Kongsberg Seapath 320 Installation Manual
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Kongsberg Seapath 320 Installation Manual

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  • Page 1 ® Seapath Installation Manual...
  • Page 2 Description of serial port extender and minor changes in the text Copyright © 2010 Kongsberg Seatex AS. All rights reserved. No part of this work covered by the copyright hereon may be reproduced or otherwise copied without prior permission from Kongsberg Seatex AS.

  • Page 3: Table Of Contents

    Installation Manual Table of contents PRODUCT DESCRIPTION ........... 1 Purpose and application ................... 1 System components ....................1 TECHNICAL SPECIFICATIONS ........... 5 Performance data ...................... 5 Physical dimensions ....................5 2.2.1 Processing Unit ......................5 2.2.2 HMI Unit ........................5 2.2.3 Monitor, 17-inch LCD ....................
  • Page 4 Seapath 320 Product safety ......................10 2.6.1 Processing Unit ....................... 10 Radio frequencies ....................11 2.7.1 GNSS antenna ......................11 2.7.2 GNSS receiver ......................11 Data outputs ......................11 2.8.1 Processing Unit ....................... 11 Data inputs ......................12 2.9.1 Processing Unit ....................... 12 2.10 Compass safe distance ...................
  • Page 5 Installation Manual 3.3.2 MRU ........................31 3.3.3 GNSS antennas ....................... 32 3.3.4 Gyro ........................32 3.3.5 Survey accuracy ...................... 32 3.3.6 Cabinet mounting ....................33 Installation procedures ................... 33 3.4.1 Mechanical installation ................... 33 3.4.2 Electrical installation ....................39 3.4.3 Setup of configuration parameters ................42 3.4.4 Calibration ......................
  • Page 6 Seapath 320 Configuration backup ..................... 79 SRRD update ......................80 DRAWINGS ..............83 Processing and HMI Units ..................84 Antenna bracket ..................... 86 MRU and mounting bracket ................... 87 MRU junction box ....................89 GNSS antenna mechanical drawings ..............90 6 U cabinet dimensions ..................
  • Page 7 Installation Manual Electrical installation .................... 122 Configuration ....................... 122 APPENDIX G FREE AND OPEN SOURCE SOFTWARE ..... 123 G.1 GNU General Public License ................123 G.2 GNU Lesser General Public License ..............126 G.3 BSD License ......................129 G.4 NTP License ......................129 G.5 Berkeley DB License ...................
  • Page 8 Seapath 320 List of figures Figure 1 Standard system for 19-inch rack mounting ............2 Figure 2 Rear panel of Processing Unit without chord anchorage ........14 Figure 3 Connector board ....................16 Figure 4 External alarm connection diagram ..............18 Figure 5 Front panel of Processing Unit ................
  • Page 9 Installation Manual Figure 32 Vessel Description view .................. 57 Figure 33 GNSS sensor geometry configuration view ............ 59 Figure 34 GNSS Processing settings view ..............60 Figure 35 GNSS Attitude Processing view ..............60 Figure 36 SBAS tracking view ..................61 Figure 37 MRU geometry view ..................
  • Page 10 Seapath 320 List of tables Table 1 GNSS antenna cable specification ..............13 Table 2 Connectors at rear of Processing Unit ..............15 Table 3 Connectors at front of Processing Unit .............. 15 Table 4 Pin layout of Com 1 and Com 2 ................. 16 Table 5 Pin layout of Com 9 through Com 14 ..............
  • Page 11 Installation Manual Abbreviations Aft Perpendicular. The vertical intersection of the design waterline at the stern, alternatively the centerline of the rudder stock. Base Line. Is the same as the keel for a vessel with horizontal keel line. Circular Error Probability Centre of gravity.
  • Page 12 Seapath 320 MRU 5 Motion Reference Unit, model 5. This is the IMU within the Seapath measuring dynamic linear motion and attitude. A MRU consists of gyros and accelerometers. NMEA National Marine Electronics Association. NMEA 0183 is a standard for interchange of information between navigation equipment.
  • Page 13 Installation Manual Terminology Alignment Is the process of adjusting the current internal navigation frame in the instrument to the true external frame. Antenna bracket Is the arrangement for mounting the GPS antennas Antenna holder Is the arrangement on board the vessel for mounting the antenna bracket to.
  • Page 14 Eastward (Clockwise) when the vehicle cruises in North direction. Normally, yaw means the dynamic yaw motion. References M300-52, User Manual, Seapath 320 NMEA 0183 Standard for Interfacing Marine Electronic Devices, Version RTCM Recommended Standards for Differential Navstar GPS/GLONASS services, Version 2.3 GPS-702GG and GPS-701GG User Guide, OM20000095 Rev 1, NovAtel Inc.
  • Page 15 Export Control and may be subject to restrictions if re-exported from your country. Restrictions in guarantee The liability of Kongsberg Seatex is limited to repair of the Seapath system only under the given terms and conditions stated in the sales documents. Consequential damages such as customer's loss of profit or damage to other systems traceable back to Seapath malfunction are excluded.
  • Page 16 Seapath 320 Restrictions in use The Seapath function is based on GNSS signals and requires free sight to the sky, minimum four visible satellites, PDOP value less than 6 and otherwise normal conditions to operate. It is designed for use on board marine surface operated vehicles with linear acceleration less than ±30 m/s...

  • Page 17: Product Description

    Installation Manual 1 PRODUCT DESCRIPTION This manual describes a typical survey installation of the Seapath 320 system on a vessel. For all other information about the Seapath, please consult the User Manual, reference [1]. Purpose and application Seapath 320 combines the latest achievements in advanced GPS and GLONASS technology aided by a high performance IMU (Inertial Measurement Unit).

  • Page 18: Figure 1 Standard System For 19-Inch Rack Mounting

    Seapath 320 Figure 1 Standard system for 19-inch rack mounting In addition to the above delivered parts, the following is needed: A 19-inch rack for mounting of the Processing Unit. A 19-inch rack for mounting of the HMI Unit. GNSS antenna cables and the cable between the Processing Unit and the MRU junction box.
  • Page 19 Installation Manual The MRU unit is shipped in a specially designed transportation container. Keep the MRU in this container until ready to install the unit in the mounting bracket. Note After the installation, please save the transportation container. To maintain warranty validity, the MRU must be shipped in this container for service or repair.
  • Page 20 Seapath 320 M300-62/rev.2...

  • Page 21: Technical Specifications

    Installation Manual 2 TECHNICAL SPECIFICATIONS Performance data Roll and pitch accuracy for ±5° amplitude ..........0.02° RMS (*) Heading accuracy with 2.5 metre antenna baseline ......... 0.075° RMS Heading accuracy with 4 metre antenna baseline ..........0.05° RMS Scale factor error in roll, pitch and heading ........... 0.08 % RMS Heave accuracy (real-time output) ........

  • Page 22: Monitor, 17-Inch Lcd

    Seapath 320 Depth ..... Min 325 mm (excluding connectors on rear panel) and max 405 mm Weight ........................3.8 kg Colour ..................... Front anodized natural 2.2.3 Monitor, 17-inch LCD Type ..................Samsung SyncMaster 710n Width ........................380 mm Height ........................383 mm Depth ........................

  • Page 23: Antenna Bracket

    Installation Manual Weight ........................2.0 kg Colour ........................Black Material ......................Aluminium Enclosure protection ....................IP-65 2.2.7 Antenna Bracket Type ........................M320-21 Length ........................2560 mm Width ........................75 mm Height ........................40 mm Weight ........................6.6 kg Colour ......................Grey RAL 7035 2.2.8 GNSS antenna Type ....................

  • Page 24: Hmi Unit

    Seapath 320 Power consumption ..................Max. 75 W Batteries .............. None, connection to UPS recommended 2.3.2 HMI Unit Voltage ..................100 - 240 V AC, 50/60 Hz Power consumption ................... Max. 40 W Batteries .............. None, connection to UPS recommended 2.3.3...

  • Page 25: Hmi Unit

    Installation Manual 2.4.2 HMI Unit Enclosure material .................... Aluminium Operating temperature range ..............-15 °C to +55 °C Recommended operating temperature ........Room temperature (+20 °C) Storage temperature ................. -20 °C to +70 °C Operating humidity ..............Max. 95 % non-condensing Storage humidity ..................

  • Page 26: External Interfaces

    Seapath 320 External interfaces 2.5.1 Processing Unit Serial ports ........... 6 non-dedicated isolated ports, RS-232 or RS-422 ..........Isolated Com1 and Com2, 9 pin DSub, RS-232 or RS-422 Baud rate ..................Up to 115 200 bytes/sec LAN ......................4 Ethernet ports USB ..................

  • Page 27: Radio Frequencies

    Installation Manual Radio frequencies 2.7.1 GNSS antenna L1 ......................1588.5 ± 23.0 MHz L2 ......................1236.0 ± 18.3 MHz LNA gain (typical) ....................27 dB 2.7.2 GNSS receiver GPS L1 ......................1575.42 MHz Glonass L1 ... 1602.0 MHz for Fk=0 where k=(-7 to +13) channel spacing 562.5kHz Data outputs 2.8.1 Processing Unit...

  • Page 28: Data Inputs

    Seapath 320 Data inputs 2.9.1 Processing Unit DGPS corrections ..............RTCM-SC104 v. 2.2 and 2.3 ........................Trimble CMR DGLONASS corrections ..............RTCM-SC104 v. 2.2 Gyro compass ............. NMEA 0183 HEHDT and HEHRC ..................... Robertson LR22 BCD format 2.10 Compass safe distance 2.10.1 Processing Unit...

  • Page 29: Gnss Antenna Cables (Coax)

    Minimum bend radius ....................32 mm Flame retardation ........... CATV, UL1581, IEC 332-3, IEEE383 Coax connectors ..............Huber+Suhner 11 N-50-9-9 If the antenna cables are not delivered by Kongsberg Seatex, make sure that the cables meet the following electrical specifications: Insertion loss (max.) 15 dB (at 1.6 GHz)

  • Page 30: Interfaces Processing Unit

    Seapath 320 2.12 Interfaces Processing Unit The rear panel of the Processing Unit contains communication interface ports for interfacing to external equipment. In addition, a USB and a LAN port are situated at the front together with the power switch.

  • Page 31: A And B Signal Definition

    Installation Manual Connector Type Connected to ALARM 3 pins terminal, relay External alarm system 10 pins terminal, RS-422 MRU5 or MRU5+ 10 pins terminal Not in use 1PPS 6 pins terminal External equipment ANALOG OUT 10 pins terminal User configurable ANALOG IN 6 pins terminal Not in use...

  • Page 32: Figure 3 Connector Board

    Seapath 320 Pin no. RS-232 Pin no. RS-232 DCD1 DSR1 RXD1 RTS1 TXD1 CTS1 DTR1 Table 4 Pin layout of Com 1 and Com 2 Note Com 1 and 2 are not as timing accuracte with regard to timing as Com 9 to 14 and are not recommended used for timing critical outputs.

  • Page 33: Table 5 Pin Layout Of Com 9 Through Com 14

    Installation Manual Pin no. Signal RS-422 RS-232 RX_A RX_B TX_A TX_B Table 5 Pin layout of Com 9 through Com 14 PPS signal A 1 pulse-per-second (1PPS) signal synchronized with GNSS time is available from the 6 pin terminal at the rear of the Processing Unit. This RS-422 1PPS signal originates from the GNSS receiver within the Processing Unit.

  • Page 34: Figure 4 External Alarm Connection Diagram

    Seapath 320 For description of the format for these messages, see APPENDIX A Output Protocols. Relay - alarm signal The Processing Unit has a built-in alarm functionality and can be connected to an external alarm. An alarm will open the alarm relay, which can be used to trigger an external alarm.

  • Page 35: Table 8 Pin Layout Of Analog Out

    Installation Manual Analog output Three analog output channels are available on the Analog Out 10 pin terminal. The variables available for analog output are roll, pitch, heave and Datawell Hippy compatible roll and pitch signals. The selection of variable and channel properties is performed in the operator software.

  • Page 36: Table 9 Pin Layout Of Mru

    Seapath 320 Pin no. Signal RX_A RX_B 24V_MRU Table 9 Pin layout of MRU The IMU terminal is not in use in this product. Analog in This terminal is not in use in this product. Ethernet connection The Processing Unit has the possibility to input and output data on individually configurable network ports.

  • Page 37: Led Indicators Processing Unit

    Installation Manual LAN 2, 3 and 4 at the rear. These LANs are of high capacity (10/100/1000 Mbps) and are of type auto crossover and auto negation. Below is the pin wiring for these LANs connected to different network capacities: 10/1000 or 100/1000 Mbps Ethernet 1000/1000 Mbps Ethernet Pin no.

  • Page 38: Mru To Processing Unit Cable Wiring

    Seapath 320 The LED to the left indicates power and software status. During start-up the indicator to the left appears red. When the software is up and running, the indicator turns green. The second LED to the left indicates MRU status.

  • Page 39: Interfaces Hmi Unit

    Installation Manual Processing Signal Pair no. Unit/MRU Colour junction box connector Pin no. Pin no. Pin no. RX_B 2 white 3 (x1 side) RX_A 2 blue 4 (x1 side) TX_B 3 white 5 (x1 side) TX_A 3 blue 6 (x1 side) XIN/MRU_1PPS_P 4 white 23 (x1 side)

  • Page 40: Pin Layout

    Seapath 320 Connector Type Connected to Keyboard PS/2 Keyboard HD15 female Monitor 100 - 240 V AC Power Input of 100 - 240 V AC Table 13 Connectors at rear of HMI Unit Connector Type Connected to User configurable Table 14 Connectors at front of HMI Unit 2.13.1 Pin layout...

  • Page 41: Led Indicators Hmi Unit

    Installation Manual To connect the HMI Unit network, use twisted pair (TP) cable with RJ-45 connectors. To comply with the IEC 60945 standard, shielded (screened) cable has to be used. Recommended cable type is CAT-5e. Category 5e cable is an enhanced version of Category 5 that adheres to more stringent standards.
  • Page 42 Seapath 320 M300-62/rev.2...

  • Page 43: Installation

    Installation Manual 3 INSTALLATION This chapter covers installation of the Seapath 320 system. The installation includes: Location of the system parts (Processing Unit, HMI Unit, MRU, GNSS antennas) Mounting of the Seapath cabinet Mounting of the MRU bracket Installation of the coax connectors...

  • Page 44: Gnss Antennas

    Seapath 320 Figure 7 Location of system parts 3.2.1 GNSS antennas For the GNSS antennas, consider the following: The space above the antennas has to be free of obstructions of any kind. The antenna should be protected from direct illumination of radar beams and other transmitting antennas such as Inmarsat antennas.

  • Page 45: Mru 5

    Installation Manual Note If the Antenna Bracket supplied by Kongsberg Seatex is not used, it is important that the antennas are rigidly mounted so that the distance between the antennas does not change due to vibrations or accidental dislocation. The antenna baseline length is recommended in the range 2.5 to 4.0 metres, but 1 to 5 metres can be used.

  • Page 46: Processing Unit

    Seapath 320 3.2.3 Processing Unit When installing the Processing Unit, consider the following: The unit is designed for indoor installation and should not be exposed to heavy vibrations, transformers or similar. The unit should be resiliently mounted in a 19-inch rack to be in accordance with the environmental standard IEC60945/EN60945.

  • Page 47: Survey Of Sensors On Vessels

    Installation Manual The HMI Unit and the monitor should be mounted close to each other to reduce the length of the VGA cable. It is recommended that the area around the unit is kept free from dust and static electricity. Survey of sensors on vessels All sensors need to be surveyed.

  • Page 48: Gnss Antennas

    3.3.5 Survey accuracy The Seapath 320 product must be surveyed to the following accuracy level. If not, the performance of the product will be degraded. Lever arm vector from CRP to GNSS antenna position (X, Y, Z): < 0.1 metre.

  • Page 49: Cabinet Mounting

    Installation Manual 3.3.6 Cabinet mounting 3.3.6.1 Mounting Seapath with delivered cabinet The cabinet should be securely mounted. Drilling plan for the resilient mountings is included in the attached drawings. Caution The cabinet must be connected to a grounded outlet. It is recommended that the cables attached to the rear of the unit should be long enough to accommodate all service from the front.

  • Page 50: Figure 8 Dimensional Drawing For Antenna Holder

    Mounting the monitor close to the HMI Unit. The installation procedure described below assumes that the Antenna Bracket delivered by Kongsberg Seatex is used and that a holder for this Antenna Bracket is prepared in accordance with the antenna holder drawing in chapter 5.

  • Page 51: Figure 9 Top View Of Antenna Bracket

    Installation Manual Note Both GNSS antennas have to be mounted on the Bracket oriented in the same direction, otherwise the system will have degraded heading performance. Figure 9 Top view of Antenna Bracket The screws for mounting the GNSS antennas to the Bracket must be secured with washers.

  • Page 52: Figure 11 Side View Of Gnss Antenna Installation

    Seapath 320 Figure 11 Side view of GNSS antenna installation 3.4.1.2 MRU, Processing and HMI Unit The mechanical installation consists of: Mounting the MRU bracket and the MRU near the user equipment for which attitude data is wanted, or close to the selected Navigation Reference point.

  • Page 53: Figure 12 Recommended Orientation Of The Mru Mounting Bracket

    Installation Manual Figure 12 Recommended orientation of the MRU mounting bracket Mount the MRU bracket on the wall, preferably with the opening pointing down, as shown in Figure 13. Mark and drill a M6 hole for the top screw (1) and enter the screw without tightening it completely.

  • Page 54: Figure 14 Sticker (4) Shall Indicate Actual Mru Mounting Orientation Within Bracket

    Seapath 320 Insert the MRU into the bracket. In order to achieve the orientation as shown in Figure 12, the MRU must be rotated in the bracket. Apply Loctite 242 glue or equivalent on the four MRU screws (3). Note...

  • Page 55: Electrical Installation

    Installation Manual The screws for mounting the junction box should be secured with washers or self- locking nuts. Figure 15 MRU junction box mounting Mount the Processing Unit in a standard 19-inch rack in a preferred location. The Processing Unit has to be fastened both in front and rear of the rack. Minimum 10 cm free space is needed behind the module for connection of cables.
  • Page 56 Seapath 320 3.4.2.1 Installation procedure Caution Attach the antenna cables to the GNSS antennas on the Bracket before attaching the antenna cables to the Processing Unit. If the antenna cables are attached to the Processing Unit, do not attach the antenna cables to the GNSS antennas with the Processing Unit powered on.
  • Page 57 Installation Manual establish RS-422 communication between the MRU and the Processing Unit. Otherwise there will be no communication between these two components. Note The junction box housing is grounded to earth through the screws for mounting the box to the wall or floor. Please note that if the foundation on which the junction box is mounted, is NOT connected to earth, one of the junction box mounting screws has to be connected to earth by connecting a wire from the screw to an object that is connected to earth.

  • Page 58: Setup Of Configuration Parameters

    Seapath 320 If available, connect the signal cables with DGNSS correction and external gyro compass to free terminals at the rear of the Processing Unit. Connect an Ethernet cable from the LAN port on the rear of the Processing Unit and the HMI Unit to the network onboard the vessel or a direct connection between the two units.

  • Page 59: Calibration

    Installation Manual Figure 16 Offset vectors between the different components 3.4.3.2 Setup procedure Power on both the Processing and HMI Units and follow the configuration procedure for the operator software described in chapter 4.1. Edit the Seapath parameters and Apply in order to download the entered configuration parameters to the Processing Unit.
  • Page 60 Seapath 320 Heading Offset. The direction of the GNSS antennas relative to the vessel's longitudinal axis is measured in degrees. Height Difference. The height difference between the two antennas according to the vessel horizontal plane (the height to antenna #1 minus the height to antenna #2, compensated for vessel roll and pitch) is measured in metres.
  • Page 61 Installation Manual 3.4.4.2 Typical calibration procedure This is an example on how to perform a GNSS antenna calibration. Proceed as follows: Before entering the calibration wizard, ensure that the correct MRU mounting angles are used by the Seapath (press Apply on MRU mounting angle changes before entering the calibration wizard).

  • Page 62: Figure 17 Page 1 Of Gnss Antenna Calibration

    Seapath 320 In the Antenna configuration window, input the Baseline length 2.5 metres if the standard Antenna Bracket is used, otherwise this length has to be measured manually with 1 cm accuracy and this value entered. For the Antenna orientation input an approximate value or input zero if you are uncertain.

  • Page 63: Figure 18 Page 2 Of Antenna Calibration Wizard

    Installation Manual Figure 18 Page 2 of antenna calibration wizard Click Next to proceed to page 3 Data edit for information about the calibration result. Figure 19 Page 3 of antenna calibration wizard M300-62/rev.2...

  • Page 64: Figure 20 Page 4 Of Antenna Calibration Wizard

    Seapath 320 Inspect the logged calibration data (in the file "Seapath.cal") for any wild points by selecting the command Show graph. Correct the wild points found or delete the whole line(s) and perform a recalculation of the calibration data. When the Seapath calibration result has been found acceptable, click Next to proceed to page 4.

  • Page 65: Figure 21 Alignment Of Mru Yaw Axis To Vessel Longitudinal Axis

    Installation Manual A typical alignment process consists of aligning the MRU axes to an external reference. Type of reference must be determined according to the required accuracy. The reference for roll and pitch alignment must be carefully selected depending on the intended application. It may be the hull, a sensor such as a multibeam echo sounder or a USBL acoustic system.

  • Page 66: Figure 22 Value Of Roll Error As A Function Of Vessel Pitch Angle, Displayed At 0.5

    Seapath 320 Figure 22 Value of roll error as a function of vessel pitch angle, displayed at 0.5°, 1° and 1.5° MRU yaw misalignment M300-62/rev.2...

  • Page 67: Configuration

    Installation Manual 4 CONFIGURATION Seapath has a graphical user interface which includes configuration, data presentation and sensor status. This chapter describes the Seapath configuration management system. Starting the system After installing the equipment according to the procedures, the system can be started. Press the power switch on the front of the Processing and HMI Units to start the systems.

  • Page 68: Navengine Configuration

    Seapath 320 NavEngine configuration From the System menu, configuration of NavEngine is available. Two modes of configuration are available, Standard and Advanced. The Standard configuration is available when logged into Configuration mode, while the Advanced configuration is available in Engineering mode.

  • Page 69: Figure 26 History Button

    Installation Manual Apply To save the parameter settings, the Apply button must be pressed. Revert The Revert button contains the last applied configuration parameters. History A new configuration file is stored each time the Apply button is pressed. From the History button, the saved files are available.

  • Page 70: Vessel Configuration

    Seapath 320 4.4.1 Vessel configuration In the Vessel configuration the following can be input: Geometry For later configuration of sensor and monitoring point locations on the vessel it is an advantage that the background vessel (vessel shape) is as equal as possible to the vessel on which the system is installed.
  • Page 71 Installation Manual In the Vessel shape section it is possible to select the vessel shape or to get the vessel shape from a file. Vessel shape The vessel shapes supported are ship, rig and jackup. From file Input of vessel shape from file, see separate section. Vessel opacity A percentage scaling of the opacity of the vessel shape on the screen.

  • Page 72: Figure 29 Example Ga Drawing Of Multi-Purpose Vessel

    Seapath 320 Figure 29 Example GA drawing of multi-purpose vessel Figure 30 Example of vessel shape in user text file M300-62/rev.2...

  • Page 73: Figure 31 Example Vessel Shown In Vessel Geometry View

    Installation Manual Figure 31 Example vessel shown in Vessel Geometry view 4.4.1.3 Vessel description The Vessel Description view contains mostly textual information regarding the vessel. Figure 32 Vessel Description view Vessel name The name of the vessel. Vessel owner The name of the vessel owner. Country of origin The name of the vessel's country of origin.

  • Page 74: Gnss Configuration

    Seapath 320 4.4.2 GNSS configuration 4.4.2.1 GNSS Geometry The lever arm vector from the AP to GNSS antenna no. 1 has to be measured or calculated based upon drawings or previously measured points, and entered into the software. The antenna cable connected to GNSS1 at the back of the Processing Unit will be GNSS antenna no.

  • Page 75: Figure 33 Gnss Sensor Geometry Configuration View

    Installation Manual Figure 33 GNSS sensor geometry configuration view 4.4.2.2 GNSS Processing For operations with weak satellite geometry the position output can be made more accurate by using height aiding and low elevation mask. For normal operations the Height Aiding mode is set to Off but Filter is also recommended used. The elevation mask is set to 10 degrees as the default value and must not be changed by other than experts.

  • Page 76: Figure 34 Gnss Processing Settings View

    Seapath 320 drop-down list. The Safe mode is recommended used under difficult conditions with much multipath or ionospheric activity and for long baselines. The Fast mode is used when a fast RTK solution is required. However, in this mode the probability for an incorrect solution from the system increases.

  • Page 77: Dgnss Configuration

    Installation Manual 4.4.3 DGNSS configuration 4.4.3.1 SBAS tracking In the SBAS tracking view it is possible to set up Automatic or Manual tracking of SBAS satellites. When Automatic tracking is selected, the GNSS receiver chooses which SBAS satellites to track. In Manual mode the user must set up which SBAS satellites to use.

  • Page 78: Figure 37 Mru Geometry View

    Seapath 320 The MRU mounting angles can either be input manually or determined by use of the Mounting Wizard. To use the MRU Mounting Wizard, see separate section in this manual. Figure 37 MRU geometry view MRU location Enter the position of the MRU in X, Y, Z coordinated from AP.

  • Page 79: Figure 38 Step 1 Of Mru Axis Orientation

    Installation Manual Figure 38 Step 1 of MRU axis orientation Click the << or >> buttons in the lower left part of Figure 39 to turn the MRU unit around in 90-degree steps, axis by axis. Click until correct mounting orientation of the MRU has been found.

  • Page 80: Figure 40 Step 3 Of Manual Input Of Mru Mounting Angles

    Seapath 320 At the top right of Figure 40 the main rotation angles of the MRU are displayed. Enter the offset angles for Roll, Pitch and Yaw from the main rotation angles. Press the Help button to get more help on the sign of the offset angles. A positive...
  • Page 81 Installation Manual 4.4.4.3 Heave configuration When using real-time heave measurements, it is important to tune the heave parameters (heave period and damping) to the vessel size and the motion characteristics for the actual weather conditions. The default settings for filter mode heave period and damping, have to be tuned for the actual vessel and weather conditions in order to achieve optimum heave performance.

  • Page 82: Monitoring Points

    Seapath 320 Enter the settings for heave filter in the MRU Heave config dialogue. The pull-down Option menu has the following options; Integrated, Automatic, Hydrographic survey or General purpose. In Integrated, Hydrographic survey and General purpose mode, the filter parameter for Period can be set to a value between 1 and 25 seconds, and the Damping value between 0.2 and 1.

  • Page 83: Figure 42 Monitoring Points View

    Installation Manual Figure 42 Monitoring points view To add a monitoring point, select the Add icon in the upper left corner of the view and drag the symbol to the correct location on the vessel. The selected monitoring point coordinates are shown at the bottom of the view.

  • Page 84: Figure 43 Add A New Monitoring Point

    Seapath 320 When the Add icon is selected, red lines will be displayed on the screen to help placing the new point. Co-ordinates will also be displayed to help placing the monitoring point. The position and name of the added point may also be adjusted by writing the co- ordinates into the table below the vessel drawing.

  • Page 85: Figure 44 New Monitoring Point, Mp4, Added To List

    Installation Manual Figure 44 New monitoring point, MP4, added to list Figure 45 illustrates renaming of a monitoring point to a preferred name, here from MP4 to Helideck. Figure 45 Renaming of monitoring point to preferred name M300-62/rev.2...

  • Page 86: Communication Interface

    Seapath 320 4.4.6 Communication interface 4.4.6.1 Input/Output The figure below displays a default view for the Input/Output communication before any interface details are added. Figure 46 Input/output view before interface details are added When selecting an interface, the Input/Output view will be divided into two sections.

  • Page 87: Figure 47 Input/Output List View With Configuration Details

    Installation Manual Figure 47 Input/Output list view with configuration details 4.4.6.2 Configuration details The Configuration details view is the lower part of the Input/Output list view. The Configuration details view is divided into two sections: an interface selection section and an I/O Properties section. Figure 48 Configuration details view The Interfaces possible to be setup for Seapath are: Gyro...

  • Page 88: Figure 49 I/O Properties View When Serial Interface Is Selected

    Seapath 320 Telegram out Analog out The different Types of interfaces possible are: Serial The Direction which may be set up is In, Out and In/Out. In the Description box it is possible to enter free text. 4.4.6.3 I/O properties The parameters displayed in the I/O properties views are dependent on what Type of interface is selected in the Configuration details sections.

  • Page 89: Figure 50 I/O Properties View When Net Interface Is Selected

    Installation Manual Figure 50 I/O properties view when net interface is selected The I/O Properties view when Net interface is selected contains the following parameters: Local interface The LAN port on the Processing Unit. IP address The target IP address. Protocol The UDP protocol.

  • Page 90: Figure 52 Telegram Output Options

    Seapath 320 The main purpose of the output telegram function is to enable the configuration of data messages transmitted to external equipment. Up to 16 serial/network interfaces may be set up. Monitoring point Select among the list of monitoring point and click on the MP the measurements are to be output in.

  • Page 91: Figure 53 Available Nmea Telegrams

    Installation Manual Use last valid position in all NMEA messages if position is invalid Allow more than 12 satellites in GGA message Use external attitude for lever arm compensation and vel decomposition (VBW) NMEA selection If the Format is set to NMEA, this option is enabled. From a dropdown list, the following NMEA telegrams can be selected: DTM, GBS, GGA, GLL, GNS, GRS, GSA GST, GSV, RMC, ZDA, VTG, VBW, P20, P21, P22, P23, P24, ROT, HDG, HDT,...

  • Page 92: Figure 54 Gyro Properties

    Seapath 320 Figure 54 Gyro properties Timeout Age limit. If the age of the gyro message exceeds this limit, the gyro message is invalid [s]. Format From the Format drop down list, the following options may be selected: Disabled, NMEA HDT, Robertson, Geoconsult, NMEA HDM, NMEA PSXN10, EM3000, NMEA HRC, NMEA PSXN23.

  • Page 93: Figure 56 Dgnss Link Properties

    Installation Manual Event driven Outputs data only when the data are calculated or when a change occurs. The output data are delayed when Event driven is selected. Timer driven Output data with the selected time interval, Interval. Extrapolate Extrapolates the time to real-time (zero-delay) when Timing driven output is selected.

  • Page 94: Figure 57 Analog Output Properties

    Seapath 320 Monitoring point Select among the list of monitoring point and click on the MP in which the measurements are to be output. Format The format of the output telegrams. Select among the list of output formats. <Disabled> Constant...

  • Page 95: Data Pool

    Installation Manual 4.4.7 Data pool Data pool is the distribution media for data from the NavEngine software to the operator software. Figure 58 Data Pool configuration view Datapool ID Identification ID. Own text may be inserted. Datapool name Identification name. Own text may be inserted Network interface name The LAN port on the Processing Unit.

  • Page 96: Srrd Update

    Seapath 320 Figure 59 Configuration Copier SRRD update When the installation has been verified, we recommend performing an SRRD (Seatex Rescue and Restore Disk) update. An SRRD USB stick is delivered with your system. The stick contains a full image of the installed HMI Unit.
  • Page 97 Installation Manual As soon as the completion message appears, return to the menu. Select Shut down. When the message System halted appears, you should remove the USB stick and press the Ctrl+Alt+Delete keys simultaneously to boot the system as normal. Store the SRRD in a safe place.
  • Page 98 Seapath 320 M300-62/rev.2...

  • Page 99: Drawings

    Installation Manual 5 DRAWINGS This section contains outline drawings, showing mechanical dimensions of the Processing and HMI Units, the GNSS Antenna Bracket and Holder, the MRU 5 and its mounting bracket, the MRU junction box, the GNSS antennas and the 6U cabinet. Note The drawings are note to scale.

  • Page 100: Processing And Hmi Units

    Seapath 320 Processing and HMI Units M300-62/rev.2...
  • Page 101 Installation Manual M300-62/rev.2...

  • Page 102: Antenna Bracket

    Seapath 320 Antenna bracket M300-62/rev.2...

  • Page 103: Mru And Mounting Bracket

    Installation Manual MRU and mounting bracket M300-62/rev.2...
  • Page 104 Seapath 320 M300-62/rev.2...

  • Page 105: Mru Junction Box

    Installation Manual MRU junction box M300-62/rev.2...

  • Page 106: Gnss Antenna Mechanical Drawings

    Seapath 320 GNSS antenna mechanical drawings Excerpt from GPS-702-GG, GPS-701-GG and GPS702-GG-N User Guide, OM- 20000095, rev. 1B, August 7, 2009, NovAtel Inc. M300-62/rev.2...

  • Page 107: Cabinet Dimensions

    Installation Manual 6 U cabinet dimensions M300-62/rev.2...
  • Page 108 Seapath 320 M300-62/rev.2...

  • Page 109: Appendix A Output Protocols

    Installation Manual APPENDIX A OUTPUT PROTOCOLS The following output data protocols are available from Seapath: Name Format no. Description NMEA NMEA and proprietary messages Seapath binary fmt3 Seapath binary format 3 Simrad EM3000/Hipap Simrad EM3000, 300 and Hipap compatible Calibration Calibration format for GPS antennas Echo Sounder fmt9 Echo sounder format...
  • Page 110 Seapath 320 $INGST,time,,semi-maj,semi-min,ell-orient,sd-lat,sd-long,sd-height*csum term $INGSA,gsa-mode,gsa-status,id,id,id,id,id,id,id,id,id,id,id,id,pdop,hdop,vdop*csum term $INGRS,time,1,res,res,res,res,res,res,res,res,res,res,res,res*csum term $PSXN,20,horiz-qual,hgt-qual,head-qual,rp-qual*csum term $PSXN,22,gyro-calib,gyro-offs*csum term $PSXN,23,roll,pitch,head,heave*csum term $PSXN,24,roll-rate,pitch-rate,yaw-rate,vertical-vel*csum term $PSXN,21,event*csum term Explanation: time UTC time on format hhmmss.ss where hh is hours (00 - 23), mm is minutes (00 - 59) and ss.ss is seconds (00.00 - 59.99).
  • Page 111 Installation Manual Heading, degrees true on format d.dd (0.00 - 359.99). head Standard deviation of the semi-major axis of the position error ellipse in metres semi-maj on format m.mm. semi-min Standard deviation of the semi-minor axis of the position error ellipse in metres on format m.mm.

  • Page 112: Binary Format 3

    Seapath 320 Vertical velocity in metres per second on format d.dd. Positive when moving vertical- downwards. event Event code: 1 = system restart. csum Checksum (exclusive or) of all characters between, but not including, the preceding $ and *, hexadecimal (00 - FF).

  • Page 113: Simrad Em3000 Format 6

    Installation Manual Element Scaling Format Bytes Value Heading radians Float 0 - 2 pi Status word Bit-fields Checksum Unsigned 0 - 255 Length is number of bytes between, but not including, the Length and Checksum fields. Checksum is calculated modulo 256 of all bytes between, but not including, the Length and Checksum fields.

  • Page 114: Calibration Format

    Seapath 320 Element Scaling Format Bytes Value Roll 0.01 degrees Integer -17999 to 17999 Pitch 0.01 degrees Integer -17999 to 17999 Heave 1 cm Integer -999 to 999 Heading 0.01 degrees Unsigned 0 to 35999 Roll is positive with port side up. Pitch is positive with bow up. Heave is positive up.

  • Page 115: Echo Sounder Format 9

    Installation Manual Each record consists of numbers on ASCII format separated by spaces and terminated by carriage return and linefeed (values 10 and 13). Leading spaces are used, so the numbers are separated by two or more spaces, and spaces may occur before the first number on the record.

  • Page 116: Rdi Adcp Format 10

    Seapath 320 roll arcsin sin( roll ) cos( pitch echo sounder Euler Euler A.6 RDI ADCP format 10 The RDI format is a proprietary ASCII text format used when connecting RDI ADCP equipment. Format: $PRDID,pitch,roll,head term Explanation: pitch Pitch, degrees on format sddd.dd. s is the sign character, "+" or "-". ddd.dd is a decimal number with leading zeroes where appropriate.
  • Page 117 Installation Manual Element Scaling Format Bytes Value East velocity centimetres/second Integer Down velocity centimetres/second Integer Roll = 90 degrees Integer Pitch = 90 degrees Integer Heading = 90 degrees Unsigned 0 - 2 Roll rate = 90 degrees/second Integer Pitch rate = 90 degrees/second Integer Yaw rate = 90 degrees/second Integer...

  • Page 118: Lehmkuhl Gyro Repeater Format 12

    Seapath 320 A.8 Lehmkuhl gyro repeater format 12 This Lehmkuhl gyro repeater format is used when outputting heading from Seapath to Lehmkuhl gyro repeaters. The messag is similar to the HDT message output in the standard NMEA format from Seapath. The main differences are lower resolution and no checksum.

  • Page 119: 1Pps Time Tag, Trimble Compatible

    Installation Manual A.10 1PPS time tag, Trimble compatible This 1PPS time tag message is output once per second, approximately 0.5 seconds before the time pulse. The message format is fixed length ASCII text. The message contains the UTC time of the next time pulse. Format: Element Columns...

  • Page 120: Echo Sounder Format 18, Tss1

    Seapath 320 Roll is positive with port side up. Pitch is positive with bow up. Heave is positive up. The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere. The difference appears in the roll angle, where:...

  • Page 121: Binary Format 23

    Installation Manual roll arcsin sin( roll ) cos( pitch echo sounder Euler Euler A.13 Binary format 23 This binary format consists of a fixed-length message using 1-, 2- and 4-byte signed and unsigned integers. The signed integers are represented as two-complement numbers. For the multi-byte elements, the most significant byte is transmitted first.

  • Page 122: Pfreeheave Format 24

    Seapath 320 Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes between, but not including the Header and Checksum fields. The CRC algorithm is described in a separate section. Time is divided in an integer seconds part and a fractional second part.

  • Page 123: Cyclic Redundancy Check Algorithm

    Installation Manual Element Scaling Format Bytes Value Status word Bit-fields Checksum Unsigned Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes between, but not including the Header and Checksum fields. The CRC algorithm is described in a separate section. Time is divided in an integer seconds part and a fractional second part.
  • Page 124 Seapath 320 crc = ~crc; data = crc; crc = (crc << 8) | ((data >> 8) & 0xff); return crc; Fortran code: SUBROUTINE blkcrc(inbuffer, len, crc) INTEGER*2 len, i , bit INTEGER*4 crc, data, poly CHARACTER inbuffer*(*) poly = 16#8408...

  • Page 125: Appendix B Installation Of Coax Connectors On Superflex Cable

    Installation Manual APPENDIX B INSTALLATION OF COAX CONNECTORS ON SUPERFLEX CABLE The connector consists of two parts: the connector head and the cable entry. M300-62/rev.2...
  • Page 126 Seapath 320 M300-62/rev.2...
  • Page 127 Installation Manual M300-62/rev.2...
  • Page 128 Seapath 320 M300-62/rev.2...
  • Page 129 Installation Manual M300-62/rev.2...
  • Page 130 Seapath 320 M300-62/rev.2...

  • Page 131: Appendix C Gnss Antenna Installation

    Installation Manual APPENDIX C GNSS ANTENNA INSTALLATION Installing the antenna After a site has been selected, install the antenna as follows. 1. Verify that the thread on the mount does not extend more than 7/8" (22 mm) to ensure the plastic inside the antenna receptacle is not damaged when the mount is inserted.
  • Page 132 Seapath 320 Antenna care The GPS-702-GG-N is designed to withstand the elements, including rain, snow and dust. However, to ensure your antenna performs optimally, keep the radome (top surface of the antenna) clean and brush off any ice and snow. In addition, ensure the N- Type connector remains clean and dry and replace the dust cap when a cable is not connected.

  • Page 133: Appendix D ½" Coax Cable Specification

    Installation Manual APPENDIX D ½" COAX CABLE SPECIFICATION M300-62/rev.2...
  • Page 134 Seapath 320 M300-62/rev.2...

  • Page 135: Appendix E Rg-214 Specifications

    Installation Manual APPENDIX E RG-214 SPECIFICATIONS M300-62/rev.2...
  • Page 136 Seapath 320 M300-62/rev.2...

  • Page 137: Appendix F Serial Port Extender

    Installation Manual APPENDIX F SERIAL PORT EXTENDER The serial port extender (part no G071-97) can be delivered as an option for connection to the Processing Unit. The extender is a 8-port RS-232/422/485 serial device server, type Moxa NPort 5650I-8-DT. Figure 60 Serial port extender with 8-ports F.1 Mechanical installation Mounting accessories are available for installing the serial port extender, the optional power supply and the optional Ethernet switch on a DIN rail.

  • Page 138: Electrical Installation

    Seapath 320 F.2 Electrical installation Connect the serial port extender to the network used for communication between LAN 2 on the Processing Unit and LAN on the HMI Unit. The 5650I-8-DT has an internal Ethernet switch with two external ports, which is sufficient for a network containing only these three devices.

  • Page 139: Appendix G Free And Open Source Software

    SOFTWARE Some of the software components in this product are free and open source software released under the licenses shown below. Source code for the relevant software components is available from: Kongsberg Seatex AS Attn.: Customer support Pirsenteret N-7462 Trondheim Norway E-mail km.support.seatex@kongsberg.com...
  • Page 140 Seapath 320 0. This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License. The "Program", below, refers to any such program or work, and a "work based on the Program" means either the Program or any derivative work under copyright law: that is to say, a work containing the Program or a portion of it, either verbatim or with modifications and/or translated into another language.
  • Page 141 Installation Manual It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims; this section has the sole purpose of protecting the integrity of the free software distribution system, which is implemented by public license practices. Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system;...

  • Page 142: Gnu Lesser General Public License

    Seapath 320 GNU Lesser General Public License GNU LESSER GENERAL PUBLIC LICENSE Version 2.1, February 1999 Copyright (C) 1991, 1999 Free Software Foundation, Inc. 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
  • Page 143 Installation Manual Activities other than copying, distribution and modification are not covered by this License; they are outside its scope. The act of running a program using the Library is not restricted, and output from such a program is covered only if its contents constitute a work based on the Library (independent of the use of the Library in a tool for writing it).
  • Page 144 Seapath 320 Use a suitable shared library mechanism for linking with the Library. A suitable mechanism is one that (1) uses at run time a copy of the library already present on the user's computer system, rather than copying library functions into the executable, and (2) will operate properly with a modified version of the library, if the user installs one, as long as the modified version is interface-compatible with the version that the work was made with.

  • Page 145: Bsd License

    Installation Manual 16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

  • Page 146: Berkeley Db License

    Seapath 320 Berkeley DB License $Id: LICENSE,v 11.12 2004/03/30 20:49:44 bostic Exp $ The following is the license that applies to this copy of the Berkeley DB software. For a license to use the Berkeley DB software under conditions other than those described here, or to purchase support for this software, please contact Sleepycat Software by email at info@sleepycat.com, or on the Web...
  • Page 147 Installation Manual The OpenSSL toolkit stays under a dual license, i.e. both the conditions of the OpenSSL License and the original SSLeay license apply to the toolkit. See below for the actual license texts. Actually both licenses are BSD-style Open Source licenses. In case of any license issues related to OpenSSL please contact openssl-core@openssl.org.

  • Page 148: Wu-Ftpd Software License

    Seapath 320 WU-FTPD Software License WU-FTPD SOFTWARE LICENSE Use, modification, or redistribution (including distribution of any modified or derived work) in any form, or on any medium, is permitted only if all the following conditions are met: 1. Redistributions qualify as "freeware" or "Open Source Software" under the following terms: Redistributions are made at no charge beyond the reasonable cost of materials and delivery.
  • Page 149 Installation Manual The thousands of software packages available for Ubuntu are organised into three key components: main, restricted and universe. Software is published in one of those components based on whether or not it meets our Free Software Philosophy, and the level of support we can provide for it. You can read about these components in more detail http://www.ubuntu.com/community/ubuntustory/components.
  • Page 150 Seapath 320 Binary drivers are a poor choice, if you have a choice. Without source code, Ubuntu cannot support this software, we only provide it for users who require it to be able to run the Free Software we provide in main. Also, we cannot make binary drivers available on other architectures (such as the Mac or IPAQ) if we don't have the ability to port the software source code ourselves.
  • Page 151 Installation Manual INDEX analog output ............19 LED ..............21, 25 cabinet mounting ............ 33 mechanical installation ........... 36 coax cable specification ........117 MRU geometry ............61 coax connector installation ........109 MRU Mounting Wizard ........... 62 configuration backup ..........79 copy configuration ..........
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