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Sonardyne Lodestar AHRS Operation Manual

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Head Office
Sonardyne International Limited
Blackbushe Business Park
Yateley, Hampshire
GU46 6GD United Kingdom
Lodestar AHRS
Operation Manual
UM-8084-107
Lodestar AHRS Operation
Manual
T. +44 (0) 1252 872288
F. +44 (0) 1252 876100
E.
support@sonardyne.com
www.sonardyne.com
Document Ref: UM-8084-107-A6
Issue: A – Rev 6
© Sonardyne International Limited 2013
1

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  • Page 1 Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 UM-8084-107 Lodestar AHRS Operation Manual Head Office Sonardyne International Limited T. +44 (0) 1252 872288 Blackbushe Business Park F. +44 (0) 1252 876100 Yateley, Hampshire support@sonardyne.com...

  • Page 2: Document History

    All rights reserved. No part of this document shall be reproduced, stored in a retrieval system or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise, or translated into any language without the written permission of Sonardyne International Limited.

  • Page 3: Table Of Contents

    Tables ..............................5 U.S. Department of Commerce License..................6 Lodestar AHRS Operation Manual ....................6 Introduction ..........................6 What is the Lodestar AHRS? ..................... 6 Output and Alignment ........................7 Lodestar Output and Alignment ....................7 Installation Preparation ......................... 13 Installation Preparation ......................

  • Page 4: Figures

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Figures Figure 1 – Lodestar Reference Frame ....................7 Figure 2 – Lodestar Mounting Angle Gamma (Heading) Example ............9 Figure 3 – Lodestar Mounting Angle Beta (Pitch) Example ..............9 Figure 4 –...

  • Page 5: Tables

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Tables Table 1 – Lodestar ports to Software tab mapping ................26 Table 2 – Analogue Port output options ....................30 Table 3 – PPS Input Ports ........................32...

  • Page 6: U.s. Department Of Commerce License

    This Installation Manual is intended to accompany the Lodestar training courses run by Sonardyne International Limited, but it can also be used in isolation or as a source of reference information. It has been written primarily as a guide for field engineers who have been given the task of installing either a surface or a sub-sea Lodestar AHRS on board a vehicle.

  • Page 7: Output And Alignment

    In a typical installation, the Lodestar may not be perfectly aligned to the installation vehicle reference frame. In certain scenarios, this misalignment may not need to be corrected within the Lodestar, such as when using Sonardyne’s CASIUS procedure which will calibrate external sensors used for USBL...
  • Page 8 Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Detailed explanations of the effect of misalignment are described in Appendix B. Methods for measuring fine misalignments of the Lodestar are described in Appendix C.

  • Page 9: Figure 2 - Lodestar Mounting Angle Gamma (Heading) Example

    Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Figure 2 – Lodestar Mounting Angle Gamma (Heading) Example Figure 3 – Lodestar Mounting Angle Beta (Pitch) Example Figure 4 – Lodestar Mounting Angle Alpha (Roll) Example...

  • Page 10: Figure 5 - Example Rov Mounting Of Subsea Lodestar

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Large In some cases, the Lodestar may be mounted with a large misalignment, e.g. horizontally. Mounting Angles In the example shown in Figure 5 the Lodestar is to be mounted horizontally on an ROV.

  • Page 11: Figure 6 - Lodestar Heave Definition

    Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Heave, Surge The heave, or vertical motion of the vehicle in the Earth up direction, is determined by the double integration of the vertical acceleration. A high pass filter...
  • Page 12 Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Remote As with remote heave output the Lodestar can support other measurement outputs for remote points for selected telegrams. Outputs A remote point can be specified as offset distances and angular misalignments with respect to the centre of the vehicle reference frame (CRP) in the following order.

  • Page 13: Installation Preparation

    1 × Drilling te m pla te CPN 998-0137 1 × Laminated quick start guide sheet 1 × Ins ta lla tion dis k with L odestar Configuration Software and manuals CPN 620-7214 The following items are required to help configure the Lodestar AHRS: Configuration requirements •...
  • Page 14 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 set manually. The process for configuring the Latitude is described later in this document. GPS Offset The GPS offset is the distance from the centre of the reference frame to the phase centre of the GPS antenna.

  • Page 15: Installation And Physical Configuration

    This Installation Manual is intended to accompany the Lodestar training courses run by Sonardyne International Limited, but it can also be used in isolation or as a source of reference information. It has been written primarily as a guide for field engineers who have been given the task of installing either a surface or a subsea version of the Lodestar AHRS on board a vessel.

  • Page 16: Figure 8 - Typical Installation Of The Subsea Lodestar

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Subsea Figure 8 shows an example of a typical installation for the subsea Lodestar. Lodestar Figure 8 – Typical Installation of the subsea Lodestar In the example shown: •...

  • Page 17: Installation

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Installation Important: The unit must be secured. • A Surface Lodestar must be connected to Earth. • The Lodestar mounting bracket has reference dowels to make sure the Lodestar Physical mounting position is repeatable.

  • Page 18: Configuration Using Lodestar Pc Utility

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Configuration using Lodestar PC Utility Installation and Connection 1. Close all applications running on the PC and insert the Lodestar Software CD Installation into the CD/DVD drive.

  • Page 19: System

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 System Once a physical connection has been made it is necessary to tell the PC Utility to Connect to communicate with Lodestar; see Figure 9.

  • Page 20: Figure 11 - Lodestar Ethernet Connection Settings

    Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Figure 11 – Lodestar Ethernet Connection Settings Note: - Before proceeding make sure the Lodestar has been running for at least 1 minute before trying to connect via the configuration software. This allows time for the Lodestar to start...
  • Page 21 Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Note: - If the status indicator remains red and the Lodestar configuration is not updated the software was unable to connect to the Lodestar. Check the Lodestar is powered, all cables are connected to the correct ports and the settings entered on the ‘configure connection’...

  • Page 22: Gyro-Compass

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Gyro-Compass Select the Gyro-Compass tab on the Configuration Software. Default It is essential to set the default Latitude if Lodestar is operated without a GPS input.

  • Page 23: Figure 14 - Automatic Gps Compensation Panel

    Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Now click on the GPS tab. Configure the GPS port to be the port the GPS is connected to which in this case was T1. Enter the offsets from the vessel CRP to the GPS antenna and press apply to send the changes to Lodestar.

  • Page 24: Offsets

    Lodestar is in operation as an AHRS device. When any changes are applied the user will be prompted to reset the Lodestar AHRS algorithm and it will be several minutes before the Lodestar output is settled.
  • Page 25 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Guidance on Further information on Lodestar offsets, angles and frames can be found in section 3 on page 7 of this manual. If a copy of the manual is not available, the user can...

  • Page 26: Console, C1, C2, E1, T1 And T2 Ports

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Console, C1, C2, E1, T1 and T2 Ports The settings for each Lodestar port are available by selecting the appropriate tab in Port and the main C application window as listed below.

  • Page 27: Figure 19 - Output Message Table

    ‘Remote Point’ column. After selecting the Remote Point the appropriate offsets and angles are displayed in the table. Lodestar output messages are described in Lodestar AHRS Messages UM-8084- 109 specification. If this message is to be output with respect to the vehicle CRP, leave ‘None’...

  • Page 28: Ethernet And Ethernet (E1) Ports

    Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Ethernet and Ethernet (E1) Ports These tabs allow the user to set the data format, update rate and communication parameters for the Lodestar’s Ethernet output ports.

  • Page 29: Figure 21 - Ethernet Output Message Table

    ‘Remote Point’ column. After selecting the Remote Point the appropriate offsets and angles are displayed in the table. Lodestar output messages are described in the Lodestar AHRS Messages UM- 8084-109 specification. If this message is to be output with respect to the vehicle CRP, leave ‘None’...

  • Page 30: Analogue Output Tab

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Analogue Output Tab This tab allows the configuration of analogue outputs from the Lodestar. Analogue The output for each pin in the analogue port can be configured on the analogue port tab, as shown in Figure 22.

  • Page 31: Time

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Time This tab allows configuration of Lodestar’s time settings. Time and The time and date configured in the Lodestar is displayed in the ‘Clock Settings’ panel on the Time tab, see Figure 23.

  • Page 32: Figure 25 - Pps Port Panel

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 The GPZDA input (if available) can be checked by clicking ‘Test ZDA receipt’ as shown in Figure 24. PPS Port If the PPS input is available and is not already connected to Lodestar, connect it now.

  • Page 33: Output Check

    Checks The ‘Terminal’ tab will be displaying the output from the Lodestar, which in this case is the Sonardyne proprietary SON1 telegram. The last character of each received message is a status flag that indicates the type of GPS compensation...

  • Page 34: Figure 27 - Terminal Check Of Gps Compensation

    Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Figure 27 – Terminal check of GPS compensation The status flag should be ‘A’ indicating the Lodestar is receiving full GPS compensation and is also fully settled. Descriptions of all possible states are listed below: An upper case character indicates the Lodestar is settled whereas a lower case character indicates the unit is still settling.

  • Page 35: File Transfer

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 6.10 File Transfer The File Transfer tab allows data to be retrieved from the Lodestar’s internal SD card. Lodestar Files can be transferred from the Lodestar’s SD card to PC using either a Ethernet (E1 or C2 Connection on older units) or a serial port connection (C1).

  • Page 36: Figure 30 - Lodestar Ethernet Port 4000 Configuration

    Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Once the connection has been established, navigate to the E1 tab and ensure multiplex is disabled, refer to figures 30 and 31. Apply changes and wait for progress bar to complete prior to navigation to a new tab.

  • Page 37: Figure 33 - Lodestar C1 Port Configuration

    Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Once the connection has been established, navigate to the C1 tab and set the baud rate to 115200 and disable multiplex, refer to figure 33. Apply changes and wait for progress bar to complete prior to navigation to a new tab.

  • Page 38: Figure 35 - Logfile Upload

    Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 The destination folder link will appear in Local PC Settings once the folder is chosen. Expand the folders .. and LoggedData by clicking on the cross within Lodestar SD Card Explorer, refer to figure 35.

  • Page 39: Alarms

    The Lodestar also sends an alarm message if the threshold is not exceeded anymore, to be acknowledged and counter acknowledged in the same manner The alarm and acknowledgement formats are described in the Lodestar AHRS Messages UM-8084-109 specification. An alarm message will be generated by the Lodestar for the following events or...

  • Page 40: Appendix A - Lodestar Angle Definitions

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Appendix A - Lodestar Angle Definitions Euler angles The “Tate Bryan” rotations given hereafter are commonly and henceforward referred to as the Euler angles even though they are formally just a specific (Tate Bryan sequence of a larger set of possible Euler angle rotation sequences.

  • Page 41: Appendix B - Effect Of Misalignment Errors

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Appendix B - Effect of Misalignment Errors Effects of error It is important to note that Lodestar measures heading, roll and pitch in its own IMU body frame.

  • Page 42: Appendix C - Fine Alignment Methods

    Fine alignment There are several methods that can be used to complete a fine alignment between the Lodestar AHRS and the vessel. These all rely on adjusting the alignment angles in software, the adjustments are too fine to rely on making physical changes to the Lodestar’s mounting angle.

  • Page 43: Figure 37 - Port Or Shore-Based Alignment

    These measurements allow a close estimation of the vessel’s heading. This information is compared with a log of heading data taken from the Lodestar AHRS on the vessel, which is averaged over the relevant period. This comparison then allows...

  • Page 44: Figure 38 - Heading Alignment At Sea

    Document Ref: UM-8084-107-A6 Lodestar AHRS Issue: A – Rev 6 Operation Manual © Sonardyne International Limited 2013 Heading This method relies on two GPS antennas placed on the vessel’s centre line at the alignment at bow and the stern. It is most effective when performed in sheltered waters where there is a good quality differential GPS service available.

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