Related Manuals for Klein Marine Systems, Inc. HydroChart 5000
Summary of Contents for Klein Marine Systems, Inc. HydroChart 5000
- Page 1 5000 S YDRO HART ONAR YSTEM Operations and Maintenance Manual P/N 11210080, Rev. 02 11 Klein Drive Salem, NH 03079-1249 U.S.A. Tel: (603) 893-6131 Fax: (603) 893-8807 www.KleinMarineSystems.com...
- Page 2 Windows is a registered trademark of Microsoft Corporation. ® vxWorks is a registered trademark of Wind River Systems, Inc. ® Kevlar is a registered trademark of the DuPont Company. \HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02...
- Page 3 WARNING Klein Marine Systems recommends all troubleshooting be done by a trained technician. Some circuits in the Transceiver and Processing Unit (TPU) have voltages as high as 240 volts, and some circuits in the sonar Sonar Head Unit have 1500 volts. You should familiarize yourself with the location of these voltages before you attempt any troubleshooting.
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Page 4: Table Of Contents
SonarPro Workstation ......2-2 HydroChart 5000 Sonar Operations and Maintenance Manual... - Page 5 Sonar Head Unit ........2-3 2.3.1 General .
- Page 6 Spare Boards and Components ......A-9 HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02...
- Page 7 Cable Pinouts ........A-10 NMEA 0183 Formats and Information .
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Page 8: List Of Figures
HydroChart 5000 Sonar System Topside System Main Components ..1-4 Figure 1-2: HydroChart 5000 Sonar System Sonar Head Unit ....1-5 Figure 1-3: HydroChart 5000 Sonar System Sonar Head Unit Block Diagram . - Page 9 Sonar Head Unit Fully Assembled ....... 4-12 Figure A-1: HydroChart 5000 Sonar System Basic System Setup Diagram ..A-3 Figure A-2: Sonar Head Unit .
- Page 10 List of Drawings ..........B-1 HydroChart 5000 Sonar Operations and Maintenance Manual...
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Page 11: Sonar System Warranty
Sonar System Warranty What Is Covered LIMITED WARRANTY Subject to the conditions set forth below, equipment sold by Seller is warranted against defects in materials and workmanship, and Seller will repair or exchange any parts proven to be malfunctioning under normal use for one year (12 months) from the date of Delivery as follows: a) SONAR and other associated manufactured products, with the following exceptions:... -
Page 12: Conditions Of Warranty
Repairs and replacements under warranty have the same warranty as the original product for the remaining balance of the warranty period for the original product existing prior to notice of the warranty claim. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 13: Changes, Errors And Omissions
xiii Any failure to meet the foregoing conditions of warranty will automatically void this limited warranty. This warranty gives Buyer specific legal rights, and Buyer may also have other rights, which vary from State to State, Province to Province or Country to Country. -
Page 14: Software License Agreement
© (KMS) for end users of SonarPro software for the KMS Series 3000, UUV-3500, 3900, 4900, 5000, 5000 V2, 5900, HydroChart 3500, HydroChart 5000, and D3500TF Sonar Systems. YOU SHOULD CAREFULLY READ THE FOLLOWING TERMS AND CONDITIONS BEFORE USING THIS PRODUCT. IT CONTAINS SOFTWARE, THE USE OF WHICH IS LICENSED BY KMS, TO ITS CUSTOMERS FOR THEIR USE ONLY, AS SET FORTH BELOW. - Page 15 BATHYMETRIC PROCESSING ATTRIBUTION: Bathymetric processing derived from DGA/GESMA publication in IEEE OCEAN'S 05 Europe Conference Proceedings: "Bathymetric Sidescan Sonar: a System Dedicated to Rapid Environment assessment, ref: 10.1109/OCEANSE.2005.1511695. EXPORT RESTRICTIONS: You agree that you will not export or re-export the Software or accompanying documentation (or any copies thereof) or any products utilizing the Software or such documentation in violation of any applicable laws or regulations of the United States or the country in which you obtained them.
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Page 16: Preface
Software, and may be amended only in a writing signed by both parties. Preface The HydroChart 5000 Sonar System is a portable, high speed hydrographic survey system comprising an over-the-side mounted sonar and a topside system. What’s in This Manual... -
Page 17: Note, Warning, Caution, And Shock Hazard Notices
xvii Note, Warning, Caution, and Shock Hazard Notices Where applicable, note, warning, caution, and shock hazard notices are included throughout this manual as follows: NOTE Recommendations or general information that is particular to the material being presented or a referral to another part of this manual or to another manual. -
Page 19: Chapter 1: Overview
CHAPTER 1: O VERVIEW The HydroChart 5000 Sonar System is a portable, high speed hydrographic survey system which has the ability to simultaneously collect IHO-quality bathymetry and co-registered, high resolution multibeam side scan sonar data. Equipment The HydroChart 5000 Sonar System equipment consists of an instrumented Sonar Head Unit, a Transceiver and Processing Unit (TPU) and a SonarPro Workstation, along with a deck cable and various interconnect cables. -
Page 20: Sonarpro Workstation
Sonar Head Unit and the TPU. Features The HydroChart 5000 Sonar System has the following features and capabilities: • High resolution multibeam side scan imagery • High resolution IHO-quality swath bathymetry • Co-registered geo-referenced swath bathymetry and side scan data •... -
Page 21: Surface Equipment
Most operator functions are accomplished through the use of the SonarPro Workstation which supports the PC based Windows operating system and runs SonarPro. SonarPro provides the operator interface to the HydroChart 5000 Sonar System. SonarPro is a comprehensive software package developed to support survey planning;... -
Page 22: Figure 1-1: Hydrochart 5000 Sonar System Topside System Main Components
CHAPTER 1 Overview Transceiver and Processing Unit (TPU) SonarPro Workstation Figure 1-1: HydroChart 5000 Sonar System Topside System Main Components HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 23: Technical Description
The interferometric bathymetry (also referred to as Phase Differencing) component of the HydroChart 5000 Sonar System is not a multibeam sonar and requires that speed and range settings be considered when operating the system for 100% bottom coverage. - Page 24 FSK trigger signals and power. The downlink signals are input to FSK demodulators, and the baseband outputs are routed to the Transmitter board, indicating when to fire the main array, and to a micro controller that handles the sonar configuration. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02...
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Page 25: Figure 1-3: Hydrochart 5000 Sonar System Sonar Head Unit Block Diagram
Control and Transmitter TVG Interface Multiplexer Multiplexer, Deck Cable Stbd Side Scan Transducer Array Receiver (starboard) ADC and to TPU Telemetry Sound Velocity SVP Cable Sensor to TPU (Optional) Figure 1-3: HydroChart 5000 Sonar System Sonar Head Unit Block Diagram... -
Page 26: Tpu
• 200V Power Supply board 11700098 • 200V Power Filter board 14104980 • Telemetry Interface board 14105841 • 12V Power Supply board 11700092 • 12V Power Filter board 14105397 • LED board 14105464 HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 27: Figure 1-5: Hydrochart 5000 Sonar System Tpu Electronics Block Diagram
Figure 1-5: HydroChart 5000 Sonar System TPU Electronics Block Diagram... -
Page 28: Figure 1-6: Hydrochart 5000 Sonar System Tpu Electronics Chassis
200V Power Filter board CPU board Demultiplexer 12V Power board Filter board 12V Power Supply board Topside Telemetry board 200V LED board Power Supply board Figure 1-6: HydroChart 5000 Sonar System TPU Electronics Chassis... - Page 29 1-11 Technical Description Assembled into a single rack mountable 2U enclosure, the TPU connects to the Sonar Head Unit. It also connects to the SonarPro Workstation over an Ethernet connection and to customer supplied equipment, such as a GPS and an acoustic positioning system.
- Page 30 The LED board contains all of the front panel LED indicators. It mounts directly to the back of the front panel and connects to the Demultiplexer board over a single cable. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02...
- Page 31 CHAPTER 2: S PECIFICATIONS This chapter includes the physical and performance specifications for the main components of the HydroChart 5000 Sonar System. The specifications are typical and subject to change without notice. Sonar System Deployment method: Over the side or hull mount...
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Page 32: Chapter 2 Specifications
CHAPTER 2 Specifications Topside System The main topside components of the HydroChart 5000 Sonar System are the Transceiver and Processing Unit (TPU) and the SonarPro Workstation. 2.2.1 System Power Requirements The system power requirements are 100–125 or 200–250 VAC, 50–60 Hz at 100 watts for the TPU and the Sonar Head Unit together. -
Page 33: Sonar Head Unit
Sonar Head Unit Sonar Head Unit 2.3.1 General Electronics boards: Modular 2.3.2 Transducers Type: Proprietary line array Vertical beam angle: 40° Depth limit: 200 m 2.3.3 Transmitter Type: CW and chirp Pulse width: 50 µs, 2 ms, 4 ms, 8 ms, 16 ms, and chirp 2.3.4 Receiver Type:... -
Page 34: Power
1.16 cm (0.455 in.) Breaking strength: 2270 kg (5000 lb) Working load: 454 kg (1000 lb) Operational length: 100 m maximum Voltage rating: 600 VDC Termination: Subconn underwater pigtail with locking sleeve HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 35: Options
2.6.2 Motion Reference Unit The HydroChart 5000 Sonar System can interface with a variety of third party motion reference units for correction and subsequent processing of bathymetric data. Both Ethernet and high speed serial interfaces are supported. -
Page 37: Unpacking And Inspection
Unpacking and Inspection The HydroChart 5000 Sonar System is shipped in multiple shipping containers. Before unpacking the containers, carefully inspect them for damage. If any damage is found, immediately contact Klein Marine Systems, Inc. or your KMS sales representative and report the damage to the freight carrier. -
Page 38: Unpacking The Sonarpro Workstation
Power Requirements The TPU and the SonarPro Workstation require 100–125 or 200–250 VAC, 50–60 Hz power to operate. The HydroChart 5000 Sonar System is designed to protect against over and under voltage and transient spikes. However, it is always best to check the power source carefully using a voltmeter or oscilloscope before operating the equipment. -
Page 39: Grounding
3.3.1 Grounding It is important that the HydroChart 5000 Sonar System be well grounded to minimize potential hazards to the operator and electrical interference from other equipment. A good ground for the system is a low impedance, well conducted path to sea water. -
Page 40: Figure 3-1: Sonar Head Unit Mounting Flange
FWD on the neck of the mounting flange as shown in Figure 3-2. An arrow label is also included. Figure 3-2: FWD and Arrow Labels on the Sonar Head Unit Mounting Flange HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 41: Figure 3-3: Sonar Head Unit Eye Rings And Handles
Sonar Head Unit Installation To install the Sonar Head Unit: Align the bolt hole patterns and secure the mounting flange to the pipe flange using stainless steel hardware. Be sure to maintain the long axis of the Sonar Head Unit parallel to the keel at all times. However, offsets can be corrected with a patch test as described in “Bathymetric System Calibration and Patch Test”... -
Page 42: Motion Reference Unit Installation
Use tie-wraps to secure the cable to the Sonar Head Unit. Motion Reference Unit Installation The HydroChart 5000 Sonar System is capable of interfacing with several industry-standard motion reference systems. These devices are critical to measuring vehicle motion and correcting for its effect on the bathymetric data. - Page 43 LAN connector TRIG A connector COM C (Motion Reference Unit) connector T/F TRIG connector COM B (Sound Velocity) connector AC INPUT connector TOWFISH connector NAV connector COM A (Debug) connector 1 PPS connector NOTE: Connectors that are not called out are not used or are for factory use only.
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Page 44: Sonarpro Workstation Connections
Sonar Head Unit or to the TPU electronics, or to both. For the location of the power switches, refer to “Topside System Controls and Indicators” on page 3-11. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 45: Figure 3-5: Sonarpro Workstation Back Panel
AC INPUT connector ON/OFF switch DVI connector ETHERNET connector (2) and circuit breaker USB connector (4) NOTE: Connectors that are not called out are not used or are available for optional use. Figure 3-5: SonarPro Workstation Back Panel... - Page 46 Connect the COM B (Sound Velocity) connector to the sound velocity sensor if installed on the Sonar Head Unit. Connect the COM C (Motion Reference Unit) connector to the motion reference unit if available. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02...
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Page 47: Topside System Controls And Indicators
3-11 Topside System Controls and Indicators Topside System Controls and Indicators The TPU and the SonarPro Workstation include controls and indicators on the front panels. The SonarPro Workstation also has its power switch on the back panel. 3.8.1 TPU Controls and Indicators All of the TPU controls and indicators are on the TPU front panel which is shown in Figure 3-6. - Page 48 TOWFISH indicators STATUS indicators POWER indicator POWER switch SYS READY indicator T/F POWER indicator NOTE: Indicators that are not called out are not used or are available for optional use. Figure 3-6: TPU Front Panel...
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Page 49: Sonarpro Workstation Controls And Indicators
3-13 Predeployment Test 3.8.2 SonarPro Workstation Controls and Indicators Most of the SonarPro Workstation controls and indicators are on the SonarPro Workstation front panel which is shown is Figure 3-7. Also shown is the location of the DVDRW optical drive. The SonarPro Workstation controls and indicators are the following: ON/OFF switch: Rocker switch/circuit breaker that switches AC... -
Page 50: Figure 3-7: Sonarpro Workstation Front Panel
HARD DRIVE ACTIVITY indicator ETHERNET indicator POWER ON indicator DVDRW optical drive RESET switch POWER switch USB connector (2) Figure 3-7: SonarPro Workstation Front Panel... -
Page 51: Bathymetric System Calibration And Patch Test
3-15 Bathymetric System Calibration and Patch Test CAUTION Serious damage to the Sonar Head Unit electronics may occur if the Sonar Head Unit is operated on deck for periods longer than fifteen minutes. Between periods of operation, let the sonar cool for fifteen minutes. -
Page 52: Static Position Offsets
10–20 degrees, for 200–300 meters. It may be possible to use a channel feature instead of a long sloping bottom. Speed for the test should be equal for both lines. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 53: Yaw Bias Test
3-17 Bathymetric System Calibration and Patch Test 3.10.4 Yaw Bias Test For the yaw bias test the objective is to determine azimuth offset error between the motion reference unit and the sonar arrays. For this test it is recommended that the survey vessel run two pairs of adjacent lines on reciprocal headings over a flat bottom with a prominent bathymetric feature, such as the edge of a ship channel. -
Page 55: Chapter 4: Equipment Maintenance
AINTENANCE This chapter provides instructions for equipment maintenance and includes guides for taking care of the HydroChart 5000 Sonar System on a daily, weekly, and long term basis. In addition, instructions are provided for disassembling and reassembling the Sonar Head Unit. -
Page 56: Weekly Maintenance Checklist
5. Follow the instructions in the manufacturer's manual for any necessary cleaning and maintenance of the SonarPro Workstation . HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 57: Disassembling And Reassembling The Sonar Head Unit
Disassembling and Reassembling the Sonar Head Unit Disassembling and Reassembling the Sonar Head Unit For troubleshooting purposes and for repair, it may be required to remove and replace major components of the Sonar Head Unit. Instructions are provided in the following pages for the disassembly of the Sonar Head Unit and the removal of the sonar electronics chassis. -
Page 58: Figure 4-2: Removing The Skid Plates From The Frame
6. Remove the six M6 x 12 mm Phillips head screws that secure the bottom of the fairing to the frame. Figure 4-3: Removing the Phillips Head Screws from the Bottom of the Fairing HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 59: Figure 4-4: Removing The Socket Head Cap Screws That Secure The Transducers To The
Disassembling and Reassembling the Sonar Head Unit 7. Using the 4-mm hex key, remove the twelve M5 x 20 mm socket head cap screws that secure each of the two transducers to Transducer (2) the frame. Figure 4-4: Removing the Socket Head Cap Screws that Secure the Transducers to the Frame 8. -
Page 60: Figure 4-6: Disconnecting The Cables From The Sonar Electronics End Cap
Altimeter cable should be present. The altimeter cable has a red Jumper cable band attached near the connector. Figure 4-7: Sonar Electronics Housing with all the Cables Disconnected HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 61: Figure 4-8: Removing The Altimeter Transducer From The Frame
Disassembling and Reassembling the Sonar Head Unit 10. If it is required to remove the altimeter transducer, use the 4-mm hex key to remove the two M5 x 20 mm socket head cap screws that secure it, and then let the transducer rest inside the frame temporarily. -
Page 62: Figure 4-10: Sliding The Sonar Electronics Housing Out Of The Frame
Sliding the Sonar Electronics Housing out of the Frame Skid plate (2) Transducer (2) Altimeter transducer and cable Frame Fairing (2 halves) Sonar electronics housing Figure 4-11: Sonar Head Unit Fully Disassembled HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 63: Figure 4-12: Tightening The Socket Head Cap Screws In The Electronics Housing
Disassembling and Reassembling the Sonar Head Unit To continue with the removal of the sonar electronics chassis: Connector end cap 14. Using the 4-mm hex key, tighten the two socket head cap screws in the electronics housing connector end cap. Socket head cap screw (2) Figure 4-12:... -
Page 64: Reassembling The Sonar Head Unit
2. Insert the chassis into the housing and align the locator pin in the end cap with the slot in the housing. 3. Push the connector end cap into the housing until it is fully seated. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... - Page 65 4-11 Disassembling and Reassembling the Sonar Head Unit 4. Loosen the two socket head screws in the connector end cap until the heads of the screws are flush with the outside surface of the housing. 5. If the altimeter transducer was removed, install it onto the frame and lay the cable along the inside of the frame...
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Page 66: Figure 4-17: Sonar Electronics Housing Connector End Cap Connectors
4-12 CHAPTER 4 Equipment Maintenance RX PORT TX PORT TX STBD RX STBD Figure 4-17: Sonar Electronics Housing Connector End Cap Connectors Figure 4-18: Sonar Head Unit Fully Assembled HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 67: Appendix A: General Setup, Configuration And Troubleshooting
ROUBLESHOOTING Included in this appendix are basic setup and configuration instructions along with other information useful for setting up and maintaining the HydroChart 5000 Sonar System. In addition, information is provided which can be helpful for system troubleshooting should problems occur, including instructions on how to verify operation of hardware components and transducers. -
Page 68: Basic System Requirements
SonarPro Disk1 folder and follow the directions carefully. Multiple versions of SonarPro can reside on the same computer. When installation is complete, verify that your startup.ini file or your vxWorks files are located directly in the klein directory HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 69: Figure A-1: Hydrochart 5000 Sonar System Basic System Setup Diagram
Installing SonarPro Sonar Head Unit Motion Reference Unit SonarPro Workstation Figure A-1: HydroChart 5000 Sonar System Basic System Setup Diagram... -
Page 70: Sonar Head Unit
To distinguish between the port and starboard transmitters, ground the oscilloscope probe to the Sonar Head Unit skin while searching near the middle of each transducer assembly for the signal. HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 71: Checking The Receivers Before Deployment
Sonar Head Unit To verify that the transmitters are working, run an oscilloscope probe with the scope tip in place along the transducer and see the transmit waveform as in the image in Figure A-3. If there is a problem with a transmitter, it will show up as a very weak transmit waveform. -
Page 72: Figure A-4: Image In Sonar Viewer Window During A Rub Test
L26.) +28 VDC is generated by a fourth switching regulator, which can be measured at TP25. Use TPGND8 for ground reference. A linear regulator generates 2.5 VDC from the 3.3 VDC source. This is indicated by green HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 73: Checking The Transmitter Board
Sonar Head Unit LED D9, and measurable at TP9. TPGND1 can be used for ground reference. A second linear regulator generates 1.2 VDC from the 3.3 VDC source. This is indicated by green LED D11, and can be measured at TP10. Some useful test points and waveforms are shown in Figure A-5. -
Page 74: Checking The Receiver Boards
A.4.8 Sonar Head Unit Power Supply Pinouts The Sonar Head Unit power supply pinouts are shown in Figure A-7 . +12 VDC +200 VDC -12 VDC Figure A-7: The Sonar Head Unit Power Supply Pinouts HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... -
Page 75: Spare Boards And Components
Spare Boards and Components A.5 Spare Boards and Components Listed in Table A-1 and Table A-2 are the recommended spare boards and components. In addition, refer to Appendix B "Drawings," for additional components and their part numbers. Table A-1: TPU Spares DESCRIPTION 14105785 Demultiplexer Board... -
Page 76: Figure A-8: Cable Pinouts
A-10 APPENDIX A General Setup, Configuration and Troubleshooting A.6 Cable Pinouts Figure A-8: Cable Pinouts A.7 NMEA 0183 Formats and Information HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02... - Page 77 A-11 NMEA 0183 Formats and Information...
- Page 78 A-12 APPENDIX A General Setup, Configuration and Troubleshooting HydroChart 5000 Sonar Operations and Maintenance Manual P/N 11210080, Rev. 02...
- Page 79 APPENDIX B: D RAWINGS Listed in Table B-1 are the drawings included in this appendix. Table B-1: List of Drawings DRAWING TITLE Outline Drawing, HydroChart 5000 14605080 Outline Drawing, TPU 14605912 Assembly Drawing, Deck Cable w/ 8-Pin Micro Connector 15100918...
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