iXBlue GAPS User Manual
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iXBlue GAPS User Manual

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GAPS
Carbon V .1
User Guide

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  • Page 1 GAPS Carbon V .1 User Guide...
  • Page 3 In no event shall iXBlue be liable for any consequential or incidental damages, including but not limited to the loss of business profits or any commercial damages, arising from the use of this product.
  • Page 4 In order to avail itself of this warranty, Customer must notify iXBlue of the defect before expiry of the warranty period and take all steps necessary to enable iXBlue to proceed.
  • Page 5 As a consequence, this product is subject to dual-use goods export control procedures: • iXBlue can deliver this product freely to France or any other country of the European Union; • iXBlue can export this product under its own Community General Export Authorization EU 001 to the following countries: Australia, Canada, USA, Japan, New-Zealand, Norway and Switzerland;...
  • Page 6 GAPS – User Guide Overview of GAPS User Guide This document is the User Guide for iXBlue’s GAPS. It must be read and understood prior to using the GAPS system. The manufacturer shall in no case be held liable for any application or use that does not comply with the stipulations in this manual.
  • Page 7 AUTION ICON INDICATES THAT THE FOLLOWING INFORMATION SHOULD BE READ TO FORBID OR PREVENT PRODUCT DAMAGE ARNING ICON INDICATES THAT POSSIBLE PERSONAL INJURY OR DEATH COULD RESULT FROM FAILURE TO FOLLOW THE PROVIDED RECOMMENDATION MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 8 Inertial Measurement Unit Inertial Navigation System Man Machine Interface MFSK Multi-Frequency Shift Keying Not Applicable Noise Isotropic Spectrum NMEA National Marine Electronics Association Real-Time Kinematics Signal to Noise Ratio USBL Ultra Short Base Line MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 9: Table Of Contents

      GAPS ........................37     ONFIGURING III.1 Installing the Man Machine Interface ...................37     III.2 Overview of the Man Machine Interface ................38     III.2.1 Starting the Man Machine Interface ..................38     MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 10 Defining a Sound Velocity Profile ..................56     III.3.10 Configuring the Transponder Parameters ................. 58     III.4 Monitoring the GAPS in Operation ..................64     III.4.1 Controlling The Real Time Data ..................64     III.4.2 Visualizing with the Absolute View ..................65  ...
  • Page 11     VI.2.12 SIMRAD EM ........................130     VI.2.13 SOC AUTOSUB ....................... 131     VI.2.14 GPGGA Ship ........................132     VI.2.15 GYROCOMPASS ......................132     ..........................135   ENERAL NDEX MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 13: Introduction And Technical Description

    The GAPS has an operating field over 200 degrees coverage below the ship (see Figure 2). During the positioning operations it can be used at 3 or 4 knots or more depending on the expected performances and at 12 knots during the transit operations.
  • Page 14 GAPS – User Guide Figure 2 - GAPS Operating Field MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 15: Acoustic Positioning Principles

    • The absolute position of GAPS is given by the GPS. The position of the transponder relative to GAPS position is computed. GAPS can then provide the accurate absolute position of the transponder.

  • Page 16: Technical Description

    Three cables are used in the GAPS system: • The 50 m main cable between GAPS and the ECB. An optional length of 100 m is also available upon request. This cable is fitted with a 16-pin SUBCONN at one end (GAPS side) and a 19-pin SOURIAU at the other end (ECB side).

  • Page 17: Gaps Unit

    GAPS – User Guide If the expected accuracy of an external GPS is greater than the GAPS integrated DGPS, it is possible to connect it to the ECB (through the External GPS RS 232 serial link) and to use its positioning data. In that case, the “Y” cable is not used.

  • Page 18: Acoustic Transponders

    An Inertial Navigation System (INS) • The acoustic transmitter electronics Power Supply GAPS must be powered by a 28 to 36 V - 50W - DC power supply. GAPS Unit The GAPS unit ensures • the transmission of The acoustic (or electrical) triggering signals to the Transponders, •...

  • Page 19: Acoustic Transponder Mt8X2 And Et8X2 Series

    The Acoustic Transponder series designed to be used with GAPS are: • iXBlue MT 832 E – HD – R: Designed to depths up to 3,000 m (remote transducer) • iXBlue MT 832 E – R: Designed to depths up to 3,000 m •...
  • Page 20 Optional Responder Mode Features Every iXBlue acoustic transponder with the letter "-R" at the end of its designation (e.g. MT 832 E-R) is equipped with a waterproof plug, that is used for: • The Electrical Triggering of the transponder in Responder mode •...
  • Page 21 410,000 Remote Transducer Every iXBlue Acoustic Transponder with the letters "-HD" at the end of its designation (e.g. MT 832 E-R-HD, see Figure 7) has a transducer separate from its body with this separated transducer the transponder can be more easily installed on a underwater vehicle.

  • Page 22: Acoustic Transponder Bt812 Series

    The Blanking Time is 260 ms • The iXBlue BT 812 S is designed for a depth up to 700 m The BT812 beacon can neither have a remote hydrophone nor operate in responder mode. For more details, please refer to the BT812 User Guide.

  • Page 23: Conventions And Specifications

    I.4.2 EOMETRICAL ONVENTIONS Vessel The Figure 10 shows how the Roll, Pitch and Heading are measured on the ship and the Attitude signs of these angles. Figure 10 – Vessel Attitude Definition and Signs MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 24 H4 is long arm hydrophone located to the opposite of H3 long arm hydrophone. Figure 11 - H1, H2, H3 and, H4 hydrophones Reference The axes in the GAPS reference frame are as follows (see Figure 12 and Figure 13): Axes GAPS being in vertical position, •...
  • Page 25 GAPS – User Guide Figure 12 - GAPS reference axes Figure 13 - GAPS angular offsets O INSURE COMPATIBILITY WITH OUR EXISTING SYSTEMS AND SOFTWARE THE CONVENTION USED FOR THE AXES IGURE IGURE MAY BE DIFFERENT FROM THE CONVENTION USUALLY USED...

  • Page 26: Mechanical Specifications

    Connector Souriau on ECB diameter 26 mm side 19 pins Cable Diameter 15 mm Dynamic Bend Radius 150 mm Static Bend Radius 75 mm Breaking Strain 150 DaN GAPS CABLE IS NOT A TOW CABLE MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 27: Electrical Specifications

    MMI WIRES SHIELD OPTIONAL EXTERNAL GPS MESSAGE INPUT – RS 422 –Rx+ OPTIONAL EXTERNAL GPS MESSAGE INPUT – RS 422 –Rx- GPS WIRES SHIELD STANDARD OUTPUT – RS 422 –Tx+ STANDARD OUTPUT – RS 422 –Tx- MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 28 GAPS – User Guide External GAPS must be electrically powered by a 28 to 36 V / 50W DC source. See Figure 15. Power Supply Figure 15 – 28 to 36 V power supply 3-pin SOURIAU plug The whole system (GAPS+ECB+PC) must be powered by a 110-220 V / 50Hz source (consumption: less than 50 W).
  • Page 29 MT8 and MT9 transponders (from all possible configurations). Most of the time, these signals have to be re-amplified between GAPS and the transponder. There can be a delay between the transmission of this signal by GAPS and its reception by the transponder.
  • Page 30 The message expected by GAPS is the standard NMEA $xxGGA message (see section VI.1.1) and xxZDA (see section VI.1.2) is automatically taken into account for the update of the GAPS internal time if available. “xx” means that the first two letters of the format name can be any letter.

  • Page 31: Installing Gaps

    GAPS – User Guide GAPS NSTALLING Before installing GAPS for the first time, it is recommended to check the contents of the boxes delivered (see section II.1). The installation is achieved in four steps: • Installing the GAPS antenna, see section II.2 •...

  • Page 32: Ii.2 Installing The Acoustic Antenna

    On a ship, it is recommended to install the GAPS unit in the front third of the ship (in order to decrease the noise level from the propeller) and as far as possible from any water discharge system.

  • Page 33: Ii.2.2 Installation Principles

    GAPS in the ECB. This operation must be done by an iXBlue engineer, during the installation of the equipment. See section II.4 for more details.
  • Page 34 GAPS – User Guide PAGE INTENTIONALLY LEFT BLANK MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 35 GAPS – User Guide Figure 17 – GAPS Mechanical Plan MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 36 GAPS – User Guide PAGE INTENTIONALLY LEFT BLANK MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 37: Ii.2.3 Deployment Examples

    GAPS – User Guide II.2.3 EPLOYMENT XAMPLES Figure 18- GAPS fixed on the hull and a transponder on a ROV Figure 19 GAPS fixed on the hull and a transponder on a tow fish MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 38 GAPS – User Guide Figure 20 - GAPS mounted under a tripod Figure 21 - Transponder fixed on a scuba cylinder Figure 22 – GAPS inside a hoisting pool MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 39 GAPS – User Guide Figure 23 Different installations on a pole, underneath the keel or in a moon pool MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 40: Ii.3 Installing The Easy Connect Box

    II.3 Installing the Easy Connect Box The connections between the different devices can be set up through the iXBlue junction box called ‘Easy Connect Box’ (ECB). See Figure 24. Through the Easy Connect Box, you can set up all connections between the different devices of the system.

  • Page 41: Connections On The Front Face

    • 2 BNC plugs for SYNC OUT to trigger the transponder in responder mode with a TTL signal SYNC IN GAPS acoustic recurrence triggered by an external device (side-scan sonar for example) • 4 DB9 plugs for RS232 Serial Links (use of straight cables)
  • Page 42 GAPS – User Guide Input GPS connection to an external GPS receiver • The GAPS 19-pin plug for the Acoustic Array cable • The 28 to 36 V - 50W DC (2A) ECB power supply plug • The 100 to 240 V, 50-60Hz ECB power supply plug, automatically detected, no adaptation needed •...

  • Page 43: Ii.4 Checking The Electrical Ground Continuity

    Read the voltage between these two points. The voltage must be below 1.0 V. End of procedure. If the voltage between the GAPS antenna and the hull of the ship is below 1.0 V, the system is electrically well installed. GAPS...

  • Page 44: Ii.5 Installing The Gps Antenna

    NSTALLING AN XTERNAL In this case, you must not use the Y-cable to be plugged to the GAPS. Plug your GPS directly on the ECB via the GPS DB9 plug or on your Souriau socket of your acoustic array cable if you do not use an ECB.

  • Page 45: Measuring The Gps Lever Arms

    EASURING THE EVER GPS Antenna Even though it is designed to work in the vertical position, GAPS acoustic array can be Lever Arms tilted if necessary and also be placed in the horizontal position. To calculate the absolute position of a transponder, GAPS needs to know its own position.
  • Page 46 This is typically when GAPS is held by a rope. In that case, the height value (h) must also be set to 0 (to avoid the calculation of the offset). The accuracy of the positioning will decrease if the position of GAPS relative to the GPS antenna changes.
  • Page 47 The closer GAPS is to the GPS, the better is the accuracy of the measurement of the heading of the acoustic array. It is the same for the roll and pitch if the GAPS is intentionally not in the vertical position. Measure the position of the GPS reference point with respect to the reference frame linked to the GAPS unit.

  • Page 48: Ii.5.4 Setting The Gps Time

    ± 15 ms after the PPS signal • Or if no ZDA frame is received by GAPS, the last time recorded by GAPS is used. If the GPS do not deliver ZDA strings, then the time is taken from the GGA strings and the precision of the positioning is still less than 1 second.

  • Page 49: Configuring Gaps

    GAPS – User Guide GAPS ONFIGURING GAPS System is controlled by a user PC on which the Man Machine Interface software is installed. All its functionalities are described in this section. III.1 Installing the Man Machine Interface Required To set GAPS, the Man Machine Interface software provided with the system must be environment installed on a PC.

  • Page 50: Iii.2 Overview Of The Man Machine Interface

    Figure 33 – Starting GAPS MMI, launching window Procedure Step Action From Start menu, select Programs/ GAPS MMI/Man Machine Interface Software. The MMI is started. The Communication ports of the PC are scanned by MMI to recognize which devices are connected. •...
  • Page 51 MMI are the same, the following window appears: If needed, choose between the MMI or GAPS configuration. • If GAPS is not active, the system button located in the upper right side of the main window is labeled ‘START Tracking’ and the associated light is blue •...

  • Page 52: Iii.2.2 Main Window

    (see section Figure 44), or in a ship dependent frame (see Figure 45) or in a time-depth frame (see Figure 46) Transponder menu: to add, define, modify and, suppress the devices you are tracking with GAPS (see section III.3.10) • The Tool Boxes area: these boxes enable you to monitor your mission.

  • Page 53: Iii.2.3 Color Code

    When you modify some parameters in the different windows or toolboxes, the corresponding menu titles are set to red. This color code means that modifications have been made but not applied yet in the MMI and/or GAPS itself. Use the Valid button to apply them.

  • Page 54: Iii.3 Configuring Gaps

    The location of the ship stern and port side with respect to GAPS: Stern (Xp), Port (Yp). Example: For a GAPS located at the stern level at 2 m of the port side (inside the ship), these values are the following:...
  • Page 55 The lever arms of the GPS antenna with respect to GAPS: Longitudinal (X), Transverse (Y), Vertical (Z) values. These parameters affect directly the positioning. The further the GPS is from GAPS, the bigger the error in the lever arms will be. See Figure 37 for numerical examples.
  • Page 56 GAPS – User Guide Figure 37 – Examples of Numerical values for the ship dimensions and the GPS offsets with respect to GAPS All offsets and distances are in meters and signed with respect to the axis drawn in the window.
  • Page 57 The drawing of the vessel window does not change. The Vessel tab label turns red. In the Stern and Port side coord. Relative to GAPS display area, fill in the ship port side and stern with respect to GAPS by clicking on the corresponding fields.

  • Page 58: Iii.3.2 Configuring The System Parameters

    Access under the Mission menu. Version When the MMI is not connected to a GAPS unit, two radio buttons appear on the right of Choice the antenna display. These two radio buttons allow the user to select the GAPS version: •...
  • Page 59 GAPS – User Guide Figure 38 - Supervision Window In the Supervision window, the Tool Box displays some versions about the system components: MMI software version, CPU version, 4Ways version and INS version. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 60: Iii.3.3 Configuring The Serial Link

    In the Supervision display area (see Figure 38), click on Serial Link label. The associated tool box appears. In the associated toolbox, you can reload in GAPS the configuration displayed in MMI by clicking on GAPS Configuration. The serial link parameters already saved are then displayed.

  • Page 61: Iii.3.4 Configuring The Interface Parameters

    In the Display area, the MMI label turns red to remind you that you have to validate your choices. Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button. End of procedure.

  • Page 62: Iii.3.5 Configuring The Gps Parameters

    In the Display area, the GPS label turns red to remind you that you have to validate your choices. Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button. End of procedure.

  • Page 63: Iii.3.6

    TAT is the turn around time. See Table 10. Table 10 – Maximum working distance versus recurrence with a TAT = 90 ms Maximum working distance (m) Responder mode Transponder mode 1,365 2,865 1,432 4,365 2,182 5,865 2,932 7,365 3,682 8,865 4,432 MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 64 Enter the delivery rate in Recurrence in [second] if Internal Fixed is selected. • Otherwise choose External. In the Display area, the Processor label turns red. Click on Valid if GAPS is not operating otherwise stop GAPS before clicking on Valid. End of procedure. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 65: Iii.3.7 Configuring The Acoustic Array Parameters

    The Interrogation frequency used is displayed according to the transponder configurations. Check the NIS on each hydrophone. Verify that the given values are homogeneous. In the opposite, the hydrophone giving a strongly different value than the others is probably faulty. End of procedure. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 66: Iii.3.8 Configuring The Output Parameters

    • POSIDONIA 6000 • IXSEA USBL-INS 1 • IXSEA USBL-INS 2 • GPGGA (GAPS antenna) + VTG For the strings containing information relative to the GAPS antenna but NO position of the transponder: • GyroCompass • Halliburton • Navigation •...
  • Page 67 Choose the Parity and Stop bit by selecting them in the scrolling lists. In the Display area, the Output label turns red to remind you to validate your choices. Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button.

  • Page 68: Iii.3.9 Defining A Sound Velocity Profile

    The immersion depths can be modified manually in the file. The immersion depths are transformed into pressure values by the MMI before transmitting them to the GAPS. The first depth value must be ‘0’. The last depth value cannot be greater than 7,000.
  • Page 69 OK. Your sound velocity profile is saved in a text file with the format described above. Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button. End of procedure.

  • Page 70: Iii.3.10

    The graph is computed for Areas angles between 0° and 90° at a 1° step. The path is computed from the GAPS to the transponder. This allows you to see if there are areas where you could not see your mobile (shadow areas, see Figure 39).
  • Page 71 3,000 m – depth, you would enter 30 dm in the accuracy field). You can define up to 127 transponders. ‘I ’. HE TRANSPONDER CAN BE TRACKED ONLY WHEN IT IS MFSK OU CANNOT USE TWO OR MORE TRANSPONDERS WITH THE SAME CODE SIMULTANEOUSLY MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 72 GAPS – User Guide Figure 41 - Transponder MT8 view Figure 42 - Transponder BT8 view MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 73 “.” appears after the transponder ID number in the transponder menu: Click on Valid if GAPS is not operating otherwise stop GAPS before clicking on Valid. The transponder ID in the list (besides the Transponders menu) turns black.
  • Page 74 The transponder ID disappears from the transponder list near the Transponders menu. End of procedure. The transponder cannot be deleted when “in use” and /or when GAPS is tracking. Sorting You can sort the transponders list by chronological or numerical order by selecting Chronological list or Numerical list (on the ID) in the Transponders menu.
  • Page 75 The transponder IDs turn red in the transponder list. Edit one of the swapped transponders. Click Valid button to validate the modifications if GAPS is not operating otherwise stop GAPS before clicking the Valid button. The transponder ID in the transponders list (near the Transponders menu) turns black.

  • Page 76: Iii.4

    From the upper left part: a mobile (vessel or transponder), the displayed fields are fixed and depend on your mobile choice. • From the upper middle part: The mobiles of which you want to visualize the parameters, The parameters to visualize for each mobile. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 77: Iii.4.2 Visualizing With The Absolute View

    ISUALIZING WITH THE BSOLUTE Window To display the real time data in a geographic display, select Absolute tab under the Access Views menu. Window The corresponding window (see Figure 44) appears. Figure 44 - Absolute view MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 78 A bigger spot than all the others symbolizes the last position of the displayed point. It represents the last known position of the mobile. The arrow, which represents the ship, is oriented following the current ship heading (see Figure 44). MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 79: Iii.4.3 Visualizing With The Relative View

    Relative tab under Views menu. Window The corresponding window appears. The Figure 45 displays the relative view with a GAPS Description located at 6 m from the stern and at 2 m from the port side (inside the ship): Xp = -6 m and Yp = -2 m in this case.

  • Page 80: Iii.4.4

    Nb Points: as long as the entered number of displayed points is not reached, the display is compressed. When this maximum number is reached, the display shifts along the left of the time scale MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 81: Iii.4.5 Controlling The Gaps Status

    A communication button. Changing a functional parameter anywhere in the software while a GAPS is tracking and validating it will make this button flash with a red frame. This means that the changed parameter is not applied to the GAPS and that if you...
  • Page 82 (CPU). • If the rectangle light is orange: the temperature is high (> 70°C). This situation must be kept under very close control. For example check if the GAPS antenna is not out of water. •...
  • Page 83 The sea ambient noise is measured at the hydrophones faces and displayed in the tool Noise box in the Supervision menu after clicking on the acoustic antenna: Figure 51 – Tool box displaying the noise level for all the hydrophones MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 84: Iii.5 Recording The Data

    Each time the data file size reaches 1 Mo a new data file is created. The whole software configuration is always saved in the first data file. Figure 52 - Recorder box – Automatic recording check box MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 85: Ogaps

    Performances In complex marine environments, GAPS offers different levels of performances. See below the global GAPS performances depending on the GPS operating modes (section IV.2.1) and the variation graphs of the range and the accuracy versus depth, noise level and SNR.

  • Page 86: Iv.1.2 Multi Path

    GAPS – User Guide IV.1.2 ULTI The multi-path phenomenon is usually a major issue for standard USBL systems. GAPS uses wide-band spectrum signals and is fitted with a powerful signal processing that reduces a lot the result of the multi-path signals.

  • Page 87: Range Versus Noise Level

    EVEL The GAPS performances are on the Figure 54 with • GAPS Signal Level of 191 dB • Transponder Signal Level = 188 dB Figure 54 – GAPS Performances in Range versus Noise Level MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 88: Iv.1.4 Accuracy Versus Snr

    • Roll & Pitch Error = 0.01 deg • Heading Error = 0.1 deg • GPS error ≤ 1.5 m Figure 55 – GAPS Performances in Accuracy versus SNR (SNR at GAPS processing output) MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 89: Iv.2 Initializing And Configuring A Survey

    GAPS – User Guide IV.2 Initializing and Configuring a Survey You need to choose the mode in which GAPS is going to operate (section IV.2.1) before initializing the system (section IV.2.2). The choice of the operating mode constrains the configuration (section IV.2.3).

  • Page 90: Iv.2.1.2 Two Modes

    GAPS acoustic array. The drawback is that the electrical signal has to be transmitted up to the transponder usually through an electrical or a fiber optic wire or by using synchronous clocks (GAPS in external synchronization mode).

  • Page 91: Iv.2.2 Initializing Gaps

    Press START tracking button in the MMI. This action starts the acoustic cycle of GAPS. The INS needs 5 minutes before being operational. Check for end of the alignment inertial sensor alarm message on the MMI software: in...
  • Page 92 • After the coarse alignment phase, the GAPS is ready for navigation. Kalman filter is activated to compute and estimate position and speed with an optimal accuracy. The INS switches to the “fine alignment” phase to improve the accuracy of roll, pitch and heading estimations.
  • Page 93 The inertial sensor status light turns green at the end of the coarse alignment. You can then start to operate with GAPS. The accuracy of the INS is optimal at the end of the fine alignment. At the end of the fine alignment, the message “fine alignment” disappears from the inertial sensor tool box.

  • Page 94: Iv.2.3 Configuring The Mission Parameters

    Under the Mission menu, select the Vessel tab, set the GPS X, Y lever arms to zero. Enter the Z lever arm. • If GAPS is mounted on a pole, GAPS should be placed in a way that the hydrophone H1 is oriented towards the bow of the ship. •...

  • Page 95: Iv.2.4 Installing The Transponders

    Plug the transponder for power supply to the vehicle carrying it. This connection is used in both transponder (only power supply) and responder mode (power supply and triggering coming from GAPS). In responder mode, connect the vehicle to the “Synchro Out” BNC plug on the ECB or to your SOURIAU socket if you do use the ECB.

  • Page 96: Iv.3 Monitoring The Survey

    When you modify some parameters in the different windows or tool boxes, the Label corresponding menu titles are set to red. This color code means that modifications have been made but not applied yet in the MMI and/or GAPS itself. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 97: Iv.3.3 List Of The Warning Messages And Troubleshooting

    Warning Messages Meaning Alignment Initialization of the inertial sensor (coarse alignment), it takes 5 minutes after powering of GAPS and before being operational. It is better to let the ship drift during these 5 minutes. Fine Alignment End of the initialization of the inertial sensor. It can take 30 minutes before being fully operational.

  • Page 98: Error Messages

    Move the transponder away from The transponder might be too GAPS. close to the GAPS antenna in Turn off GAPS and after at least 20 responder mode. seconds turn it on again. Anomaly in the detection process of GAPS.
  • Page 99 Attitude data of the INS is not valid Message appears often Wait a few minutes and all should after a ADC Overload come back in order. or accelerometer error. If not contact iXBlue support. MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 100 Pressure sensor defectuous, Check the input data of the ECB received in input. not properly connected, not ($PMEVL, NMEA format), serial port at the right format or serial configuration … port not properly configurated. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 101: Maintenance

    V.1.1 RECAUTIONS • Rinsing: Each time GAPS has been used in salted water, it must be thoroughly rinsed with fresh water. • Hydrophones caps: GAPS must be handled with great care, especially concerning the hydrophones. As soon as it is no more in water, the hydrophone protective caps must be put in place.
  • Page 102 GAPS – User Guide • Handling: The best way to carry GAPS is to hold it by the upper disc in one hand and one of the longer arms in the other hand. Figure 61 - Handling GAPS GAPS O NOT HOLD...

  • Page 103: Cleaning Hydrophones

    Clean with isopropylic alcohol. Wet the surface with aliphatic hydrocarbon solvent (Essence F in French). Wait 2 minutes for drying. Apply anti fouling according to the supplier recommendations (thin coat). Wait 24h. End of procedure. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 104: Testing Gaps Before Deployment

    Integration tests (transponder on the vehicle, GPS, navigation software) are not covered in this section as these tests depend on each specific installation. If the all six tests are successful, the GAPS is ready to be integrated in its operating environment and to be deployed at sea.

  • Page 105: Testing Communication

    Once the GAPS communication port is found, the software compares both configurations (from the software and from the GAPS itself) and informs you if there are differences. This test is successful once GAPS has replied a message on its communication port.

  • Page 106: Testing Transmission

    1 s. On the main page, click on START Tracking. This test is successful if you hear the GAPS pinging at the configured recurrence. End of procedure. Long transmission is the air could damage the transmitter. Perform only a few pings for testing purposes.

  • Page 107: Testing Reception

    Procedure Step Action In GAPS MMI software, create a MT8 beacon, in the Transponder menu. Configure the beacon independently, in responder or transponder mode. Make sure that the transponder is “in use”. In the Supervision menu / processor button, configure the acoustic recurrence: internal fixed, at 1 s.

  • Page 108: Testing Monitoring Of Heading/Roll/Pitch

    Change, respectively, the heading, roll and pitch of the GAPS head itself. Check, in the GAPS MMI software that the attitudes are changing, according to the motion of the system. This test is successful if you can monitor the heading, roll and pitch in the GAPS MMI software. End of procedure.

  • Page 109: Testing Gps Input

    Procedure Step Action Connect a GPS onto the GAPS (with Y cable or onto the GPS input, on ECB). Start the GAPS. In GAPS MMI software, configure the communication port parameters. Configure the lever arm between GAPS and GPS in vessel menu.

  • Page 110: Testing Gaps Standard Output

    Procedure Step Action In GAPS MMI software, select the GAPS standard protocol on output (in Supervision panel) with a 1 s rate. Connect the ECB output onto a computer serial communication port. Open a HyperTerminal and configure it with parameters corresponding to the settings already present in the GAPS MMI.

  • Page 111: Corrective Maintenance

    In case of a faulty hydrophone, it is possible to change this hydrophone without sending back the equipment to the factory. Follow the procedure CM01 below to remove an arm of GAPS in order to exchange the faulty hydrophone by a new one. MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 112 Steps Procedure Step Action Use soap and fresh water to clean the hydrophone surface. Apply low pressure with thin sand paper on the hydrophone surface until all growth has been removed. End of Procedure. MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 113 Remove the circlip at the interface between the arm and the hydrophone. Use the Allen key to unscrew the three socket head cap screws CHC M5-12 that fasten the arm to the antenna body. MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 114 Replace gently the arm back to its original position. Fasten the arm to the body with the three screws CHC M5-12. Insert the circlip at the interface between the hydrophone and the arm. 14. End of procedure. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 115: System Upgrade

    GAPS – User Guide System Upgrade V.3.1 URPOSE iXBlue provides upgrades of GAPS system firmware. The purpose of this section is to describe the procedures to download the firmware to GAPS by serial link. V.3.2 ECOMMENDATION If the upgrades include a firmware package, with 4WAYS, INS, CPU and MMI software, iXBlue recommend loading all of them before to use the GAPS.
  • Page 116 Wait about 10 s. Press on the START button. The download starts after a few seconds. Switch off GAPS once the "End of download" message is displayed then exit the program. Switch on the GAPS. Wait 20 s then start the MMI.
  • Page 117 GAPS – User Guide Download the configuration from MMI to GAPS Check the correct INS version number in the Supervision Panel. 12. End of procedure. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 118: Upgrading The Cpu And/Or 4Ways Firmware

    ECB (Easy Connect Box) and, if necessary, disconnect all the other serial connections (GPS, Pressure and Output). Switch GAPS off. Run the GAPS Loader program provided with GAPS MMI: The following window opens. Select the GAPS Com Port.
  • Page 119 • Select the TQ_LXX_PXX_IPXX_STD.srec to update the CPU • The XX in the file names are numbers and identify the firmware version. Press the Download button Switch GAPS on. Exit the program once the download is finished and switch off GAPS. MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 120 Action Switch GAPS on and wait for 20 s then launch the MMI. Choose to download the configuration from MMI to GAPS and check the 4Ways and or the CPU version number in the Supervision Panel. 11. End of procedure.

  • Page 121: Library Interface

    1 GPS SPS Mode fix valid • 2 Differential Mode, SPS Mode, fix valid • 3 GPS PPS Mode, fix valid • 4 RTK • 5 Float RTK is the number of satellites is optional MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 122: Vi.1.2 Xxzda

    ID (from 001 up o 128) is a mnemonic is the analog channel, C = 8 VVVVV is the Pressure value VVVVV = 0 to 65535 dBars (integer) or VVVV.V = 0.0 to 9999.9 dbars (float) is the checksum MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 123: Vi.2 Output Protocols

    (three channels are enough). All output positions are valid. • Calculated depth / Sensor depth: The GAPS know only one depth that is the fusion of both depths (Calculated and sensor). This “optimized” depth is in the “Calculated depth” field.
  • Page 124 0000 to 1111). 0 means that the channel is not valid and 1 that the channel operates properly. • Calculated depth / Sensor depth: The GAPS know only one depth that is the fusion of both depths (Calculated and sensor). This “optimized” depth is in the “Calculated depth” field.
  • Page 125 0000 to 1111). 0 means that the channel is not valid and 1 that the channel operates properly. • Calculated depth / Sensor depth: The GAPS know only one depth that is the fusion of both depths (Calculated and sensor). This “optimized” depth is in the “Calculated depth” field.
  • Page 126 Data not valid, never null) Checksum All the strings of the GAPS Standard format (sent on the Output serial link) are also present in the GAPS Regular (sent on the MMI serial link). The GAPS Regular strings are transmitted at a rate of 1 Hz. GAPS Regular contains other strings dedicated to an iXBlue internal use and are thus not described in this manual.

  • Page 127: Vi.2.2 Hipap Hpr 418 Bcd (Rev C) Mobile Or Fixed

    0 - TP (Transponder) 1 - Depth TP Optional Data 1 2 - Inclinometer TP Optional Data 1&2 /* not used for GAPS 3 - Diff.in.TP Optional Data 1&2 /*not used for GAPS 4 - Compass TP Optional Data 1 /* not used for GAPS...
  • Page 128 Byte 25 0x00 Ellipse direction Byte 26 0x00 Horizontal error Byte 27 0x00 Ellipse major Byte 28 0x00 Horizontal error Byte 29 0x00 Ellipse minor Byte 30 0xXX Checksum Byte 31 0xFF End of frame MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 129 Byte 29 0x00 Dummy byte Filled with 0 Byte 30 0xXX Checksum Bytes OR exclusive (except Checksum and End of frame). Bit 7 of the Checksum is always 0. Byte 31 0xFF End of frame MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 130: Hipap Hpr 400

    N for None, C Compass, I inclimeter, D Depth, T Time ,x.x First_add_value Empty, Tp compass or Tp x inclination ,x.x Second_add_value Empty or Tp y inclination Checksum Empty or Checksum CRLF Termination CRLF Example: $PSIMSSB,,B01,A,,P,H,M,111.80,63.43,48.50,0.00,N,,*5E MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 131: Vi.2.4 Nautronix Ats Ii

    Z coordinate In meters (‘+’ when directed to the bottom) Field 8 Heading In degrees (‘+’ clockwise) Field 9 Pitch In degrees (‘+’ when bow up) Field 10 Roll In degrees (‘+’ when starboard up) MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 132: Vi.2.5 Posidonia 6000

    Bytes 22 to 25 Data Field 8 Delay IEEE floating point format , seconds Bytes 26 to 29 Bytes 30 to 31 Checksum Addition of all the bytes from 0 to 29. Warning: 2 characters MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 133: Ixsea Usbl Ins 1

    25 m < standard deviation < 50 m 111: standard deviation > 50 m Angle between the 15/16 x180 Bits 7 to 4 North and the major axe 180/2 0 ° ° of the XY error ellipse l Bit 0 Reserved MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 134: Vi.2.7 Ixsea Usbl Ins 2

    Latitude (deg) Resolution: 180/2 Domain: [-90 .. 90 x (1-2 Field 3 longitude (deg) Resolution: 360/2 Domain: [-90 .. 360 x (1-2 Field 4 Immersion (m) Resolution: 0,01 m Domain: [ 0 .. +10485,75] MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 135 GPS to the Domain: [0 .. 3 599 999] GAPS, keeping only the (The largest values of this field do not minutes, seconds, and have any meaning) milliseconds. It is coded in milliseconds number. MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 136 This data is coherent with the one that would be given by a depth sensor on the underwater mobile. But it does not allow to deduce the absolute position as there is no compensation for tide. Immersion Measured depth (by the USBL acoustic array) Heave USBL immersion MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 137: Vi.2.8 Phins Standard Message

    INS status (MSB) is the checksum $PIXSE,POSITI,x.xxxxxxx,y.yyyyyyy,z.zzz*hh<CR><LF> Where: x.xxxxxxx is the latitude in degrees y.yyyyyyy is the longitude in degrees z.zzz is the altitude in meters is the checksum MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 138 Some data frames as GPSIN are sent only if new data arrived from an external sensor since last output (DDRECK if dead reckoning mode is turned on). MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 139: Vi.2.9 Hehdt

    % vvvv.v is the compensation sound velocity in m/s MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 140 Bit 5 Serial in B activity Bit 6 Serial in C activity is overall QC ('0' - 'F') Bit 0 Alignment mode Bit 1 1->Fine alignment mode, 0->ready to dive Bit 2 Kalman On MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 141: Vi.2.11 Navigation

    $PIXSE,STATUS,hhhhhhhh,llllllll *hh<CR><LF> Where: hhhhhhhh is the hexadecimal value of PHINS status LSB llllllll is the hexadecimal value of PHINS status MSB is the checksum MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 142: Vi.2.12 Simrad Em

    Byte 7 Heave MSB LSB: 0.01m Sign “+” when Octans goes up Byte 8 0xHHHH Heading LSB Heading 0° to 360° LSB: 0.01° Byte 9 Heading MSB Each data is “two complemented” coded except Heading. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 143: Vi.2.13 Soc Autosub

    Incremented by 1 Unsigned 16 bits Field 17 Byte 60 Checksum Addition of all the bytes for 0 to 59 * The resolution of rotation rate data is limited to 3.6 deg/h to comply with export regulation. MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 144: Vi.2.14 Gpgga Ship

    GAPS – User Guide VI.2.14 GPGGA S • Data sent: Latitude, Longitude of the ship or GAPS, GPS quality • Data frame: $GPGGA,hhmmss.ss,ddmm.mmmmm,a,dddmm.mmmmm,b,q,ss,...,…,.,…,.,…,….*hh<CR><LF> where: hhmmss.ss is the UTC of position ddmm.mmmmm is the latitude in degrees and in minutes and 1/100000...
  • Page 145 @ ixblue.com FOR GENUINE EMERGENCIES ONLY: North America / NORAM +1 781 937 8800 Europe Middle-East Africa Latin-America / EMEA-LATAM +33 1 30 08 98 98 Asia Pacific / APAC +65 6747 7027 MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 146 52 avenue de l’Europe Marly le Roi, 78160, France Offices: Dubai, Germany, Netherlands, Norway, UK, Italy Asia Pacific / APAC +65 6747 4912 iXBlue Pte Limited Singapore 15A Changi Business Park Central 1#04-02 Eightrium Singapore 486035 Offices: Australia, China, India MU-GAPS-AN-003 Ed. L – May 2012...

  • Page 147: General Index

    MT 832 S - R, 10 Environmental Noise, 20 MT 862 S – HD - R, 7 Reflective Surfaces, 20 K  Depth View, 64 Kalman Filter, 3 E  M  Environmental Noise, 20 Menu Mission, 40 MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 148 Defining, 52 MFSK chirp signal, 7 R  Transponder Ray bending, 56 Creating, 59 Reception Channel Transponder IIF, 7 External Power Supply, 8 Recurrence Mode, 8 Acoustic, 77 Transponder Reference Axes Mode, 78 GAPS, 12 Transponders MU-GAPS-AN-003 Ed. L – May 2012...
  • Page 149 GAPS – User Guide Switches, 83 Draft, 43 Turn Around Time, 7, 59 Parameters, 42 Port Side, 42 U  Stern Side, 42 USBL, 1 View Absolute, 64 V  Depth, 64 Vessel Relative, 64 MU-GAPS-AN-003 Ed. L – May 2012...

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