Hi-Target iBoat BS2 User Manual
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Hi-Target iBoat BS2 User Manual

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BS2 USV User Manual
iBoat BS2 User Manual
Hi-Target Surveying Instrument Co., Ltd.
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Summary of Contents for Hi-Target iBoat BS2

  • Page 1 BS2 USV User Manual iBoat BS2 User Manual Hi-Target Surveying Instrument Co., Ltd. All Rights Reserved...
  • Page 2 BS2 USV User Manual Manual Revision Revision Date Revision Level Description iBoat BS2 User Manual 1.1 Version Nov., 2018...

  • Page 3: Preface

    Thank you for using the Hi-Target iBoat BS2 USV system. This introduction describes how to use the iBoat BS2 USV system Experience Requirement In order to help you use the Hi-Target iBoat BS2 USV system better, we suggest you carefully read the instructions. If you are unfamiliar with it, please refer to http://www.hi-target.com.cn/ Tips for Safe Use Notice: The contents here are special operations and need your special attention.
  • Page 4 BS2 USV User Manual Advice If you have any comments and suggestions for this product, please email info@hi-target.com.cn. Your feedback will help us to improve the product and service.

  • Page 5: Table Of Contents

    BS2 USV User Manual Contents Preface ......................... III Hardware Connection ....................3 Overall Operation Flow....................11 2.1 Power on Controller ................... 11 2.2 Switch on USV .................... 11 2.3 LAN IP Setting ..................... 11 2.4 Run Virtual Serial Port Software ............... 12 2.5 Setup GNSS Receiver by Hi-MAX .............
  • Page 6 GNSS navigation. More sensor equipment can be loaded to perform various surveying tasks. Accurate control of iBoat BS2 makes it easy to conduct ultra shallow and nearshore hydrographic survey, greatly improving the monitoring efficiency and accuracy, reducing the risk of monitoring staff working on water; And lightweight easy to carry.

  • Page 7: Hardware Connection

    BS2 USV User Manual Hardware Connection The complete view after all things are installed well: Data Transmission Antenna(900MHz) Controller High-Gain Dual Antenna(2.4GHz) Frequency Antenna Cellular Internet Antenna RTK Radio Antenna Port Figure 1-1 Complete view & antenna description...
  • Page 8 BS2 USV User Manual ADCP Port Power Switch Charging Port Figure 1-2 Port description Description of ashore station Ashore Station omni-direction Antenna Wireless Bridge Base Battery Figure 1-3 Ashore Base System Two network cables are needed. One is used for connecting the black battery and laptop (LAN Port ↔...
  • Page 9 BS2 USV User Manual Wireless bridge Ethernet port Connect with omni-direction antenna Figure 1-4 Wireless bridge connection Then the wireless bridge will transmit the signal to the shore-based omni-direction antenna, which equipped with magnetic base easy to be mounted on the meddle platform such as car roof.
  • Page 10 BS2 USV User Manual Charging Port Discharging Port LAN Port POE Port Figure 1-5 Base Battery and connection Power Switch Battery Indicator Figure 1-6 Working state of battery Power on the black battery (don’t forget it is a POE power supplier also), the screen indicates power and related information.
  • Page 11 BS2 USV User Manual Describing essential parts of the controller: Antenna SB Rod SC Rod Left Stick Right Stick Power Button Function Button Navigation Button Touch Screen USB Port...
  • Page 12 BS2 USV User Manual Handle Battery compartment Battery interface Figure 1-7 Description of functional parts Table 1.1 Specification of controller Working voltage 3.7V (lithium battery) ≤260 mA Working current Frequency 2.4GHz Display 3.5-inch touch color screen, 480*320...
  • Page 13 BS2 USV User Manual Auto Mode Manual Control Mode Hold Mode Fixed-speed Cruising Mode Hold Mode RTL Mode Figure 1-8 Description of SB and SC Rod There are 3 operational modes controlled by the Left Stick on the controller (marked as SB). From the top to the lowest they are Auto Mode, Manual Control Mode, Hold Mode.
  • Page 14 BS2 USV User Manual HOME: Function button, short press to return to standby interface. EXIT: Exit button, short press to return to superior interface; long press 2s to lock/unlock the screen. + : increase the parameter, switch the mode. - : increase the parameter, switch the mode. Figure 1-9 Description of functional button Manual control description Forward &...

  • Page 15: Overall Operation Flow

    BS2 USV User Manual Overall Operation Flow 2.1 Power on Controller Press the power button to switch on the controller. It will give the voice feedback during initialization. Push down the left control stick to manually confirm the system setup. Press the button Back if an alarm sounded by the controller, due to no operation had been done to it for a while.

  • Page 16: Run Virtual Serial Port Software

    BS2 USV User Manual 2.4 Run Virtual Serial Port Software Run installer USR-VCOM.exe and then run the program immediately. Add a new virtual serial ports as below. Figure2-4-1 Virtual serial port configuration Two Virtual Serial Port configuration as follows: Port function: GNSS connection Virtual COM: COM3(can be customized) Net Protocol: TCP Client Remote IP/Addr: 192.168.1.18...

  • Page 17: New Project

    BS2 USV User Manual Figure 2-5-1 Main interface of Hi-Max 2.5.1 New Project Figure 2-5-2 New project creating The project name is at the top of the project list once it had been created.

  • Page 18: Serial Port Debug

    BS2 USV User Manual 2.5.2 Serial Port Debug Figure 2-5-3 Serial port debug Click Connect GPS button Figure 2-5-4 GPS connecting Set the correct parameters and choose the right receiver type, click Connect.
  • Page 19 BS2 USV User Manual Figure 2-5-5 GPS information On the top of the window shows the expiry date of the GNSS receiver. Restart the receiver if a license is applied. Click SetRover Button. Figure 2-5-6 Rover setting Select the DataLink format. If there is the base station, choose the Built-in Radio mode. Click Setting and enter the channel number in the pop-up Radio Setting window.
  • Page 20 BS2 USV User Manual Figure 2-5-6 Radio setting If use CORS, select the Built-in Wireless mode. Figure 2-5-6 Built-in wireless Click Setting.
  • Page 21 BS2 USV User Manual Figure 2-5-7 Wireless setting Input corresponding IP address, port and so on, click Apply. Figure 2-5-8 Message setting The differential message selects RTCM3.0 and click Apply. The shipboard mobile station operation has been completed. Next step is data debug.
  • Page 22 BS2 USV User Manual Figure 2-5-9 Data debug In the Output Type option, select OFF and click Send button; The data in the left window will stop updating. Then send GGA (position statement) ZDA (time statement) RMC (magnetic declination) VTG (for low speed) four commands respectively and set each command frequency as 5HZ.

  • Page 23: Equipment Connection

    BS2 USV User Manual 2.5.3 Equipment Connection Figure 2-5-10 Equipment connection Choose the correct COM port, for example, COM3(for GNSS connection), choose GPS type as K10, keep baud rate as 19200, antenna type is 0.45m(example) and test if the signal can come in and printed.

  • Page 24: Usv Ground Control Software (Usv Gcs)

    BS2 USV User Manual 2.6 USV Ground Control Software (USV GCS) Figure 2-6-1 Main interface Enter the setting interface, set the Boat IP as 192.168.1.64 and the port set as 4000. You can check the box Auto Connect to save the configuration. Then click the Connect button to finish the communication with the boat.
  • Page 25 BS2 USV User Manual Figure 2-6-2 Connecting configuration When connected the boat, enter the Map interface. The left side of the main interface shows some detail information on the boat, like the attitude of the boat and the current operation mode. Descriptions about some key points: - AUTO: The current mode is an automatic cruise.
  • Page 26 BS2 USV User Manual Figure 2-6-3 Operation mode & CrusingSpeed description The setting of fixed-speed cruising: In Speed tab set the value and click Write button to change the speed of auto cruising. We recommend a speed value of 2m/s for automatically cruising. Every time the value is changed, you must click the Write button again so that the ship control...
  • Page 27 BS2 USV User Manual Figure 2-6-5 Polygon setting interface Firstly, right-click the mouse on the map, the menu will appear for you, click the Polygon settings, next select the Add Polygon options. The mark point can be labeled manually on the map. After selected, you can move the mouse to the point and modify its position.
  • Page 28 BS2 USV User Manual The software will automatically plan waypoints based on polygons. Then there will pop up a dialog for you to set the parameters about the angle, interval, of survey lines. Figure 2-6-7 Survey lines parameters setting → Then click Click Sent waypoints to the boat button Read waypoints from the boat button...
  • Page 29 BS2 USV User Manual Figure 2-6-8 Auto cruising When the auto-pilot tasks along the planned route are completed, the boat status in the left of the main interface will show HOLD. At this point, shake the mode switch button on the remote control, switch the mode to Manual, and control the boat manually to conduct guidance or other operations.
  • Page 30 BS2 USV User Manual Figure 2-6-9 RTL setting Another setting method of the single home point: Right click the mouse on the map, the Home settings will appear for you. You can set the current location of the mouse on the map as the home point, this is Current location Home option.

  • Page 31: Preparation For Surveying

    BS2 USV User Manual Figure 2-6-11 Add multiple return points 2.7 Preparation for Surveying After planning the route, open the Hi-max software. 2.7.1 Coordinate Parameters Configuration Input coordinate transformation parameters according to project requirements. Figure 2-7-1 Coordinate parameters configuration...

  • Page 32: Boat Shape Design

    BS2 USV User Manual Configure the local ellipsoid coordinate system, projection and transformation parameters etc; then click Save button and the set parameters will be saved in files. Then turn off the configuration window. 2.7.2 Boat Shape Design Figure 2-7-2 Boat shape design GPS antenna of BS2 is 8 cm ahead of transducer in horizontal position.

  • Page 33: Launch The Boat

    BS2 USV User Manual The user needs to enter the draft value, and the recommended value is 0.08m for BS2. Figure 2-7-4 Survey setting The RTK recording conditions can be selected in Survey on the title bar and the recording conditions are upward compatible.

  • Page 34: Surveying

    BS2 USV User Manual 2.9 Surveying Figure 2-9-1 Survey configuration Notice if the time, solution status, and water depth data in the Statusinfo bar are normal. The water depth data should be clean and no noisy wave in the display window. In most water conditions, there is no need to set AutoPower, AutoGain and AutoThre.

  • Page 35: Stop The Recording

    BS2 USV User Manual Figure 2-9-2 Survey Line setting Enter the Name in Set Survey Line Name window and start data recording. Open the iBoat GCS software, click Start, the boat starts to run and survey along planned routes, and the data are recorded simultaneously. 2.10 Stop the Recording If users want to stop the measurements, just click the Start button again to stop recording.
  • Page 36 BS2 USV User Manual Figure 2-12-1 Sampling interface Select surveyline in the File list bar and open it Figure 2-12-2 Sampling This chart is a depth map without simulative echo signals. To judge whether the water depth is true or false, users need to click on the ShowWave button and then combine digital and simulative echo signals to assist judgment.

  • Page 37: Data Correction

    BS2 USV User Manual Figure 2-12-3 True or false depth judging The red line is simulative echo signals, and the blue one is the digital water depth point. If these two match, the water depth is true and accurate. Then conduct the filtering. Hi-Max software provides three filtering methods.
  • Page 38 BS2 USV User Manual Figure 2-12-4 Correct interface With this function, it can be corrected even if the parameters configuration in earlier measurement are not correct. Among them, the Height Correct is more significant. - Delay correction The Delay Correct is a correction for GPS resolution and data transmission delay. The impact of time delay on bathymetric data can be reduced by Delay Correction.
  • Page 39 BS2 USV User Manual Enter the known Delay Time value or calculate the delay time by BaseCrossPoint method and BaseSection method. Check the sampling file and select the corresponding line name. Click Apply to correct the file. Acquisition of the time delay value: 1.
  • Page 40 BS2 USV User Manual with different colors for the non-fixed solution, and the fixed solution is a hollow circle. The original line is represented by a different color for different solution states. Velocity editing is used to solve the GPS slip problem. When the velocity is obviously skipped, the user only needs to manually adjust the velocity editing line.
  • Page 41 BS2 USV User Manual Figure 2-12-8 Depth+Velocity method Specific steps are as follows: (1) Import the velocity file, the file format is as follows: Figure 2-12-9 Velocity file The first column is depth, and the second column represents sound velocity. (2) The imported file will appear in the list:...
  • Page 42 BS2 USV User Manual Figure 2-12-10 Import velocity file (3) Input the Initial Velocity set during measurement, and click Get Correction Value to calculate the correction value of different sections according to the velocity of different depths: Figure 2-12-11 Get the correction value (4) Check the files to be corrected, and click Start Correct.

  • Page 43: Results View

    BS2 USV User Manual 2.12.3 Results View Figure 2-12-12 Export line Select one survey line, click Export to export the data format users need. Figure 2-12-13 Export format choosing Hi-MAX supports a variety of data format outputs, if users want to customize results, select one item in the left column, click the arrow sign pointing to the right, and this item will show up in the right column, it will be exported after.
  • Page 44 BS2 USV User Manual the left arrow sign pointing to lift to delete. Then select the export path, after confirming, click Export or choose ResultView Figure 2-12-14 Result view Select a proper interval for contour map. Select the contents that need to be displayed and the underwater topographic map above can be generated.
  • Page 45 BS2 USV User Manual Appendix 1 Table1 iBoat BS2 Item List Item Description BS2 Hull Propeller System Boat-borne Power Supply System Including charger System Including 900MHZ and Boat-borne Receiving 2400MHZ transmitting Antenna antenna Ground Control System(GCS) Software Dongle Hi-MAX Echo Sounder...
  • Page 46 BS2 USV User Manual High-gain Dual Frequency Antenna Positioning GNSS Antenna Cable Device Differential Antenna Extendable Pole Hull Packaging Aviation Case Case Controller case...

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