NORBIT WBMS User And Technical Manual page 106

10.4 EIVA Setup for WBMS, iWBMS, iWBMSh & iWBMSe
The WBMS GUI Version 10 Hotfix requires that Force Push be enabled in the WBMS GUI
Connection settings in order to receive data in EIVA. Refer to section
its functionality.
General instructions are provided for integrating NORBIT sensors in EIVA. For sensors not supplied
by NORBIT, additional integration steps may be required which are not explained here. The setup
examples used in this section assume that an iWBMS, iWBMSh, or iWBMSe was installed in a
standard configuration.
Note that the EIVA sign convention uses +Up. This is not the same as the integrated Applanix
systems within NORBIT sonars. Incorrect entry of the sign may corrupt data.
The Applanix Ethernet groups required by EIVA are automatically configured on integrated NORBIT
systems, thus no action is required. The required groups are: 1, 3, 7, 10, 12, 20, 102,
104, 111 and 113.
Offsets
By default, integrated NORBIT systems output all sonar and navigation data at the WBMS Reference
Point (refer to the
same identical offset, that is the offset from Center of Rotation to WBMS Reference Point, assuming
the CoR is chosen as the EIVA reference point. If the optional iLiDAR is installed, this offset must
be separately measured and applied.
⚠
About the COR: The COR, for larger commercial vessels, is documented in the vessel design plans.
For other vessels, this point at which the vessel's roll and pitch axes intersect need to be determined.
This is difficult to measure as the vessel CoR may change from day to day, and even during the day.
Generally, choose a CoR location that is about ¾ distance from bow to stern, centered on the keel,
and located at approximately water level. Especially for smaller vessels, the CoR moves depending
on fuel stowage and even distribution of personnel body weight. For example, two persons sitting
on the starboard rail of a 6m craft will move the CoR from the keel centerline a distance towards the
starboard rail. Choose a location and attempt to keep the weight distribution constant throughout the
survey. If in doubt, take the boat to open water and measure its motion while passing over waves in
different directions.
This example configuration places the INS reference at the sonar reference, i.e. the INS was
configured to output values to the sonar reference location. If users want to base bathymetric
measurements referenced to the water level, the only other offset required is a water level correction.
This allows application of tide station water level corrections if required. The water level correction
involves translating the CoR up/down to the water level and confirmed by a bar check.
10.4.3 User Manual
Firmware: 5.2.1
Offsets section for more details). Therefore, each sensor in EIVA requires the
CAUTION: For Integrated Systems, Sonar and INS Share Same Offset
Offsets from CoR are required if the INS is setup as recommended in this
manual. Referencing data to the CoR reduces heave inaccuracies by
replacing the heave data with attitude-induced lever arm corrections.
Contents
4.6.5 for more information on
April 17, 2020
Page 106 of 142