iXBlue Rovins Technical Description
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iXBlue Rovins Technical Description

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  • Page 1 Rovins Technical Description...
  • Page 3 Rovins - Technical Description Revision History Edition Date Comments 07/2019 Creation 03/2020 Navigation data & settling time chapters updated MU-ROVINSTD-AN-001-B - March 2020...
  • Page 4 In no event shall iXblue be liable for any consequential or incidental damages, including but not limited to loss of business profits or any commercial damages, arising out of the use of this product.
  • Page 5 > Technical specifications > Certification and qualification, life cycle > Mechanical, electrical and communication interface description ● Rovins Installation & Setup Guide (ref.: MU-ROVINSISG-AN-001) > Conventions > Physical and electrical installation > Connecting to the Web-Based Graphical User Interface > Setup the Rovins >...
  • Page 6 Rovins Technical Description ● Application Note - Installation and Configuration of AHRS and INS for Seabed Mapping Measurements (ref.: MU-HEAVAPN-AN-001) > Using heave compensation on seabed mapping > Effect of vessel transient movements MU-ROVINSTD-AN-001-B - March 2020...
  • Page 7 The Rovins Technical Description is divided into several parts: ● Part 1: Rovins Description This part contains the description of the main product parts and the presentation of iXblue technology. ● Part 2: Technical Specification This part gives details on the technical specifications, the certification, qualifications and the life cycle.
  • Page 8 Rovins Technical Description Abbreviations and Acronyms Accelerometer EGNOS European Geo-stationary Navigation Overlay Service Galileo European Satellite Navigation System GLONASS Global Navigation Satellite System (operated by the Russian Space Forces) GNSS Global Navigation Satellite System Global Positioning System (operated by the United States Depart-...

  • Page 9: Table Of Contents

    Rovins - Technical Description Table of Contents OVINS ESCRIPTION BLUE TECHNOLOGY OVINS ATA AVAILABILITY XTERNAL SENSORS ECHNICAL PECIFICATION ERFORMANCE PREREQUISITES QUIPMENT YNAMIC ANGE XTERNAL ENSORS AVIGATION NPUT UTPUT OWER UPPLY XPORT IMITATIONS ETTLING UALIFICATIONS 2.10 YCLE 2.10.1 Packaging, Handling, Storage, Transportation requirements 2.10.2...
  • Page 10 Rovins Technical Description ONTROL OMMAND MU-ROVINSTD-AN-001-B - March 2020...

  • Page 11: Rovins Description

    FOG. It is a high end design made to reach the highest spectrum of gyroscope performances. It has demonstrated superior reliability and navigation performance over many years and thousands of units.
  • Page 12 Rovins Technical Description Dedicated signal processing allows conversion of the information on optical phase, (carrying Description information on rotation), into a digital signal useable by a computer. The difference of transit time is proportional to the product of the rotation rate and the area A enclosed by the coil (calculated as the diameter of the coil multiplied by the number of times the fiber is wound around the coil).

  • Page 13: Rovins Data Availability

    (COG) of the subsea vehicle. When this is done, Rovins will compute heave at the COG and add the heave induced by lever arms from the COG to external monitoring points. For more details refer to Rovins Installation & Setup Guide .

  • Page 14: External Sensors

    As soon as external information is back, the system will use it. Rovins also integrates a rejection filter that will prevent inconsistent data to be sent to the Kalman Filter.

  • Page 15: Technical Specification

    Log sensor must only be used outside of harbors. During harbor maneuvers erroneous EM Log data could be sent to Rovins, e.g., while working tug boats produce strong local currents over the EM Log sensor, and these erroneous inputs would adversely affect Rovins performance.

  • Page 16: Equipment Data Dynamic Range

    Linear Acceleration ± 15 g (1) Depth and altitude data are encoded a single “z” information. Depth being from surface to seabed, altitude being from surface to sky. Note: altitude from seabed is not handled by Rovins. External Sensors External Sensors...

  • Page 17: Navigation Data

    Rovins - Technical Description Navigation Data GPS or USBL or LBL EM Log No aiding & DVL (Bottom Track mode) Position (Latitude and Longitude) accuracy 2 to 3 times better than 0.1 % (CEP50) of 2 Nm/8 h (TRMS) 0.15 m after 1 min...

  • Page 18: Input / Output

    Rovins Technical Description Input / Output Baud rate 600 bauds to 460 kbauds Data output rate 0.1 Hz to 200 Hz Data input rate Up to 5 Hz (1 Hz recommended) < 100 µs Time stamping accuracy 200 Hz update rate for attitude data (Heading, roll, pitch, surge, sway).

  • Page 19: Export Limitations

    Rovins - Technical Description Export Limitations Rovins is a dual use product and is thus submitted to export limitations on the provided data, and to export restrictions to some countries. Limitations Rotation rate resolution 3.6°/h Acceleration resolution 1 mg Heading, Roll, Pitch resolution 0.001°...

  • Page 20: Settling Time

    DP (Dynamic Position). This alignment can also to be aided by a speed sensor (DVL instead). Rovins coarse alignment must be performed with position information (GNSS or manual position with ZUPT “Manual Position”).
  • Page 21 Rovins - Technical Description Static At sea (GNSS, USBL, LBL, ZUPT) (USBL or LBL & EM Log or DVL) Data availability 5 min 5 min Roll/Pitch 0.01° RMS 5 min 5 min Heading 0.1° RMS 35 min 25 min Heading 0,04° seclat RMS 45 min* (*) At a speed of 3 kt and including a heading change of at least 90°...

  • Page 22: Qualifications

    Rovins Technical Description Qualifications Temperature ISO 8728:2014(E) Operating -20°C to +55°C ISO1638:2014(E) -40 °C to + 80 °C Transport and Storage (7 cycles of 24h with steps at -40°c and 80°C) Vibration ISO 8728:2014(E) 5-40Hz Vibration in operating ISO1638:2014(E) 0.51g sinus max...

  • Page 23: 2.10 Life Cycle

    100,000 hours (System observed) ● 500,000 hours (FOG + Accelerometers) End-of-life When the product reaches the end of its life, it must be returned to iXblue where it will be sent product to a treatment facility appropriated to WEEE. management...

  • Page 24: Mechanical Description

    Construction: Titanium Mechanical Alignment The Rovins base plate is designed with two holes for alignment of Rovins axis X2 with a reference direction on the matching adaptation plate fixed onboard. For mechanical and installation recommendations, refer to Rovins Installation & Setup Guide.
  • Page 25 Tél.: +33 1 30 08 98 88 Ce document est la propriété de IXBLUE et ne peut être reproduit ou transmis sans son autorisation écrite. Echelle This document is the property of IXBLUE and shall not be reproduced nor transmitted without written approval.

  • Page 26: Electrical Interface Description

    Overview of electrical interface It is very important to screw the product connectors tight. You might feel resistance, make sure they are tightly screwed otherwise the sealing is not guaranteed. Figure 3 - Rovins connector panel The connector types are the following ●...

  • Page 27: Listing Of Interfaces

    DVL (i.e., to allow the DVL to ping at chosen time) The I/O port configuration is done through embedded Rovins Web- Based Graphical User Interface accessible via PC web browser or through a third party system interface via a control command link.

  • Page 28: Ethernet Connector Specification

    ● Interface Library (Ref.: MU-ROVINSIL-AN-001) Do not use both the Ethernet link and the serial one to configure Rovins in the same time. The use of the supplied power supply converter should be restricted to situations where the mains power supply is stable and filtered out. In particular, it is not recommended for use outside land grid, on board a vehicle.

  • Page 29: Connector & Pin Out

    Figure 4 - Ethernet connector pin definition (*) Rovins and Ext sensor 1 (resp.2) power lines are insulated from each other. Ext sensor 1 (resp. 2) pins of every connector are linked together. If Ext sensor 1 (resp. 2) is powered from 19-pin connector this voltage will be present on 26-pin and 12-pin connectors.

  • Page 30: Port A&B Connector (Central Connector) Specifications

    2 different power supplies (Ext sensor 1 Out (+V1) and Ext sensor 2 Out (+V2)) for powering external sensors Do not use both the Ethernet link and the serial one to configure Rovins in the same time. The use of the supplied power supply converter should be restricted to situations where the mains power supply is stable and filtered out.

  • Page 31: Connector And Pinout

    Rovins central connector is configured as shown in the following figure. Figure 5 - Central connector (*) Rovins and Ext sensor 1 (resp.2) power lines are isolated from each other. Ext sensor 1 (resp. 2) pins are linked together. If Ext sensor 1 (resp. 2) is powered from 19 pin connector this voltage will be present on 26 pin and 12 pin connectors.

  • Page 32: Portx (Xbeing C, D, Or E) Connector Specifications

    Rovins. These inputs/outputs are user-configurable through the embedded Web-Based Graphical User Interface, refer to Rovins Installation & Setup Guide for details on Rovins configuration with this Web-Based Graphical User Interface. The Port X (for C, D and E) connector provides the following inputs and outputs: ●...

  • Page 33: Connector And Pinout

    Rovins Port X connector is configured as shown in the following figure. Figure 6 - Central connector (*) Rovins and Ext sensor 1 (resp.2) power lines are isolated from each other. Ext sensor 1 (resp. 2) pins are linked together. If Ext sensor 1 (resp. 2) is powered from 19 pin connector this voltage will be present on 26 pin and 12 pin connectors.

  • Page 34: Rovins Power Network

    Rovins. The principle is to use a single cable/connector between ROV control unit/bottle and Rovins. This cable would have to handle three power supplies:Rovins, External Sensor 1 and External Sensor 2. The two last are wired to satellite connectors to power individually each external sensor.

  • Page 35: Recommended Wiring

    Rovins Technical Description Recommended Wiring The recommended wiring with Shielded Twisted Pairs for RS232 (Output and Input), RS422 (Output and Input), and Pulse (Output and Input) cables are described hereafter. Important If you do not use shielded multi-twisted pairs, you may encounter cross-talk problems between input and output, and this may give error or dysfunction.
  • Page 36 Rovins - Technical Description Figure 10 - Description of bi-directional RS232 Output wiring (Port A example) Figure 11 - Description of the RS422 Output wiring with a Shielded Twisted Pair (Port A example) Figure 12 - Description of the RS422 Input wiring with a Shielded Twisted Pair (Port A example)
  • Page 37 Rovins Technical Description Figure 13 - Description of the Pulse Output wiring with a Shielded Twisted Pair (Pulse A example) Figure 14 - Description of the Pulse Input wiring with a Shielded Twisted Pair (Port A example) Figure 15 - Description of the Ethernet wiring with Shielded Twisted Pairs...
  • Page 38 Rovins - Technical Description Example of cabling with a multi twisted pair MacArtney ref. 4622 MU-ROVINSTD-AN-001-B - March 2020...

  • Page 39: Rs232/Rs422 Input And Output Characteristics

    Rovins Technical Description RS232/RS422 Input and Output Characteristics Each RS232 and RS422 input and output is based on a separate MAX3160 driver powered by its own DC/DC converter and isolated from each other and from the internal digital power by an ISO7220AD isolator.

  • Page 40: Input Pulses Electrical Characteristics

    Rovins - Technical Description Input Pulses Electrical Characteristics Following table details input pulse characteristics: Table 3 - Input Pulse Electrical Characteristics Symbol Unit Input pulse width μs Low to High transition voltage High to Low transition voltage Input voltage - 0.5...

  • Page 41: 4.10 Output Pulses Electrical Characteristics

    Rovins Technical Description 4.10 Output Pulses Electrical Characteristics Following table details output pulse characteristics: Table 4 - Output Pulse Electrical Characteristics Symbol Unit Output voltage at logic Output voltage at logic high Output current IOUT MU-ROVINSTD-AN-001-B - March 2020...

  • Page 42: Communication Interface Description

    5 serial links ● Electrical level (RS-232 or RS-422) can be configured independently for each of the 5 serial links Rovins is able to receive and transmit data through a 10/100 Mbits/s Ethernet link: ● TCP/IP and UDP protocols are available ●...

  • Page 43: Software Interfaces And Library

    To get details on protocols, please refer to Rovins Interface Library. System configuration and operation can be performed either through the Web-Based Graphical User Interface (refer to Rovins Operation Guide ) or with text control command (refer to Rovins Interface Library).

  • Page 44: Web-Based Graphical User Interface

    Rovins - Technical Description Web-Based Graphical User Interface Rovins is delivered with iXblue established Web-Based Graphical User Interface. It runs either on a workstation or on a laptop and allows system configuration. The embedded Web-Based Graphical User Interface has been optimized and qualified with PC running Windows 10 operating system on the Firefox version ESR 45 and Chrome version 61 browsers.
  • Page 45 > Software reset > User position fix > Software activation / deactivation of external sensor > Data display (including all navigation and quality check data) Refer to Rovins Interface Library to get details on the control commands. MU-ROVINSTD-AN-001-B - March 2020...
  • Page 46 Rovins - Technical Description iXblue CONTACT - SUPPORT For non-URGENT support: ● by email: support@ixblue.com ● using the form on the iXblue web site www.ixblue.com For 24/7 URGENT SUPPORT: ● North America / NORAM +1 617 861 4589 ● Europe Middle-East Africa Latin-America / EMEA-LATAM +33 1 30 08 98 98 ●...

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