IMAGENEX 881L-GS Manual

Gyro stabilized multi-frequency imaging sonar

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MULTI-FREQUENCY IMAGING SONAR
APPLICATIONS:
ROV, AUV, & UUV
Manned Submersibles
Search & Recovery
Borehole/cave work
Drop sonar
Scientific Research
Gyro-stabilization of the Imagenex Model 881L-GS
makes the high resolution 881L sonar into a system capable
of crystal clear visualization of the ocean environment from
moving platforms, no longer compromised by the blurring
effects of host vehicle rotation. An advanced, low drift gyro is
integrated directly into the sonar head, so the sonar can now
compensate for vehicle motion in real time with
unprecedented accuracy, stability, and robustness.
The enhanced capabilities of the 881L-GS have not
compromised the performance of the 881L sonar. Using
Ethernet communications, this all-in-one, high performance
digital imaging sonar can still exceed 100 shots per second
on short range at up to 2 mm range resolution, and can
auto-adjust acoustic frequency and resolution to scan up to
a 200 m radius, 360° surrounding area.
The Model 881L-GS still has low power, simple set-
up, and small size that make it an ideal tool for large work
ROV's and small inspection vehicles. On it's own it is now an
amazingly simple drop sonar and borehole inspection
package: just add a laptop computer and power supply and
run the included Imagenex software.
Specifications subject to
change without notice
IMAGENEX MODEL 881L-GS
GYRO STABILIZED
www.imagenex.com
445-092
NOVEMBER 2013-REVISED MAY 2017
FEATURES:
• Ethernet
• Programmable (format available)
• Gyro stabilized transducer steering
• Simple set-up and installation
• Full scale range from 1 m to 200 m
• Orientation module
881L-GS Imaging
Copyright © 2013 - 2019
Imagenex Technology Corp.

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Summary of Contents for IMAGENEX 881L-GS

  • Page 1 200 m radius, 360° surrounding area. The Model 881L-GS still has low power, simple set- up, and small size that make it an ideal tool for large work ROV’s and small inspection vehicles. On it’s own it is now an...
  • Page 2 1000 m unit: 1.8 kg (4 lbs) 3000 m unit: TBA In Water 1000 m unit: TBA 3000 m unit: TBA MATERIALS 1000 m unit: 6061-T6 Aluminum & Polyurethane 3000 m unit: Titanium, Polyurethane & 300 series stainless steel FINISH Hard Anodize 881L-GS Imaging 445-092 www.imagenex.com...
  • Page 3 IP Address* Option -020 Gyro Stabilization Option -048 *Note: Standard IP Address is 192.168.0.5 A different IP Address may be specified upon ordering. Product and company names listed are trademarks or trade names of their respective companies. 881L-GS Imaging 445-092 www.imagenex.com...
  • Page 4 IMAGENEX TECHNOLOGY CORP. Model 881L-GS Gyro Stabilized Scanning Sonar (Ethernet Version) Quick Start Number 430 - 030 Revision Date Description April 21, 2014 Initial Preliminary Release May 6, 2014 Release October 17, 2014 Software update January 21, 2015 Added auto bias, and auto file size...
  • Page 5: Table Of Contents

    Communications................................14 Appendix B – Troubleshooting Communications.....................................16 Table of Figures Figure 2.1: Unstabilized Image..........................................3 Figure 2.2: Stabilized Image...........................................4 Figure 2.3: 881L-GS External View........................................5 Figure 2.4: Options Menu............................................6 Figure 2.5: Standard 881L-GS Display........................................7 Figure 2.6: Acquire Target button has been selected....................................9 Figure 2.7: Target has been selected........................................10...
  • Page 6: Introduction

    Getting Started: The 881L-GS was designed to be user friendly and simple to set up in the field. It is generally recommended however to perform a preliminary setup before heading out into the field.
  • Page 7: Gyro Calibration

    2.2.1 Automatic Gyro Calibration Imagenex Gyro enabled scanning sonars now incorporate an automatic gyro biasing feature which is selectable in the user program. This mode continuously re-bias's the gyro in real time accommodating for temperature fluctuations and internal drift. Refer to Table 2.1 on page 6 for details on enabling / disabling this mode.
  • Page 8: Overview

    While traditional scanning sonars provide excellent imagery, they have a significant short coming...they rely on the sonar being perfectly still during data acquisition. Imagenex has developed the ideal solution...the 881L-GS. Figure 2.1, below, shows a non stabilized image taken while the sonar was spinning. Note the wavy lines. Now refer to the same area scanned with Gyro stabilization enabled (Figure 2.2).
  • Page 9: Figure 2.2: Stabilized Image

    Model 881L-GS Setup Guide 2.3 Overview Figure 2.2: Stabilized Image Document Number: 430-030-03 Page 4 of 16...
  • Page 10: Hardware

    2.4 Hardware 2.4 Hardware Figure 2.3: 881L-GS External View Figure 2.3, above, indicates the 881L-GS in the “Transducer Up” orientation. FRAGILE Transducer End. . This area MUST be exposed to the water with no obstruction. Do not mount sonar using this area.
  • Page 11: Software

    After installing the “Win881AL.exe” program (generally “C:\Program Files (x86)\Imagenex”), load the program by double-clicking on its icon. The program, which supports the 881A, 881L, 881A-GS, 881L-GS, 882A, and 882L will need to be told which sonar type is being connected. Choose 881L-GS from: “System =>...
  • Page 12: Figure 2.5: Standard 881L-Gs Display

    Model 881L-GS Setup Guide 2.5 Software Figure 2.5: Standard 881L-GS Display Document Number: 430-030-03 Page 7 of 16...
  • Page 13: Acquire Target

    Table 2.2: Main Display 2.5.1 Acquire Target The 881L-GS has the ability to select a target of interest, and automatically centre and scan that target on screen. The procedure is as follows. 1. Ensure the gyro is enabled and in “Target Steering” mode.
  • Page 14: Figure 2.6: Acquire Target Button Has Been Selected

    Model 881L-GS Setup Guide 2.5.1 Acquire Target Selection Cursor Figure 2.6: Acquire Target button has been selected In Figure 2.6, above, the “Acquire Target” was selected and the mouse cursor changed to . In this example, the target of interest is positioned under the target cursor.
  • Page 15: Figure 2.7: Target Has Been Selected

    Model 881L-GS Setup Guide 2.5.1 Acquire Target Figure 2.7: Target has been selected In Figure 2.7, above, the desired target from Figure 2.6 was selected. The screen automatically centred the target within a sector and rotated the sector to the top of the screen. The sonar will now scan the sector with the centred target.
  • Page 16: Latitude Adjustment And Compass Declination

    Model 881L-GS Setup Guide 2.5.2 Latitude Adjustment and Compass Declination 2.5.2 Latitude Adjustment and Compass Declination The geographical local latitude compensates for drift caused by the Earth's rotation. To set the latitude of the current location, open the file “Win881AL.ini” in a text editor and edit the lines: Local Latitude=49.250000 →...
  • Page 17: Appendix A - Ethernet Setup Guide

    Model 881L-GS Setup Guide Appendix A – Ethernet Setup Guide Appendix A – Ethernet Setup Guide The Imagenex Model 881L-GS sonar system consists of an underwater sonar head connected via Ethernet directly (or indirectly) to a Windows © based computer.
  • Page 18: Figure A.1: Local Area Connection Properties Dialogue Box

    Model 881L-GS Setup Guide A1. Configuration of Windows XP Ethernet Communications Figure A.1: Local Area Connection Properties Dialogue Box 3. Select Internet Protocol (TCP/IP) and select “Properties” Figure A.2: TCP/IP Priorities Dialogue Box 4. Enter the information shown above in Figure A.2 and click “OK” to accept the changes.
  • Page 19: A2. Configuration Of Windows 7 Ethernet Communications

    Now your computer is on the same “Network” as the sonar head. When starting the “Win881AL.exe” program, the IP address stored in the “881L-GS.INI” file is read and a connection will be established. The sonar head has a statically assigned IP Address of 192.168.0.2. Enter this number in the menu item “Setup ->...
  • Page 20: Figure A.4: Windows 7 - Network Connections

    Model 881L-GS Setup Guide A2. Configuration of Windows 7 Ethernet Communications Figure A.4: Windows 7 - Network Connections 4. Right-click on “Local Area Connection” and select “Properties”. Figure A.5: Windows 7 - Local Area Connection Properties 5. Select “Internet Protocol Version 4 (TCP/IPv4)” and select “Properties”.
  • Page 21: Appendix B - Troubleshooting Communications

    Model 881L-GS Setup Guide Appendix B – Troubleshooting Communications Appendix B – Troubleshooting Communications Disable any network bridges that are present  A network bridge allows a separate port, such as “USB”, or “Firewire” to piggyback the Ethernet connection. ...
  • Page 22 6. Future Expansion 7. Video Frame - if video is available from a connected USB frame grabber, the video frame is written to the file after the current ping data Imagenex 81R Raw Sonar Data File Format.doc Page 1 of 11...
  • Page 23 1-byte unsigned value short 2-byte signed value (LSB,MSB) WORD 2-byte unsigned value (LSB,MSB) 4-byte signed value (LSB,MDL,MDH,MSB) DWORD 4-byte unsigned value (LSB,MDL,MDH,MSB) float 4-byte single precision floating point value (LSB,MDL,MDH,MSB) Imagenex 81R Raw Sonar Data File Format.doc Page 2 of 11...
  • Page 24 83 - 86 Device List length - 1024 DWORD 87 - 90 Byte offset to Raw Sonar Data - 2048 DWORD 91 - 94 Raw Sonar Data length - variable DWORD Imagenex 81R Raw Sonar Data File Format.doc Page 3 of 11...
  • Page 25 Local Latitude (-90 South to +90 North in decimal degrees) float 391 - 394 Compass Declination (-180 to +180 in decimal degrees) float 395 - 1023 Reserved - always 0 (629 bytes) BYTE Imagenex 81R Raw Sonar Data File Format.doc Page 4 of 11...
  • Page 26 Note: information in this section is not required and may be zero filled. Each connected device contains the following 64-byte structure: Byte Description Format 0 - 15 Device Name (16 bytes) i.e. "881L-GS Sonar" plus zero fill ASCII 16 - 19 Transfer Speed (bits per second) DWORD 20 - 23...
  • Page 27 Position" (Bytes 35-36) of the Sonar Return Header. Please refer to document "425-050-01 - 881L - GS Ethernet Specifcation.pdf" for detailed information about the Sonar Return Data format for the Model 881L-GS sonar head. --------------------------------------------------------------------------------------------------------------------- Imagenex 81R Raw Sonar Data File Format.doc...
  • Page 28 5-6) of the Sonar Return Header. Please refer to document "425-051-03 - 881A - gyro Serial Specifcation.pdf" for detailed information about the Sonar Return Data format for the Model 881A-GS sonar head. --------------------------------------------------------------------------------------------------------------------- Imagenex 81R Raw Sonar Data File Format.doc Page 7 of 11...
  • Page 29 Position" (Bytes 35-36) of the Sonar Return Header. Please refer to document "425-xxx-xx - 882L - GS Ethernet Specifcation.pdf" for detailed information about the Sonar Return Data format for the Model 882L sonar head. --------------------------------------------------------------------------------------------------------------------- Imagenex 81R Raw Sonar Data File Format.doc Page 8 of 11...
  • Page 30 5-6) of the Sonar Return Header. Please refer to document "425-054-0C - 882A - Serial Specifcation.pdf" for detailed information about the Sonar Return Data format for the 882A sonar head. --------------------------------------------------------------------------------------------------------------------- Imagenex 81R Raw Sonar Data File Format.doc Page 9 of 11...
  • Page 31 Byte offset to External Sensors, (Ping Header, Bytes 103-106) = 0 External Sensor length, (Ping Header, Bytes 107-110) = 0 Section 6: Future Expansion This section is reserved for future use. Imagenex 81R Raw Sonar Data File Format.doc Page 10 of 11...
  • Page 32 58 - 60 Pixel 1 - Blue, Green, Red BYTE Video Frame Pixel N (ImageWidth x ImageHeight - 1) - Blue, Green, Red BYTE Filesize-3 (upper-right corner of image) Imagenex 81R Raw Sonar Data File Format.doc Page 11 of 11...
  • Page 33 Imagenex Technology Corp. IMAGENEX MODEL 881L with GYRO STABLIZED Option MULTI-FREQUENCY DIGITAL SONAR HEAD Imager / Profiler ETHERNET INTERFACE SPECIFICATION Version 2.0 Document Number 425-050 Revision Date Description November 13, 2013 New Format November 13, 2013 Added ReBias Gyro January 16, 2014...
  • Page 34 Imagenex Technology Corp ©2014 OVERVIEW The Model 881L Digital Sonar Head communicates over an Ethernet communications link. To receive echo data, a command program must interrogate the sonar head by sending a Switch Data Command. All Ethernet communications are via TCP/IP at 10Mbps. When the Switch Data command is accepted, the sonar head transmits, receives and sends its return data back to the command program.
  • Page 35 Imagenex Technology Corp ©2014 Bytes 4-5 Sonar Command Byte 4 Byte 5 Function Transponder Mode (Not Implemented) Positive External Trigger Control Enable External Trigger Control Disable transmitter Disable TVG curve Reverse Step Direction Calibrate sonar head transducer Reserved Reserved Reserved...
  • Page 36 Imagenex Technology Corp ©2014 Byte 8 Data Format ASCII 'B' Header = 256Bytes • Data Bits = 8 • Data Points = 500 • N = 750 • ASCII 'O' (Not Implimented) Header = 256Bytes • Data Bits = 8 •...
  • Page 37 Imagenex Technology Corp ©2014 Byte 18 Gain (dB) 0 to 40dB in 1dB increments Byte 19 Reserved Always 0 Bytes 20-21 Absorption (two-way) absorption in dB/m * 1000 0.000dB/m to 3.000dB/m Freq Byte 0.000 dB/m 0x00 0x00 675kHz 0.39 dB/m...
  • Page 38 Imagenex Technology Corp ©2014 Byte 27 Step Size 0 to 8 in 0.3 Degree increments i.e. 0 = No Step 1 = 0.3 Degrees/Step 2 = 0.6 Degrees/Step 3 = 0.9 Degrees/Step 4 = 1.2 Degrees/Step 8 = 2.4 Degrees/Step...
  • Page 39 Imagenex Technology Corp ©2014 SONAR RETURN DATA Every shot, the head returns a 256 Byte header, 0, 500 or 1000 points of echo data. The total number of bytes (N) returned will be 256, 756 or 1256. Byte # Description...
  • Page 40 Imagenex Technology Corp ©2014 BYTE DESCRIPTIONS Note: All Byte values are shown in decimal unless noted with a '0x' prefix. N = total number of return bytes Byte 0 - 2 Imagenex Return Data Header ASCII 'IBX', 'IOX', 'IPX' 'I' = 0x49, 'B' = 0x42, 'O' = 0x4F, 'P' = 0x50, 'X' = 0x58...
  • Page 41 Imagenex Technology Corp ©2014 Bytes 13-14 Status Byte 13 Byte 14 Function Range Setting error Pulse Length Setting error Gain Setting error Frequency Setting error Reserved Reserved Gyro Calibrating 7 -0 Transmit occurred after 2s timeout (no trigger found) 7 -1...
  • Page 42 Imagenex Technology Corp ©2014 Byte 24 - 25 Profile Range First digitized range value above threshold in sample units Prof Rng (LO), Prof Rng (HI) Byte 24 Byte 25 Profile Range (LO) Profile Range (HI) Note: sample units = 2mm (if range < 5m) sample units = 10mm (if range >= 5m)
  • Page 43 Imagenex Technology Corp ©2014 Bytes 37 - 38 Sonar Position Angular position of the physical unit Byte 37 Byte 38 Sonar Pos (LO) Sonar Pos (HI) Sonar Pos (LO), Sonar Pos (HI) Sonar Pos Low Byte = Byte 37 Sonar Pos High Byte = Byte 38 Sonar Position = ( Sonar Pos High Byte<<8) | Sonar Pos Low Byte...
  • Page 44 Imagenex Technology Corp ©2014 Byte 44 - 45 Magnetic Heading Byte 44 Byte 45 Magnetic Heading (LO) Magnetic Heading (HI) if Byte 45 - Bit 7 = 0: Heading = [((Byte 45 << 8) | Byte 44)] * 360/65536 in degrees if Byte 45 - Bit 7 = 1: Heading = [((Byte 45 <<...
  • Page 45 Imagenex Technology Corp ©2014 INFORMATION REQUEST PACKET The sonar heads accept a status request packet format which returns sonar information. The 10 byte Information Request Packet has a header of 0x55 and 0xAA. Byte # Description Reserved Reserved Reserved Reserved...
  • Page 46 Imagenex Technology Corp ©2014 Section 2: Device Lists (length = 768 bytes) Each connected device contains a 128-byte structure (Device #1 is special for Sonar): Device #1 – Sonar Head Byte Description Format 0 - 31 Device Name (32 bytes)
  • Page 47 Imagenex Technology Corp ©2014 Bytes 120-123 Packet Version Support Byte 120 Byte 121 Byte 122 Byte 123 Function Header 256Bytes • Data Bits = 8 • Data Points = 500 • N = 756 • Header 256Bytes • Data Bits = 8 •...
  • Page 48 SUBCONN MCIL8F BLK #18 -VIN -VIN RED #18 +VIN GRN/WHT +VIN ORG/WHT WHT/BLK RED/BLK 50ft CAT.5e UTP 2ft Whip 6 Conductor Cable Ethernet Cable IMAGENEX TECHNOLOGY CORP. Model 881L Test Cable Title: 881-200-187 Document Number: Date: Jan 11, 2006 Sheet...

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