this guide

The symbol leads you through nested menu items and/or dialog box options to a ﬁnal action.

Example:

Logging Conﬁgure Logging Parameters means “Select Conﬁgure Logging Parameters option

from the Logging pull down menu”.

bold Bold text is used for items you must select or click in the software.

It is also used for the ﬁeld names used into the dialog box.

Courier Text in this font denotes text or characters that you should enter from the keyboard, the proper

names of disk Drives, paths, directories, programs, functions, ﬁlenames and extensions.

italic

Italic text is the result of an action in the procedures.

CONVENTIONS ROVINS SYSTEM OVERVIEW

The ROVINS system is an Inertial Navigation System (INS). It delivers heading and attitude information as well as po-

sition and speed, to other systems or to display. It can receive data from other sensors to improve its accuracy. The

ROVINS system can also be used as a gyrocompass. The core of ROVINS is an inertial measurement unit (IMU). The IMU

is the assembly of three ﬁber optic gyroscopes (FOG) manufactured by IXSEA and three high precision pendulum-type

accelerometers.

Apart from its IMU, ROVINS contains a self-consistent navigation algorithm based on Kalman Filtering. This structure

enables ROVINS to work either as a black box or to be connected to external sensor systems (GPS, Doppler Velocity Log,

Depth sensor, acoustic positioning systems …). In conjunction with external sensors, ROVINS Kalman ﬁlter exceeds by

several orders of magnitude the performances obtained with traditional navigation approaches

ROVINS is delivered with a powerful and easy-to-use WEB-Based User Interface, which allows a complete conﬁguration.

You will ﬁnd in the shipping case a Packing List detailing all the items delivered. This packing has been completed and

checked by IXSEA shortly before shipment, and should match the contents of the pack you have received.

However, we recommend that you check the contents of the pack and the equipment immediately on receipt of your

ROVINS unit. Speciﬁcally, you should check that all the items referred to above are present on delivery and that none has

sustained damage.

If you observe any non-conformity or damage, please inform the carrier and IXSEA without delay by certiﬁed mail, des-

cribing in detail the problem encountered.

This guide describes how to install ROVINS with a GPS, and the basic conﬁgurations required before beginning the

positioning. This is the basic installation. If you need to install additional external sensors, to deﬁne lever arms and/or

to enter installation biases, please refer to ROVINS User Guide. ROVINS being versatile, you have to deﬁne its conﬁgu-

ration to insure optimal operation.

In this installation, we assume that ROVINS is aligned with respect to the vessel reference frame.

This conﬁguration includes:

• Deﬁning how ROVINS is installed on board (ROVINS orientation with respect to the vessel reference frame, ROVINS

and GPS lever arms)

• The cable connections to other equipment (connection to the workstation, connection to the GPS)

• The activation of the product license

• The communication link, the serial or Ethernet link, the activation of the GPS , the pulse input for Time synchroniza-

tion System i.e., all settings to enter into ROVINS using the WEB-based User Interface

• Navigation

VERIFICATION OF PACK CONTENTS

BASIC INSTALLATION

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Installing ROVINS + GPS

Activating the product license

Step 1:

Step 2:

To deﬁne the ROVINS orientation, lever arms, and the PC-ROVINS

communication parameters

To conﬁgure the GPS: serial or Ethernet input parameters, lever arm

Conﬁguring

To deﬁne the initial position

To activate the GPS (i.e., to take the GPS data into

account by the Kalman ﬁlter)

To activate the license code

To deﬁne the Time Synchronisation system

Step 3:

Navigating with ROVINS

Step 4:

5 min Heading standard deviation < 0.1

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STEP 1- INSTALLING ROVINS

ROVINS is ﬁxed onboard using six CHC M6 screws. It can be installed with any orientation with respect to the vessel (see

the deﬁnition of the vessel reference frame hereafter). The alignment of the unit is performed by means of the two cen-

tering pins located on the bottom plate of the ROVINS. You will ﬁnd on Figure 1 all the mechanical information necessary

to ﬁx ROVINS. All inertial measurements are default performed with respect to ROVINS reference frame (X1, X2, X3). This

reference frame is deﬁned in Figure 1. Motion sensing measurements are default measured at ROVINS Center of Mea-

surement P (see Figure 1).

Recommendations and Note

• Temperature in operation must be in the range -20 °C to 55 °C

• The dimensions of the ROVINS housing are ((l x ø) in mm ): 374 x 213. There must be enough place for the wire way

on the connector side of ROVINS

• The weight of ROVINS is 14.6 in air and 4.65 in sea water

Figure 1 – Deﬁnition of ROVINS Reference Frame (X1,X2, X3) and P center of measurements

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The roll is deﬁned as the angle of

rotation perform around the vessel

XV1 so that the vessel axis XV2 lies

in the local horizontal plane. This

angle is default deﬁned positive in

the direction of axis XV1, i.e., when

the boat port side is up. It varies

between -180 and + 180°. The ﬁgure

above is an illustration of the roll

angle with null pitch.

Once the axes XV2 and XV1 lie in

the local horizontal plane, the true

heading is the angle between the

vertical plane oriented in the North

direction and the vertical plane pas-

sing through the vessel. Heading is

counted positive from North, va-

rying from 0 to 360°. The orientation

of this angle is given above in case

of null pitch and roll.

Once the axis XV2 lies in the local ho-

rizontal plane, the pitch is the angle

between the axis XV1 of the vessel

and its projection in the local plane.

This angle is default deﬁned positive

in the direction of the axis XV2, i.e.,

when the boat bow is down.. It varies

from -90 to +90°. The ﬁgure above is

an illustration of the pitch angle in

case of null roll.

Vessel reference frame

TRUE HEADING, ROLL AND PITCH DEFINITIONS

Xup

North pole

XN in the horizontal plane pointing towards geographical North

Xup, parallel to the local vertical, pointing up

XW in the horizontal plane, pointing towards West

Standard case deﬁned as follows:

External sensor connected to the ethernet stream A of ROVINS:

GPS Output protocol on stream A: GPS like

PPS time synchronization pulse from the GPS cabled on the Pulse input B of ROVINS

Electrical Connections: GPS + PPS (optional for Time synchonization)

Standard Ethernet Link Case

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GPS Antenna, Power supply, workstation

connected to the Ethernet connector

13.

17.

.16

.12

.19

Case when Ethernet connection is not possible:

External sensor connected to the serial link A of ROVINS: GPS

Output protocol on serial link A: GPS like

PPS time synchronization pulse from the GPS cabled on the Pulse input

A of ROVINS In this case the workstation establishes a PPP connection with ROVINS

Refer to the ROVINS User Manual to know how to conﬁgure this PPP connection

ELECTRICAL CONNECTIONS: GPS + PPS (OPTIONAL FOR TIME SYNCHONIZATION)

SERIAL LINK CASE (WHEN ETHERNET CONNECTION IS NOT POSSIBLE)

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STEP 2. ACTIVATING THE PRODUCT LICENSE (ONLY FOR UPGRADE CASE)

As soon as ROVINS is powered up it starts its alignment phase starting with the manually input position stored into RO-

VINS PROM. It is required that a valid initial position is input manually (see Step 3) or is given by the GPS. The alignment

sequence is detailed in Step 4.

Launching the WEB-based User Interface

Required environment :

• The workstation must be equipped with one of the following Web browser:

Mozilla Firefox version 3.5 and higher

Chrome version 4 and higher

Safari version 4 and higher

Opera version 10 and higher

Internet Explorer version 7 and higher

• Flash Player version 10 (and higher) must be installed on the workstation to visualize the compass

• For the data logging: Java Runtime Environment 1.6 (and higher)

They can be installed on your workstation from the provided IXSEA CD-ROM.

The communication with the workstation is performed directly through the Ethernet link.

ROVINS

Web-based User Interface

is then launched from the WEB browser hosted on the workstation. Its URL address

is 192.168.36.1xx, xx being the two last numbers of the ROVINS serial number:

The Control Pages opens:

During the ﬁrst seconds the IXSEA logo is ﬂashing gray/blue indicating that the

Web-based User Interface

is loading the

internal conﬁguration of ROVINS. Then the logo turns blue, the alignment sequence of ROVINS begins.

10.

11.

16.

17. 21.

22. 25.

26.

Power Cenral connector

Function

In Pin 1

In GND Pin 2

Pulse In Cenral connector

Function Pulse A

IN TTL Pin 20

GND_A Pin 21

RS232 Cenral connector

Function Link A

Tx Pin 11

Rx Pin 13

Tx Rx GND_A Pin 8

Repeater/com

with worksation

RS232

Cenral connector

Function Repeater

Tx Pin 9

Rx Pin 15

Tx Rx GND_R Pin 5

RS422 Cenral connector

Function Link A

Tx + Pin 11

Tx - Pin 12

Rx + Pin 14

Rx - Pin 13

Tx Rx GND_A Pin 8

Repeater/com

with worksation

RS422

Cenral connector

Function Repeater

Tx + Pin 9

Tx - Pin 10

Rx + Pin 16

Rx - Pin 15

Tx Rx GND_R Pin 5

GPS Antenna, Power supply, workstation

connected to the Central connector

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Menu Bar

The menu is blue when selected

Navigation data window:

It displays all data either computer by ROVINS

or coming from external sensors

Maintenance page :

Firmware upgrades, system restaring, factory

settings reset, support contact.

options page :

position selection, language selec-

tion , day/night mode selection

System Status: color

and verbose display

Latitude,Longitude and

Depth or UTM positions

and Depth data

Heading, Roll,

Pitch,Heave

and Speed

data

Compass area

UTM northing 4784416.50 m

UTM easting 714025.03 m

Depth 25.30 m

IXSEA logo handling

A click on the IXSEA logo opens the detailed status/activation pop-up window and the compass disappears.

This window:

• Sums-up the status of

The input ports

The output ports

The system

The external sensors

• Enables the external sensors activation

You can close the pop-up by clicking on the IXSEA logo.

WEB-BASED USER INTERFACE - GENERAL RULES, COMMANDS AND NAVIGATION

16 2010-05/MU/ROVINS-001-B 17

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Note

you can also use the up arrow ([]) and down arrow ([]) keys to scroll in the list.

Tick box

• By selecting it by clicking in the dedicated box:

Color Code

The color code applies for the indicators and text labels displayed in this pop-up window.

When a problem occurs, the color of the IXSEA logo changes and the detailed status pop-up automatically appears

showing immediately which equipment has raised the problem.

Table 1 – Color code deﬁnition

General Rules for Using Command Windows

The command windows allow you to display or modify ROVINS conﬁguration parameters. At ﬁrst delivery, these parame-

ters are set to default values. You have to modify them to ﬁt your needs:

Scrolling list selection

• By selecting it directly in the scrolling list:

Color Deﬁnition

Grey inactivity

Flashing Grey/Blue System Conﬁguration (during initialization for example)

Blue Activity, nominal operation

Orange Activity, warning

Red Activity, alarm

Text box

• By typing it in the dedicated area:

Note

You can also use the up arrow ([]) and down arrow ([]) keys to increase or decrease the numerical values.

Incorrect value are immediately indicated by red color:

Expanding hidden area

In order to keep each web-based page as small as possible, only the main parameters are default

visible. You can expand the hidden area by clicking on its text label title:

OK/Cancel buttons

Each command page contains the same buttons, they appear as soon as a modiﬁcation or a selection

has been made in the command page:

To validate the new conﬁguration and store it in the ROVINS PROM.

To return to the previous entered values.

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