Related Manuals for Kongsberg Seapath 130-R Series
Summary of Contents for Kongsberg Seapath 130-R Series
- Page 1 Operator Manual Seapath® 130-R series Compact GNSS aided Inertial Navigation System Kongsberg Maritime ID: 110-0051868/C...
- Page 3 Seapath 130-R series Compact GNSS aided Inertial Navigation System Operator manual Kongsberg Maritime ID: 110-0051868/C M340-54/3.0 Kongsberg Discovery AS June 2024 ©...
- Page 4 Kongsberg Discovery AS. Kongsberg Discovery AS endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omissions.
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Page 5: Table Of Contents
Operator manual Table of contents ABOUT THIS MANUAL ............7 About this manual....................7 SEAPATH 130–R .............. 8 Product description....................8 System diagram ......................9 System units......................11 2.3.1 Seapath 130 sensor unit description............11 2.3.2 MGC description ..................11 2.3.3 Spider cable description................12 Network security ....................12 Support information....................13 GETTING STARTED ............ - Page 6 Seapath 130-R series 5.1.5 Data quality status..................31 5.1.6 Events ..................... 32 5.1.7 Application menu..................33 Display views .......................33 5.2.1 Sky view ....................33 5.2.2 DGNSS view ................... 35 5.2.3 Integrity view ..................36 5.2.4 Compass view ..................38 5.2.5 Motion data view ..................
- Page 7 Operator manual 7.5.5 All data quality indicators are red.............. 55 7.5.6 Pos/Vel indicator is red................55 7.5.7 Pos/Vel indicator is yellow................ 56 7.5.8 Heave and Roll/Pitch indicators are red ............. 56 7.5.9 Heave and Roll/Pitch indicators are yellow ..........56 7.5.10 Heading indicator is red................
- Page 8 Seapath 130-R series M340-54/3.0...
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Page 9: About This Manual
License information Export of the MGC R2, MGC R3 or MGC R4 component requires an export license. Registered trademarks ® Seapath is a registered trademark of Kongsberg Discovery AS in Norway and the People’s Republic of China. M340-54/3.0... -
Page 10: Seapath 130-R
Seapath 130-R series 2 Seapath 130–R Product description The Seapath 130 is developed specifically for hydrographic surveying where high precision heading, position, roll, pitch, heave and timing are critical measurements. The product combines state-of-the-art dual frequency GNSS receivers (GPS/GLO/GAL/BDS), inertial technology and processing algorithms in a compact and portable package. -
Page 11: System Diagram
Seapath 130–R With latest Seapath software the typical position drift for MGC R2, MGC R3 and MGC R4 after GNSS droupout is shown in the plot below: Figure 1 Typical position drift in meters after GNSS dropout in minutes The product has three configurable RS-232/422 serial lines and Ethernet for output of motion data and NMEA messages to the multibeam and survey computer. - Page 12 Seapath 130-R series Main units Sensor unit with 1 meter cable with male connector Mounting bracket Seapath operator software installed on a PC (not part of the delivery) MGC in subsea bottle Cables Cable to the sensor unit, part of the spider cable, 20 meter length with female connector MGC umbilical cable with 8–pin SeaCon connector, 15 meter length...
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Page 13: System Units
The sensor unit runs the navigation software. This software combines the GNSS signal and the inertial measurements to determine accurate position, heading, attitude and heave signal. This software utilises Kongsberg Discovery AS advanced true multi- reference algorithms for real-time parallel processing of all available correction signals. -
Page 14: Spider Cable Description
For this reason, we can not accept responsibility for network security. Systems provided by Kongsberg Discovery AS are regarded as stand-alone offline systems, even though they may be connected to a network for sensor interfaces and/or data distribution. -
Page 15: Support Information
Seapath 130–R Note Kongsberg Discovery AS will not accept any responsibility for errors and/or damages caused by unauthorized use or access to the product. Support information • : Kongsberg Discovery AS, Seatex Company name • : Havnegata 9, 7010 Trondheim, Norway Address •... -
Page 16: Getting Started
Seapath 130-R series 3 Getting started Starting and stopping the Seapath operator software 3.1.1 Starting the Seapath operator software Start the Seapath operator software to be able to operate the Seapath system. There are two ways to start the operator software. -
Page 17: Operational Principles
Getting started Procedure Select the menu System →Restart →Sensor unit The message This will reboot the sensor unit. Are you sure? appears. Select to confirm. Operational principles The system starts automatically after power on and is operated through the Seapath operator software application installed on an external PC. -
Page 18: Browsing Or Switching Display Views
Seapath 130-R series Select either to open the dialog Configuration Engineering Change system mode box. Type the password and select . The password is not case sensitive. You are now able to carry out changes and/or set system parameters. With keyboard commands directly from the display... -
Page 19: User Preference Procedures
Getting started User preference procedures 3.4.1 Selecting colour palette for display You can adjust the brightness and the colours of the display to suit you current light conditions. Menu selection In the menu, select the display mode which best View suits your current operation: •... - Page 20 Seapath 130-R series Procedure Select the menu, System to open the →Operator SW Operator software configuration dialog box. Select the View tab. Select which view you want for View 1, View 2 and View 3 from the drop-down lists. Select to store the settings.
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Page 21: Operational Procedures
Operational procedures 4 Operational procedures The sensor unit starts automatically after power on and it is operated through the operator software installed on an external PC. The operator software is used for performance monitoring, configuration and system troubleshooting. Normally, the sensor unit outputs signals on the serial lines and Ethernet ports without any involvement from the user. -
Page 22: Acknowledging Events
Seapath 130-R series Select the menu, to open the System →NAVEngine →Standard NAV Engine dialog box. Configuration Select the node →Heave config Select from the list. Hydrographic survey General purpose Options Type the parameter you observed in the Data Viewer. Allowed value between Period 1 and 25 seconds. -
Page 23: Exporting System Data With Data Export Tool
Operational procedures Or you can select the to open the and view all events. Even list button Event list Select the Event severity symbol in the list to acknowledge an event. Or you can select the menu to acknowledge all events. Alarm →Ackn. -
Page 24: Exporting System Data With Ftp (File Transfer Protocol)
Seapath 130-R series Select which data you want to export and if you want to split the output file into smaller files. Select to start exporting data. Export A progress bar will appear on the screen. Exit the tool when the logging session is finished. -
Page 25: Post Processing Of Raw Data
Seapath can output raw GNSS and IMU data for post-processing with Field Geospatial’s TerraPos. It is recommended to log the data on Kongsberg Discovery K-Controller system or on another connected logging system. Alternatively, the data can be logged internally in the Seapath system. -
Page 26: Post Processing Of Raw Data In Terrapos
After you have logged the raw dat< you can process these data using TerraPos position and attitude post-processing software. Prerequisites Contact Kongsberg Discovery AS by email: seatex.sales@kd.kongsberg.com and request the TerraPos software and license. Context The TerraPos software integrates satellite positioning and inertial sensors for a full six degrees of freedom solution. - Page 27 • Install the software using the standard options • Open the TerraPos application and select Tools →License Tool →Copy fingerprint • Send the fingerprint to the Kongsberg Discovery AS sales office. You will now receive a file by mail. • Select Tools →License Tool →Update softkey...
- Page 28 Seapath 130-R series • Select if you want to or if you want to Apply new input Keep old input • Select • Type a TerraPos project name M340-54/3.0...
- Page 29 Operational procedures • In , select the directory where you have stored the Seapath raw data directory Seapath raw data on format Post-processing 1 • Select data format, Export format • Select datum, . If you do not select anything here, the default Transformation datum is ITRF.
- Page 30 Seapath 130-R series M340-54/3.0...
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Page 31: User Interface
User interface 5 User interface Display organisation Typical Seapath display. Top bar (with Application menu) View 3 Position data View 2 View 1 Application menu DGNSS link status bar M340-54/3.0... -
Page 32: Top Bar
Seapath 130-R series 5.1.1 Top bar holds system and system status information as well as the Top bar Application menu with the various menus in the system. Type of system Event message Current date and time Number of unacknowledged events... -
Page 33: System Status
User interface This is the default mode. In this mode it is not possible Operation mode to start any external applications, diagnostic tools or re-configure the system. A password is not required to switch to this mode. In this mode it is possible to change settings related to Configuration mode the connected sensors, applications and system-wide settings. -
Page 34: Events
Seapath 130-R series • : reduced performance, input data has reduced quality. Yellow • : invalid data or no input data. The quality status information output on serial lines or Ethernet is the same as indicated on the data quality status indicators. -
Page 35: Application Menu
User interface 5.1.7 Application menu The four menu buttons located to the far right on the Top bar constitute the menu. Select Application a button to open the menu to reveal a drop-down list of sub-menus. These menus offer various operational and visual options. - Page 36 Seapath 130-R series Number of used GPS satellites Correction satellite Number of tracked GPS satellites Shadow sector Number of used GLONASS satellites Satellite under shadow sector Number of tracked GLONASS Satellite under elevation mask satellies M Elevation mask Current HDOP value...
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Page 37: Dgnss View
User interface The satellite colours represent type of satellite and condition of satellite. GPS satellite Disabled satellite GLONASS satellite Rejected satellite SBAS satellite Correction satellite The satellites with grey colour are disabled as they are not used directly in the position fix. -
Page 38: Integrity View
Seapath 130-R series • : correction data are received and used in the position solution. Green • : data are received but not used. Yellow • : no data are received through that link. • : the link has been disabled for some reason. - Page 39 User interface The error ellipse describes the position quality and the geometry of the position solution. The position accuracy level is configurable from the setup file (the value is displayed as the outer circle on the axis). Default value is 10 m. The system integrity value is often referred to as the horizontal external reliability.
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Page 40: Compass View
Seapath 130-R series Graphical presentation of EPE over the last 240 seconds Related topics • For more details on the Integrity view, refer to the Installation manual. 5.2.4 Compass view view shows the vessel heading, course over ground (COG) and speed over Compass ground (SOG). -
Page 41: Time Series View
User interface Vessel speed along ship (SL) Vessel heading (HDG) Vessel speed transverse ship (ST) Vessel pitch Vessel roll Vessel rate of turn (ROT) Vessel heave Vessel speed over ground (SOG) Vessel course over ground (COG) 5.2.6 Time series view This view plots roll, pitch, heave and heading as time series. -
Page 42: Application Menu (Menu System)
Seapath 130-R series Roll in degrees Lock/unlock time axis Pitch in degrees Time axis Heave in metres Y axis 0 Heading in degrees Y axis scale, max. Application menu (Menu system) Access to the menu system is in the Application menu... - Page 43 User interface Tools menu menu holds various tools used for planning and operation and tools used Tools for diagnostic purposes. Which tools are available will differ according to type of product purchased. System menu menu holds the NAV Engine configuration and the operator software System configuration.
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Page 44: Menu System
Seapath 130-R series 6 Menu system About the menu system Access to the menu system is in the Application menu part of the Top bar Select the menu buttons to reveal the menu items and select the menu items to reveal the sub-menus. -
Page 45: View Group
Menu system You can press the key to toggle between the day palettes and the key to switch to the night palette. 6.2.2 View group The display is divided into three view sections: View 1, View 2 and View 3. allows View you to decide which view you want to appear in these sections. -
Page 46: Display Format
Seapath 130-R series Figure 3 Switch with F3 key Related topics • Browsing or switching display views on page 16 • Selecting the default position of views in the display on page 17 6.2.3 Display format provides alternatives to modify the presentation of various data types. -
Page 47: Bars Group
Menu system alternative indicates the distance unit, then the speed unit. Auto-scaling units will change from short range unit to long range unit (indicated in parenthesis) when the number of digits in the displayed value exceeds a certain limit. Available fixed units: •... -
Page 48: Expert Mode
Seapath 130-R series The Acknowledge alarm option is disabled if no alarms are available in the Event in the Top bar. Acknowledged alarms are still available in the alarm log, but list removed from the Top bar view. Ackn. all alarms... -
Page 49: Tools Menu
Menu system Tools menu menu is located in the Application Tools menu part of the Top bar. It is divided into three groups which provide applications for planning an operation, configuration tasks and various diagnostic and logging purposes. How to open Select the button in the Application menu Tools... -
Page 50: Log Group
Seapath 130-R series Data Viewer The Data Viewer tool shows raw data information about the satellites which are tracked by the receiver, position fix information, correction data and Processing Unit status. You can use this tool for system verification and diagnostics. -
Page 51: Configuration Group
Menu system How to open Select the button in the Application menu on the Top bar. System 6.5.1 Configuration group The Configuration group allows you to enter the system setup parameters and to enter the display setup settings. Details System configuration Opens the dialog box from which you can set up your system System configuration... - Page 52 Seapath 130-R series This opens the password dialogue directly. Restart From the menu item you can stop and immediately start: Restart • the NAV Engine • the sensor unit • the GNSS receivers When restarting the NAV Engine or the sensor unit, the system will stop all processing, calculation and output from the system for about 2 minutes.
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Page 53: Maintenance
Maintenance 7 Maintenance Recalibration of the MGC For Seapath installations with product software version 1.11.00 or later installed, recalibration of MGC units are no longer required. This since the Seapath software estimates the accelerometer bias within these MGC units and therefore recalibration is no longer required. -
Page 54: Updating The Sensor Unit Software
Installation successful Should the update be unsuccessful, try again and contact Kongsberg Discovery AS customer support. Checking the product version For software update or contact with customer support it is useful to know the product version of the system. -
Page 55: Repairs And Parts Replacement
7.4.3 Reparing the MGC unit All repairs and modifications of the MGC unit, except for installation of new software versions and user configuration, have to be carried out by Kongsberg Discovery AS. Caution Opening the MGC unit housing will result in permanent damage and the user should under no circumstances make any attempt to do so. -
Page 56: Installing A Spare Mgc Subsea Bottle
Should you experience some problems with the product, try to use the troubleshooting procedures to fix the problem. If you have followed the procedures for troubleshooting and the problem is still not solved, contact Kongsberg Discovery AS support for assistance. -
Page 57: All Data Quality Status Indicators Are Grey
Check that the PC with the operator software is configured to the same subnet as the sensor unit. If the indicator lights are still not turning red, contact your nearest Kongsberg Discovery AS office. 7.5.5 All data quality indicators are red... -
Page 58: Pos/Vel Indicator Is Yellow
Seapath 130-R series If the sensor unit is damaged, it has to be shipped back to Kongsberg Discovery AS for repair. Check that the installation location of the sensor unit complies with the instructions given in the Installation manual. 7.5.7 Pos/Vel indicator is yellow data quality indicator in the Top bar is yellow. -
Page 59: Heading Indicator Is Red
If it is still not working after checking all of the above items, then the GNSS receiver board within the sensor unit is most likely damaged and the sensor unit has to be shipped to Kongsberg Discovery AS for repair. Related topics •... -
Page 60: Roll/Pitch Indicator Is Yellow
Seapath 130-R series • There are oscillations in heave or in the depth of the centre beams. Check that the correct Heave filter mode and Heave period are selected in the sub-folder Sensors in the →MRU →Heave config NAV Engine Configuration 7.5.13 Roll/Pitch indicator is yellow... -
Page 61: Unstable Heading Calculations For High Dynamic Vessels
Maintenance Procedure The oscillations in the depth of the outer beams are correlated with the pitch angle of the vessel. Check the mounting angle around the z-axis. The sensor unit x-axis has to be parallel with the ship's longitudinal axis as long as the echo sounder transducer head is aligned with the ship axes. -
Page 62: Using Glonass In Rtk Solution
• : GLONASS satellites are not used. • : This is the default value. RTK and Float • : Should only be used by experts after advice from Kongsberg Float only Discovery AS support. Select to store the settings. Apply 7.5.18 Using GLONASS in RTK solution... -
Page 63: Setting Up Distribution Channel Parameters For The Sensor Unit
Maintenance Procedure Select the menu, to open the System →NAVEngine →Standard NAV Engine dialog box. Configuration Select the node Sensors →DGNSS →RTK In the drop-down list, select the wanted search mode if you do not Search mode want the default mode Normal. In the drop-down list, select the wanted parameter if you do not Glonass option... - Page 64 Seapath 130-R series Procedure Select the menu, to open the System →NAVEngine →Standard NAV Engine dialog box. Configuration Select the node Communication interface →DataPool Type an identifying name for the sensor unit (Processing unit name). Type the UDP address to which the NAV Engine shall send data.
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Page 65: Concept Description
Concept description 8 Concept description System architecture The product is a two-module solution with a Sensor Unit and an external PC with the operator software connected via Ethernet. The Sensor Unit runs the processing software which handles all critical computations independent of the user interface on the external PC to ensure continuous and reliable operation. -
Page 66: Main Data Flow
The NavEngine software runs on the Sensor Unit. This software combines the GNSS signal and the inertial measurements to determine accurate position, heading, attitude and heave signal. The NavEngine software utilises Kongsberg Discovery AS advanced true multi-reference algorithms for real-time parallel processing of all available correction signals including: •... -
Page 67: Real-Time Heave Computation
Concept description Real-time heave computation Heave is the vertical position or height relative to a zero mean level and positive downwards. The vertical acceleration is high pass filtered and integrated twice over time to heave position. Heave velocity is computed with one integration over time of filtered vertical acceleration. - Page 68 Seapath 130-R series • Hydrographic survey. To be selected when the heave phase and amplitude have to be output correctly in real time and the heave period is known. This mode is typically selected when the heave output signal from the system is to be used for heave compensation of echo sounders, hydro acoustic positioning systems and offshore crane systems.
- Page 69 Concept description Figure 6 Relative heave error as function of wave period Figure 7 Heave step response with corresponding settling time M340-54/3.0...
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Page 70: Delayed Heave Output
The application of delayed heave has to be performed in post-processing software delivered from QPS, CARIS, EIVA, HYPACK, Kongsberg Discovery and others. These software packages are able to read the PFreeHeave ®... - Page 71 Index description, spider cable, 12 heading calculation, description, system, 8 invalid, 57 acknowledge alarms, 46 DGNSS link status bar, heading calculations, how acknowledge all alarms, 46 display, 30 to get, 59 acknowledging events, 20 DGNSS links, 45 heading calculations, adjusting display DGNSS Monitor, 47 missing/unstable, 59 brightness, 17...
- Page 72 Seapath 130-R series how to, select presentation MRU, no data, 58 of view in display, 17 MRU, unstable data, 58 quick help, 49 how to, set up distribution channels for NAV Engine, 61 how to, set up telegram out NAV Engine debug, 46...
- Page 73 Index selecting unit system in troubleshooting, 54 display, 44 troubleshooting, sensor links, 45 GLONASS in RTK sensor unit data flow, 64 solution, 60 sensor unit software, how tuning heave measurement to update, 52 performance, 19 sensor unit, default IP address, 23, 52 sensor unit, description, 11 setting up distribution unit system, 45...
- Page 74 © 2024 Kongsberg Discovery...
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