iXBlue ROVINS, User Manual

Page 1: ...ROVINS User Manual...

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Page 3: ...s product or documentation at any time without notify any person of such revision or improvements In no event shall iXBlue be liable for any consequential or incidental damages including but not limit...

Page 4: ...d about documentation applicable to your product This document is divided into several parts Part 1 Introduction This part gives a quick system presentation Part 2 Product Documentation This part list...

Page 5: ...nterface Plate 6 IV 2 ROVINS Mechanical Alignment 9 IV 3 ROVINS Center of Measurements 9 IV 4 DVL Ready Option 13 V ELECTRICAL INTERFACE SPECIFICATIONS 19 V 1 Overview of ROVINS Electrical Interface 1...

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Page 7: ...ystems In conjunction with external sensors ROVINS Kalman filter exceeds by several orders of magnitude the performances obtained with traditional navigation approaches see document Inertial Products...

Page 8: ...d USBL LBL GPS data positioning systems Smooth data from USBL LBL GPS Reject USBL LBL GPS outlier Provide high output rate position and speed data Maintain position over short periods during USBL LBL...

Page 9: ...iples Fiber Optical Gyroscopes description Alignment principle Geometrical conventions Depending of the use of your product the following Application Note can be useful for the product installation In...

Page 10: ...e protocols that your product can use INS Advanced Configuration Ref MU INSIII AN 004 this document gives all the configuration and monitoring commands which can be used during operation These command...

Page 11: ...hicle vessel movement on heave measurement you can define the position of the center of gravity COG of the vehicle vessel In this case ROVINS will compute heave at the COG and add the heave induced by...

Page 12: ...ECHANICAL SPECIFICATIONS IV 1 ROVINS Interface Plate The ROVINS interface plate is sketched on Figure 1 It is fixed onboard using six CHC M6 screws which form a 195 mm diameter Two accurate alignment...

Page 13: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 7 Figure 1 ROVINS interface plate bottom side layout...

Page 14: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 8 PAGE INTENTIONALLY LEFT BLANK...

Page 15: ...ion of Inertial Systems Ref MU MECHAPN AN 001 The adaptation plate should be designed with two pins 6 g6 see Figure 1 IV 3 ROVINS Center of Measurements The ROVINS center of measurement P is the inter...

Page 16: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 10 PAGE INTENTIONALLY LEFT BLANK...

Page 17: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 11 Figure 2 Center of measurements position...

Page 18: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 12 PAGE INTENTIONALLY LEFT BLANK...

Page 19: ...ith RDI Workhorse DVL is detailed in the document INS Application Note INS Calibration with RDI Workhorse DVL Ref MU INSAPN AN 001 The characteristics and operation of the DVL is described in the RDI...

Page 20: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 14 PAGE INTENTIONALLY LEFT BLANK...

Page 21: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 15 Figure 3 Mechanical drawing of the ROVINS DVL ready option...

Page 22: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 16 Figure 4 Centering pin locations...

Page 23: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 17 Figure 5 PHINS 6000 ROVINS interface plate for coupling with the DVL layout...

Page 24: ...ROVINS User Manual MU ROVINS AN 013 Ed A March 2012 18 PAGE INTENTIONALLY LEFT BLANK...

Page 25: ...sors and configuration The reference of the corresponding plug to be plugged directly to the central connector is MINM 26 20 CCP TI 3 connectors SEACON MINK FCR size K 12 22 12 pins for user external...

Page 26: ...ugh the central connector and then dispatched to all other connectors it can be used to output a trigger for the DVL i e to allow the DVL to ping at chosen time V 3 Port A B Connector Central Connecto...

Page 27: ...X B RS232 TX 24 Ext Pulse IN 12 Port A RS422 TX A 25 Ext Pulse IN 13 Port A RS422 RX A RS232 RX 26 Port B GND_B ROVINS and Ext sensor 1 resp 2 power lines are isolated from each other Ext sensor 1 res...

Page 28: ...Ext sensor 2 In GND 0 V2 V 14 Shield Ethernet 5 Repeater RS232 TX 15 Ethernet TX 6 Repeater RS232 RX 16 Ethernet TX 7 Ext Pulse IN 17 Pulse B IN TTL 8 ROVINS Power In 24 V 18 Ethernet RX 9 ROVINS Pow...

Page 29: ...s 2 different power supply EXT1 and EXT2 for powering external sensors Caution DO NOT USE BOTH THE ETHERNET LINK AND THE SERIAL ONE TO CONFIGURE ROVINS IN THE SAME TIME V 5 Port X X being C D or E Con...

Page 30: ...gger acoustic emission of a DVL connected to the ROVINS Pulse C only on Port C Pin 11 common for Pulse and Port C The Port X connector provides the following inputs and outputs 1 user configurable dig...

Page 31: ...r backshell Pair shielding link Shielded twisted pair 24 AWG or larger Zc 100 Line Driver RS422 TX RS232 TX GND PC Terminal 2 RX 5 GND Pin 11 ROVINS RS232 OUTPUT Pin 8 Pin 12 External cable shielding...

Page 32: ...ed pair 24 AWG or larger Zc 100 Figure 13 Description of the RS422 Output wiring with a Shielded Twisted Pair Port A example Pair shielding link Shielded twisted pair 24 AWG or larger Zc 100 RS422 TX...

Page 33: ...shielding link All pins marked GND are common electrical ground and can be used indifferently ROVINS Ethernet port Pin 18 Ethernet RX Ethernet TX Pin 19 Ethernet RX Pin 14 Ethernet shield Pin 15 Ether...

Page 34: ...Ref MU INS AHRS AN 005 for more details For the Ethernet link the following parameters are default defined IP Address 192 168 36 1xx xx being the last two numbers of the ROVINS serial number Connectio...

Page 35: ...d 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 che...