External Sensor Requirements - Kongsberg EM 712 Maintenance Manual

Kongsberg EM 712 Maintenance Manual
Output datagram formats
The KMall format is described in it's own document.
See the Product support A to Z

External sensor requirements

The external sensors must fulfil these requirements to achieve the specified performance
for the EM 712 system.
Sensor accuracy
Velocitiy sensor accuracy requirements
• Velocity: 0.03 m/s RMS
• Roll, pitch and yaw rate: 0.03 deg/s RMS
• Latency: Maximum 5 ms
• Update rate: 100 Hz
Motion sensor accuracy requirements
The accuracy of the sensor data, as specified by the sensor manufacturer, must fulfil
(preferably surpass) the following requirements
• 0.02 degrees RMS
Roll:
– An accuracy of 0.05 degrees RMS can be accepted unless you have very long pulse
length and large beam angles.
• : 0.05 degrees RMS
Pitch
• :
Heading
– 0.1 degrees RMS for 0.5 ° TX transducer
– 0.2 degrees RMS for 1° TX transducer
– 0.4 degreesRMS for 2° TX transducer
• : 5 cm or 5% whichever is highest (real-time output)
Heave
Doppler shifts
All new generation of multibeam echo sounders from Kongsberg Maritime have an
extended range performance by use of a frequency modulated transmitter pulse (FM),
also called chirp pulse. In the FM mode, the Doppler shift made by the movements of the
survey vessel relative to the bottom, causes a range error. This error must be corrected.
The following motion sensors have specifications that fulfils Kongsberg Maritime
requirements for Doppler shift corrections.
• Kongsberg Maritime – Seapath series
• Applanix – Pos MV
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