Sonardyne UM-8041-C1 System Manual
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Sonardyne UM-8041-C1 System Manual

Radian motion sensor
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Head Office
Sonardyne International Limited
Blackbushe Business Park
Yateley, Hampshire
GU46 6GD United Kingdom
UM-8041-C1
System Manual for
Radian Motion Sensor
T. +44 (0) 1252 872288
F. +44 (0) 1252 876100
E. support@sonardyne.com
www.sonardyne.com
QUALITY
MANAGEMENT
CERTIFIED

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Summary of Contents for Sonardyne UM-8041-C1

  • Page 1 UM-8041-C1 System Manual for Radian Motion Sensor Head Office T. +44 (0) 1252 872288 Sonardyne International Limited F. +44 (0) 1252 876100 Blackbushe Business Park QUALITY E. support@sonardyne.com MANAGEMENT Yateley, Hampshire CERTIFIED www.sonardyne.com GU46 6GD United Kingdom...

  • Page 2: Table Of Contents

    Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Table of Contents Table of Contents ..............i List of Figures .
  • Page 3 User Manual © Sonardyne International Limited 2007 4 Installation ..............12 Introduction .

  • Page 4: List Of Figures

    Radian AHRS instrument ........... 8 Fig 3 Standard interface tail – Sonardyne part number 8041-051 ......9 Fig 4 Cable for use with NCU transceiver port –...

  • Page 5: List Of Tables

    Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 List of Tables Table 1 Document information ..........v Table 2 Document history .

  • Page 6: Document Information

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Document Information Table 1 Document information Document Title—Radian Motion Sensor Document Reference ISSUE ISSUE DATE UM-8041-000 A - Rev 1 1 Nov 2006...

  • Page 7: About This Manual

    The manual also includes a more conventional index and table of contents. If required, you can print any part of the manual. However, you cannot select, copy, or change any part of it. Copyright in this manual remains with Sonardyne International Limited at all times.

  • Page 8: Who Should Read This Manual

    If necessary, contact Sonardyne International Limited to check whether you have manual the latest revision of the manual, or to request printed copies. The document ref- erence number for this manual is UM-8041-C1 and this is issue C - Rev 1. 1.3 Navigating the manual ®...

  • Page 9: Slider Control

    Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Click on the Previous View or the Next View button to go back- wards or forwards through the sequence of pages you have already viewed.

  • Page 10: Radian Overview

    Embedded high-performance processing ensures Radian can continue to deliver high output rates, even in dynamic environments. Radian is fully compatible with Sonardyne’s sub-sea positioning systems.

  • Page 11: Depth Rating

    Radian supports communication through serial RS232 or RS485 communica- tions. Software supplied by Sonardyne allows you to view Radian’s measurements in real time, and to send measurements for use by external receiving systems. Refer to section 4 “Installation” beginning on page 12 for instructions to connect Radian to receive power and to transmit measurements.

  • Page 12: Magnetic Fields

    Protect Radian from electrostatic discharges and shield it from any sources of ra- diation in use on the vehicle. 2.4 Specifications Radian’s specifications are subject to Sonardyne’s policy of continual product improvement and may change without prior notice. Refer to Sonardyne for details of current specifications where necessary. Communication Table 3...

  • Page 13: Performance

    Faulty units will be repaired free of charge, provided they are delivered at the owner’s or user’s expense to Sonardyne or to any of its agents, and providing all recommendations with regard to operation and user servicing have been followed.

  • Page 14: Quick Start Guide

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 3 Quick Start Guide In this section… This section contains the following sub-sections: 3.1 “Introduction” beginning on page 8. 3.2 “Description of Supplied Parts” beginning on page 8.

  • Page 15: Cables

    Radian’s installation location. Cables Sonardyne supply a standard interface tail for the Radian unit, which has a water- proof connector for mating to Radian’s multiway port. This tail is Sonardyne part number 8041–051 and is shown in Fig 3. Radian requires connection to a DC power supply in the range 18V to 50V, and to a serial communications port.

  • Page 16: Cable For Use With Ncu Transceiver Port - Sonardyne Part Number 8041-050

    User Manual © Sonardyne International Limited 2007 Sonardyne can supply an optional cable that allows Radian to be powered from the auxiliary transceiver port on a Navigation Control Unit (NCU). This cable is Sonardyne part number 8041–050 as shown in Fig 4.

  • Page 17: Power Supply Requirements

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Electrical Radian requires connection to a DC power supply in the range 18V to 50V, and Connections to external receiving equipment. If you are connecting Radian directly to a Navigation Control Unit (NCU), use cable part number 8041–050.

  • Page 18: Installation

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 4 Installation In this section… This section contains the following sub-sections: 4.1 “Introduction” beginning on page 12. 4.2 “Installation Location” beginning on page 12.

  • Page 19: Alignment

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 4.3 Alignment Fig 5 Radian’s orientation requirements Radian delivers measurements of attitude that are valid for its own body reference frame. This means that its measurements of heading, roll and pitch will all relate to the FWD, UP and STBD axes marked by labels on Radian’s housing.

  • Page 20: Installation Drawing

    Fig 6 Dimensioned installation drawing drawing 4.4 Site Preparation You must use four M5 screws or bolts with shakeproof and plain washers to se- cure Radian at the location you have chosen for it. Sonardyne does not supply these fixings.

  • Page 21: Procedure

    Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Procedure Follow the steps below to prepare the Radian mounting location: 1. Identify the location to be used to mount Radian and the orientation to use.
  • Page 22 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Use the lubricant sparingly—it is sufficient to apply a bead about half the size of a match head to each half of the connector before mating them.

  • Page 23: Operation

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 5 Operation In this section… This section contains the following sub-sections: 5.1 “Introduction” beginning on page 17. 5.2 “Power-on Radian” beginning on page 17.

  • Page 24: Procedure

    A splash screen is displayed, showing the software version number and the build date. You will require this information if you need to call on technical support from Sonardyne. The splash screen closes automatically after a short period, and the initial software dialog is displayed.

  • Page 25: Initial Radian Tool Dialog With No Connection

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 9 Initial Radian Tool dialog with no connection Connecting Select the communication port connected to Radian from the Port drop-down list.

  • Page 26: Settings Dialog

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 10 Radian tool with an active connection Click Device Settings to display the Settings dialog. Settings screen Fig 11 Settings dialog...
  • Page 27 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Radian has two mutually exclusive modes of operation. Once set, Radian will op- erate in the same mode on each power-up. These modes of operation are: Binary mode.
  • Page 28 Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Telegram mode Fig 13 Radian Tool dialog showing the Telegram Mode tab If you used the Device Settings dialog described above to select Telegram Mode, the Telegram Mode tab will be available on the Radian Tool dialog and will show the string outputs you have selected.

  • Page 29: Settings Dialog With Display Mode Selected

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 14 Settings dialog with Display Mode selected Note The Display Mode allows you to use the Compass and the 3D View graph- ical displays, described below.

  • Page 30: Advanced Settings Dialog

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Advanced settings Select Options > Advanced settings from the menu bar to display the Advanced Settings dialog. Fig 16 Advanced Settings dialog This dialog has two main regions: Device Settings—This region allows you to set the filter, sampling and...
  • Page 31 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Note There is usually no need to adjust the Advanced Settings. Do not do so un- less you are entirely familiar with the effect your new settings will have on Radian’s operation.

  • Page 32: Graphical Displays

    Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 5.4 Graphical displays The Radian software has two graphical display screens that you can use. These are available only when you have set Radian to its Display Mode, as described on page 23.

  • Page 33: Attitude Display In North-Up Mode

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 19 Attitude display in North-up mode 3D attitude display Fig 20 3D Attitude display options Radian’s 3D Attitude display shows a graphical representation of the ROV on which you have installed Radian, animated to show the changes in heading, roll and pitch angles.

  • Page 34: Communication Failure

    Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 This display may be useful to visualise how the vehicle is moving, but it does not present the actual measurements of attitude to you. If you intend to use the 3D Attitude display, you should have the Attitude Display open at the same time.

  • Page 35: Magnetic Calibration

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 6 Magnetic Calibration In this section… This section contains the following sub-sections: 6.1 “Introduction” beginning on page 29. 6.2 “Calibration” beginning on page 29.

  • Page 36: Magfield Mapper Program

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 22 MagField Mapper program 4. Set the baud rate to the preferred rate 115200. 5. Click Scan. MagField Mapper scans to find Radian.
  • Page 37 Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 24 Select Mapping Mode screen 8. Select 2D Mapping mode and select Show graphical representation of re- sults. 9. Click Start to begin recording measurements.
  • Page 38 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 26 Typical MagField Calibration Report screen The software will inform you if there is insufficient data or if the data is noisy. If this happens, you must re-start the calibration.

  • Page 39: Troubleshooting

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Fig 27 Results screen 14. Click Exit to close the MagField Mapper program. 15. Restart the Radian Tool software. 16. Check for correct operation of Radian, because the MagField Mapper pro- gram can leave Radian in a bad state.

  • Page 40: Data Output Formats

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 7 Data Output Formats In this section… This section contains the following sub-sections: 7.1 “Introduction” beginning on page 34. 7.2 “Industry Standard Formats” beginning on page 34.

  • Page 41: Tss2

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 TSS2 Fig 29 TSS2 data format :DDDDDSMHHHHQMRRRRSMPPPPE<cr><lf> Description This format is sometimes called the TSS HHPR2 format. It is a proprietary data string that contains 27 characters in four data fields.

  • Page 42: Nmea 0183 Data Formats

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 7.3 NMEA 0183 Data Formats $PRDID format Fig 30 NMEA 0183 $PRDID data format $PRDID,PPP.PP,RRR.RR,hhh.hh<cr><lf> Description This proprietary telegram from RDI includes roll, pitch and heading information.

  • Page 43: Hchdm Format

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 The heading field will be null if it cannot be calculated. Heading measurements are in degrees and decimals. $HCHDM format Fig 32 NMEA 0183 $HCHDM data format $HCHDM,xxx.xx,M*hh<cr><lf>...

  • Page 44: Maintenance

    Radian is a sealed depth-rated product that contains no user-serviceable parts. You must not open the housing for any reason. If you believe Radian has developed a fault, return it to Sonardyne for reapir, with covering documentation. Always use proper packaging to transport the unit. Refer to section 2.6 “Contact Details”...

  • Page 45: Index

    Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 Index alignment axes applications cables 5, 29 calibration results communication compatibility compensation table configuration initial settings data formats NMEA HCHDG NMEA HCHDM...
  • Page 46 Document Ref: UM-8041-C1 Radian Motion Sensor Issue: C - Rev 1 User Manual © Sonardyne International Limited 2007 NMEA HCHDG format NMEA HCHDM format NMEA PHTRO format NMEA PRDID format operation power-off power-on software preparation for installation radiation RS232 RS485...

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