Kongsberg 1007D Operator's Manual
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Kongsberg 1007D Operator's Manual

Kongsberg 1007D Operator's Manual

Altimeter series
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Kongsberg Maritime
Operator manual
1007D
Altimeter series

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Summary of Contents for Kongsberg 1007D

  • Page 1 Kongsberg Maritime Operator manual 1007D Altimeter series...
  • Page 3 974-72007001/1.0 1007D Altimeter Series Operators manual...

  • Page 4: Document History

    © 2008 Kongsberg Mesotech Ltd. All rights reserved. No part of this work covered by the copyright hereon may be reproduced or otherwise copied without prior permission from...

  • Page 5: Table Of Contents

    1007D Altimeter Operators Manual 974-72007001/1.0 Table of contents     GENERAL DESCRIPTION ........................  1      .............................. 1 EATURES      .............................. 2 PTIONS       ............................ 2 NTRODUCTION     THEORY OF OPERATION ........................  5      ............................ 8 PERATING       .......................... 9 ANGE  ESOLUTION  ...
  • Page 6 974-72007001/1.0 1007D Altimeter Operators Manual <This page is left intentionally blank>...

  • Page 7: General Description

    The 1007D digital altimeters are small, rugged, light-weight instruments for deep ocean applications, where dimensions and weight are key equipment selection factors. The 1007D is ideally suited for applications such as positioning, berthing, measurement of above-seabed altitude or depth below the water surface.

  • Page 8: Options

    PC or MS1000 host, or to other instrumentation such as a data acquisition system or a telemetry system. Consequently, the 1007D does not have any operating controls nor does it have a display. The 1007D’s processing features, flexibility, and performance are designed to address the requirements of many applications and deployment scenarios.
  • Page 9 974-72007001/1.0 General Description Page 3 The 1007D is capable of measuring altitude at high resolution. A resolution of better than 2.5 millimetres can be achieved for distances up to 38 meters. The resolution is adjustable to allow the operator to optimize the balance between resolution and ping rate.
  • Page 10 The Model 1007D is packaged in a small rugged housing rated for a maximum depth of 3000 meters. A single underwater connector provides a simple cable connection to an external DC power source, and either an external PC or a voltmeter.

  • Page 11: Theory Of Operation

    Theory of Operation Page 5 2 THEORY OF OPERATION The Model 1007D altimeter measures range as a function of the two-way acoustic travel time between its transducer and a reflecting target or sea bottom. The 1007D range measurement cycle (or ‘ping’) begins by transmitting an acoustic tone burst from its transducer into a narrow conical-shaped beam.
  • Page 12 DSP using a decision rule that selects the sea bottom return. The operator can select one of the following decision rules the 1007D uses to determine the sea bottom return: Kongsberg Mesotech Ltd.
  • Page 13 1007D Altimeter Operators Manual 974-72007001/1.0 Theory of Operation Page 7 first return: The selected return is the first return whose level is above the set threshold. This mode is recommended for obstacle avoidance applications peak return: The selected return is the strongest return whose level is above the set threshold.

  • Page 14: Operating Mode

    Page 8 Theory of Operation 2.1 Operating Mode Immediately on power-up the 1007D Altimeter scans its RS232/485 telemetry interface for the first ten seconds in order to detect MS1000 telemetry. If successful, the altimeter sets itself up as an MS1000 device for control by an MS1000 PC host.

  • Page 15: Range Resolution

    The 807, 808, and 809 modes are collectively referred to as the standalone 80x modes throughout this document. 2.2 Range Resolution The 1007D altimeter is capable of resolving distance at very high resolution, limited only by the altimeter's maximum sampling rate (307.2kHz or 2.4mm) and sample memory size (16000 samples).

  • Page 16: Over-Range Condition

    974-72007001/1.0 1007D Altimeter Operators Manual Page 10 Theory of Operation In 807 and 808 modes the resolution and maximum range are set to fixed factory-default settings. In 809 and MS1000 modes the maximum range is adjustable, and the resolution is automatically adjusted to achieve the best resolution that will maximize sample memory usage.

  • Page 17: Receiver Gain Adjustment

    TVG configuration which allows custom settings for spreading loss, absorption and overall gain. 2.5 Auto-GAIN Adjustment The 1007D’s Auto Gain Adjustment function, available in standalone 80x modes only, automatically adjusts the receiver's gain level to compensate for changes in the bottom return signal strength, and to reduce the sensitivity of detecting low-strength, mid-water targets.
  • Page 18 974-72007001/1.0 1007D Altimeter Operators Manual Page 12 Theory of Operation Auto-adjustment is recommended only in bottom tracking applications where interfering mid-water targets are present, otherwise it should normally be disabled. Moreover, auto- gain-adjustment should only be enabled by operators with a complete understanding of the acoustics and the operating conditions in which the altimeter will be used.

  • Page 19: Installation

    Installation Page 13 3 INSTALLATION The 1007D altimeter is normally mounted with clamps around its 3½” diameter housing. Two tapped mounting holes (1/4 - 20 UNC by ¾” deep) are provided on the side of the connector end-cap for orientation only and SHOULD NOT BE USED FOR MOUNTING.

  • Page 20: Electrical Connection

    Installation 3.2 Electrical Connection In its standard configuration, power supply and telemetry connections to the 1007D altimeter are made via a 4-pin underwater connector. Refer to the “1007 Altimeter Product Information” guide shipped the unit regarding connector pin- out details for your unit. Make sure your power source and...
  • Page 21 For instance, if the altimeter is configured to output 10V at 100m maximum range, the range scale will be 10m/volt. In its most versatile configuration, the 1007D altimeter with digital telemetry is controlled by a PC running MS1000 software.

  • Page 22: System Checkout

    PC laptop with MS1000 Figure 3.1 Typical 1007D Connection to MS1000 PC 3.3 System Checkout After the system has been properly connected to a power supply and to an external PC (or DC voltmeter for analog only versions), it should be tested in 2 stages: 1.

  • Page 23: Deployment

    3.4 Deployment The Model 1007D altimeter is designed to operate in depths up to 3000 meters. To prevent improper operation and/or damage to the unit, protect the transducer face from contact with any surface or foreign object.

  • Page 24: Telemetry

    MS1000 solicited protocols and full-duplex RS422 is not directly supported. To use RS422, the 1007D should be configured as RS485 and the external computer should employ the following procedure to control pinging and issue commands...

  • Page 25: 808 Mode Messages

    1007D Altimeter Operators Manual 974-72007001/1.0 Telemetry Page 19 Issue the desired command string to the altimeter, then wait for and process acknowledgment from the altimeter (if any). Issue XON (Ctrl-Q) character to the altimeter to resume pinging and data up-link.

  • Page 26: Downlink Messages

    974-72007001/1.0 1007D Altimeter Operators Manual Page 20 Telemetry where “ddddd” is the two-way time of the acoustic echo of the first return. It is always 5 characters long, with leading zeros as required. This time is in units of 11.3932 seconds and can be converted to depth by: depth = ddddd * 11.3932 * sound velocity / 2000000...

  • Page 27: 809 Mode Messages

    Page 21 4.2 809 Mode Messages This section outlines the uplink and downlink messages recognized in 809 mode. 4.2.1 Uplink Messages The 1007D altimeter outputs the following ASCII character strings in 809 mode: 'S'frrrrlll<CRLF> range in 0.125m units 'S'fssssslll<CRLF> range in samples 'S'ftttttttlll<CRLF>...

  • Page 28: Downlink Messages

    974-72007001/1.0 1007D Altimeter Operators Manual Page 22 Telemetry = signal level (0…255), output only in fixed gain modes = range in meters, feet, or fathoms (no leading or trailing zeros); blank field indicates no return was received. Only the range units currently selected will be filled.
  • Page 29 1007D Altimeter Operators Manual 974-72007001/1.0 Telemetry Page 23 typical Msg. Description default 'C't detection threshold: t = '0'-auto, '1'…'8'-fixed, with threshold 10…80% of maximum  'D'd detection method: d = '0'-first, '2'-peak  'F'f output format: f = '0'-std., '1'-NMEA, '2'-samples, '3'-usec ...
  • Page 30 Note that if the altimeter is paused, that any new altimeter settings are not fully processed until the unit resumes pinging - always wait until the 1007D resumes pinging before issuing the QUERY command. Kongsberg Mesotech Ltd. Port Coquitlam, BC - Canada...
  • Page 31 1007D Altimeter Operators Manual 974-72007001/1.0 Telemetry Page 25 'C't – Set Threshold where t = '1'…'8', corresponding to a fixed threshold 10…80% of full-scale signal level, respectively. A value '0' enables the Auto-Gain-Adjust mode, where the gain is adjusted every shot according to the method selected by the Set Auto-Gain Mode command.
  • Page 32 974-72007001/1.0 1007D Altimeter Operators Manual Page 26 Telemetry 'G'm – Set Auto-Gain-Adjust Mode This command selects the TVG adjustment method used if auto-gain is enabled by the Set Threshold command. m is one of: Disabled (regardless of the Set Threshold...
  • Page 33 1007D Altimeter Operators Manual 974-72007001/1.0 Telemetry Page 27 'K'xxxxx – Set Minimum Gap Width 'L'xxxxx – Set Minimum Return Width Sets the current profile return and gap widths where xxxxx is a five character ASCII value in the range from '00000' to '16000' (with leading zeros as required) representing the distance in 1 cm units.
  • Page 34 974-72007001/1.0 1007D Altimeter Operators Manual Page 28 Telemetry 'P'x – Set Transmit Pulse Width where x = '0'…'9' corresponding to pulse lengths of (x+1)*50s. The operator must be aware that a pulse width setting can be made to exceed the acoustic time corresponding to the current minimum range.
  • Page 35 1007D Altimeter Operators Manual 974-72007001/1.0 Telemetry Page 29 'R'x – Set Operating Range where x is one of: 0.75-20m 0.75-50m 0.75-100m 0.75-200m Custom: range limits set by the Set Custom Minimum Range and Set Custom Maximum Range commands. For all range settings, the altimeter attempts to assume the best resolution possible limited by the Set Maximum Resolution setting and hardware limits.
  • Page 36 It is effective in both the manual and automatic gain modes. In automatic gain mode however, the 1007D may reduce the effects of the entered offset since it adds in additional offset determined by the actual acoustic signal level.
  • Page 37 1007D Altimeter Operators Manual 974-72007001/1.0 Telemetry Page 31 'V'xxxx – Set Assumed Sound Velocity where xxxx = '1400'…'1600' is the velocity in meters per second. 'W'xx – Set Range Window where xx = '01'..'99' is the range window size calculated as a percentage of the Maximum Range setting.

  • Page 38: Options

    Options 5 OPTIONS 5.1 Hardware Hold-off An optional feature that allows hold-off of the 1007D pinging for ping rate control. In the standalone 80x modes this is hold-off/trigger feature that functions the same as in older 80x sounders. It is available as a TTL compatible input signal.

  • Page 39: Auxiliary Serial Output

    Options Page 33 5.3 Auxiliary Serial Output An optional second serial interface is available for 1007D altimeters configured with digital telemetry, to provide an additional output of altimeter data. This option provides a low-latency altitude digital data output for vehicle control from a 1007D altimeter operating in MS1000 mode.

  • Page 40: Altimeter Reconfiguration Utility

    5.5 Altimeter reconfiguration utility ALTCONFIG is an optional Windows PC application for re- configuring numerous default settings in the Model 1007D Altimeter, such as: operating mode (807, 809, MS1000) digital telemetry interface type (RS232, RS485) analog output scaling (if available) Kongsberg Mesotech Ltd.
  • Page 41  Porting the 1007D among applications with different measurement and interfacing specifications.  The evaluation/selection various 807-mode configurations for standalone fixed range analog-output applications. ALTCONFIG will only work on 1007D altimeters that have digital telemetry interfaces i.e. analog-output only configurations cannot be used with ALTCONFIG. Settings are either menu-selectable, or chosen from among a collection of default settings stored in configuration files.

  • Page 42: Tips For Successful Altimetry

    Page 36 1007D Altimeter Altitude Detection Algorithm 6 TIPS FOR SUCCESSFUL ALTIMETRY The 1007D altimeter should normally output consistent, reliable altitude readings within the altimeter’s usable range limits providing it has been properly installed, set-up, and deployed. However, under certain conditions operational and...
  • Page 43 1007D Altimeter Operators Manual 974-72007001/1.0 Tips for Successful Altimetry Page 37 Cause Possible Solution The acoustic returns from the Decrease the minimum threshold and/or the minimum return width and/or increase the TVG sea-bottom or target are too narrow or weak.

  • Page 44: Appendix - 1007D Altimeter Altitude Detection Algorithm

    7 APPENDIX - 1007D ALTIMETER ALTITUDE DETECTION ALGORITHM The 1007D is a digital altimeter used in several applications such as bottom profiling and forward-looking obstacle avoidance deployments. This appendix describes the methods used to determine the altitude/return values from the sampled sonar data.
  • Page 45 1007D Altimeter Operators Manual 974-72007001/1.0 1007D Altimeter Altitude Detection Algorithm Page 39 The altitude extraction software starts processing the sonar data from range (time) 0. At the start of the ping, at point A, there is a large transmit pulse which will be ignored by the altitude detection software.
  • Page 46 1007D Altimeter Operators Manual Page 40 1007D Altimeter Altitude Detection Algorithm If the algorithm is set to PEAK RETURN, the return just validated is saved as a potential altitude and the search for further returns continues after F. In order to help distinguish between distinct returns, the software first looks for an 'absence' of return signal where the level solidly drops below the threshold level for a specified distance.
  • Page 47 <This page is left intentionally blank>...
  • Page 49  2010 Kongsberg Maritime...

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