MDL Dynascan Operator's Manual
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MDL Dynascan Operator's Manual

Land vehicle and marine vessel lidar
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RT3005_Operators_Manual_v0711
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MEASUREMENT DEVICES US LLC
17555 GROESCHKE ROAD
HOUSTON
TEXAS
77084
USA
TELEPHONE: +1 281 646 0050
FAX: +1 281 646 9565
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  • Page 1 RT3005_Operators_Manual_v0711 ’ ’ MEASUREMENT DEVICES US LLC 17555 GROESCHKE ROAD HOUSTON TEXAS 77084 TELEPHONE: +1 281 646 0050 FAX: +1 281 646 9565...

  • Page 2: Table Of Contents

    VRS corrections ................18 Powering up ....................18 System initialisation ..................19 Pinging the laser ..................21 Quick Start Guide Restoring Dynascan factory settings ............25 8.1.1 QINSy restore ................... 25 MDL Support © Copyright Measurement Devices Limited Page 2...
  • Page 3 13.2.2 Database Setup ................53 13.2.3 Online Settings ................56 13.2.4 Replay function ................57 13.2.5 Dynascan Displays ................. 60 13.2.6 Computation Setup ............... 61 13.2.7 Session Setup – Sounding grid ............62 13.2.8 Session Setup – DTM Storage ............66 13.2.9 Session Setup - Control ..............
  • Page 4 17.1.2 Example - Corrsys-Datron Odometer .......... 78 Appendix 2 Camera Option 18.1 Nikon D90 ...................... 79 18.2 MDL integrated pod cameras ..............81 Appendix 3 Multibeam Option 19.1 Teledyne ODOM ES3 ................... 82 19.1.1 ES3 and Velocimeter transducer mounting ....... 83 ©...

  • Page 5: Dynascan Manual

    Dynascan Manual (RT3005G) v_0611 Dynascan M ANUAL 1.1 Manual Revision History: DATE INITIALS ISSUE Comments 20 Mar 2011 Initial version © Copyright Measurement Devices Limited Issue 1 Page 5 Copying of the materials in this document is prohibited...

  • Page 6: Introduction

    If you are using a Dynascan system which uses GNSS heading you will have to calibrate the heading if you move the system from one platform to another.

  • Page 7: Glossary Of Terms

    GLONASS Russian GNSS system GNSS Global Navigation Satellite System Covers GPS, GLONASS and future GALILEO Interface Adapter Used on the Dynascan system Inertial Navigation System Internet Protocol Light Emitting Diode Multi Beam Type of Echo Sounder Root Mean Square Real Time Kinematic...

  • Page 8: Product Specification

    Dynascan Manual (RT3005G) v_0611 Product Specification 4.1 Dynascan General Specifications Laser Scanner Class 1 eye safe (FDA / IEC)  Maximum range 150 metres (500 metre version also available)  Accuracy ± 5cm (2”)  Range resolution 1cm (0.4”) ...
  • Page 9 Dynascan Manual (RT3005G) v_0611 OMNISTAR® HP (SBAS) 0.1 metre  RT-2 1cm + 1ppm  Environmental Operating temperature -20 to +60 C (14 F to 140 F)  Storage temperature -20 C to +70 C (14 F to 158 F) ...

  • Page 10: Laser Safety Information

    Dynascan Manual (RT3005G) v_0611 Laser Safety Information The SLM is supplied with the standard laser module described below which has an integrated red-dot laser pointer. 5.1 SLM Laser Module with Red-Dot Pointer Option The laser classification of the SLM is a Class 2 laser product in compliance with the IEC 60825- 1:2001/07 / EN 60825-1:2001/07.

  • Page 11: System Components

    6.2 Laptop computer A ruggedised laptop computer is supplied with each Dynascan and is loaded with QPS QINSy and QLOUD software. The laptop has bright screen technology and a security dongle is also supplied which enables secure use of the QPS software. A copy of the laptop hard disc information, prior to shipment, is maintained at the MDL Houston factory.

  • Page 12: Interface Adapter (Ia)

    Dynascan Manual (RT3005G) v_0611 6.3 Interface Adapter (IA) The MDL Interface Adapter (IA) provides a stabilised D.C. voltage to the pod components as well as acting as the interface for the system cables. The IA is fitted with an ON/OFF switch, which powers the pod and is reverse polarity protected.

  • Page 13: Interconnecting Cables

    Dynascan Manual (RT3005G) v_0611 6.4 Interconnecting cables The following cables are supplied with every Dynascan system:  Dynascan Pod to IA cable CBL 8301A 10009  **IA power cable*** (terminated with cigarette lighter connector) CBL 8302A 10009  *IA RTK cable* (also used for programming the pod radio) CBL 8303A 10009 ...

  • Page 14: Optional Cables

    Dynascan Manual (RT3005G) v_0611 CBL 8303A 10009 CBL 8304A 10009 CBL 8305A 10009 6.4.1 Optional cables Some systems are integrated with external equipment such as Odometers or echo sounders. These systems have cables, which connect to the pod and are labelled accordingly.

  • Page 15: Installation

    Dynascan pod. The pod should be fixed so that the laser beam clears the back of the vehicle, including any tow ball.
  • Page 16 Dynascan Manual (RT3005G) v_0611 It is important to line up the pod and secondary GNSS antenna along the centreline of the vehicle (see photo below). Try to fabricate brackets / fixing holes for the pod and secondary antenna so that the system can be re-installed in the same place. This will save time, as you will not need to re-calibrate the heading.

  • Page 17: Equipment Interconnection

    Dynascan Manual (RT3005G) v_0611 7.2 Equipment Interconnection Equipment interconnection cables are supplied which enable connection between the pod, GNSS secondary antenna, IA, Laptop and peripheral equipment such as an optional VRS input. Care should be taken when running the cables, especially between the pod and IA, to avoid damage from doors being slammed.

  • Page 18: Rtk / Vrs Corrections

    VRS cable supplied with the Dynascan system. 7.3.1 RTK radio inside pod If using RTK corrections you will need to set up the RTK base station and Dynascan pod radio to be compatible with one another. You can program the Pod radio from the laptop computer, as shown in section 10.2 RTK Radio programming.

  • Page 19: System Initialisation

    Dynascan Manual (RT3005G) v_0611 Next ensure the QINSy dongle is inserted in the laptop USB socket and power up the laptop computer. Check the computer time is set to local time before starting the QINSy application. After clicking on the ‘online’ icon you should display a screen similar to the one below with the alerts shown in the bottom left of the screen.
  • Page 20 Dynascan Manual (RT3005G) v_0611 You should now only have one red alert in the Alert Display, which is the Laser alert (SLM). Click on ‘settings’ and select echo sounder settings then click the control tab and switch on the laser next to the scanning box.

  • Page 21: Pinging The Laser

    Dynascan Manual (RT3005G) v_0611 Click on the settings tab to control the filters (as per section 13.2.10 SLM Settings). All of the alerts should now be green and the system is ready for entry of survey parameters and data acquisition. If this is the first time the Vehicle / Vessel has been fitted you will need to calibrate the heading, which is shown in Section 13.1 Calibrating Pitch, Roll and Heading.
  • Page 22 Dynascan Manual (RT3005G) v_0611 Ensure the IA is switched on before typing ping 128.2.0.201 and then enter (using the IP address of the Dynascan unit, which is on a label underneath the unit and also shown on the QINSy setup page).
  • Page 23 Dynascan Manual (RT3005G) v_0611 If communication with the laser fails you will see a screen similar to that shown below. © Copyright Measurement Devices Limited Issue 1 Page 23 Copying of the materials in this document is prohibited...

  • Page 24: Quick Start Guide

    The following instructions allow the user to get up and running quickly. The appropriate section of this manual is referenced if more detailed information is required. Each Dynascan system leaves the factory fully calibrated and does not need further calibration, except for heading when using GNSS antenna heading.

  • Page 25: Restoring Dynascan Factory Settings

    QINSy restore function. 8.1.1 QINSy restore There is a facility to restore the MDL factory settings used in QINSy, which will re-set all QINSy parameters to the original factory settings. You can also create your own restore point for a particular project.
  • Page 26 Dynascan Manual (RT3005G) v_0611 Ensure the Restore project data from backup box is ticked and click next. The file name should show the QINSy factory backup date for the system you have – click next. © Copyright Measurement Devices Limited...
  • Page 27 Dynascan Manual (RT3005G) v_0611 The Project Folder boxes should all be ticked then select next. © Copyright Measurement Devices Limited Issue 1 Page 27 Copying of the materials in this document is prohibited...
  • Page 28 Dynascan Manual (RT3005G) v_0611 Click the start button to begin the re-store operation. Click the Finish button to complete the QINSy restore. © Copyright Measurement Devices Limited Page 28 Issue 1 Copying of the materials in this document is prohibited...

  • Page 29: Mdl Support

    Houston. 9.2 Laptop Recovery If a major problem with the laptop occurs contact the MDL office in Houston and quote the serial number of the Dynascan system. The MDL Houston office maintains copies of the hard disc setup of each laptop prior to customer shipment and our technical staff will help you to recover the original set-up status.

  • Page 30: Laptop Settings

    10.1 Laser IP Address settings The IP address of the Dynascan laser is written on a label attached to the underside of the pod and is also entered on the setup page of QINSy. A typical example of the IP address used by MDL for the laser is 128.2.0.201.

  • Page 31: Rtk Radio Programming

    Before using the software you should connect the RTK cable (from the IA unit) to the laptop by adding the serial to USB adaptor cable, supplied by MDL. When you click on the PDL or ADL icon you will see a screen similar to the one below.

  • Page 32: Select Serial Port

    Dynascan Manual (RT3005G) v_0611 Right click on the blue task bar at the top of the window to view Select Serial Port and Set Capture Method (see below) 10.2.1 Select Serial Port Click on select serial port to set up the port you will use for programming the radio. If you are not sure which port you are using open control panel and select the system icon then click the hardware tab.

  • Page 33: Set Capture Method

    There are two choices of capture method. It is best to select soft break and then with the Dynascan system powered up click the Load button and the software will automatically scroll through the baud rates until it communicates with the radio and downloads the settings.
  • Page 34 Dynascan Manual (RT3005G) v_0611 Confirm that the Radio Frequency, Link Rate and Modulation Type are compatible with your GPS RTK Base Station. © Copyright Measurement Devices Limited Page 34 Issue 1 Copying of the materials in this document is prohibited...
  • Page 35 Dynascan Manual (RT3005G) v_0611 Confirm that the radio serial output is set to 38400, 8,N,1 to match the internal GPS receiver and that the RTK message protocol matches the RTK GPS Base Station. Once you have confirmed that all of the Radio settings are set properly, re-program the Radio with the new settings.

  • Page 36: Ins Sensor Setup Parameters

    Dynascan Manual (RT3005G) v_0611 11 INS Sensor Setup Parameters The Dynascan INS sensor is set up in the factory and the only screens the user should change are the GNSS secondary antenna offsets, RTK baud rate and odometer sensor information (if this option is purchased).
  • Page 37 Dynascan Manual (RT3005G) v_0611 WARNING :- Selecting “Use Default Settings” will return the RT3000 to its original factory settings and all special Dynascan configurations will be lost. © Copyright Measurement Devices Limited Issue 1 Page 37 Copying of the materials in this document is prohibited...
  • Page 38 Dynascan Manual (RT3005G) v_0611 © Copyright Measurement Devices Limited Page 38 Issue 1 Copying of the materials in this document is prohibited...
  • Page 39 Dynascan Manual (RT3005G) v_0611 You can change the settings on the screen below The screen below shows the options – you can change the differential setting by double clicking on CMR © Copyright Measurement Devices Limited Issue 1 Page 39...
  • Page 40 Dynascan Manual (RT3005G) v_0611 You will see the CMR message and baud rate for the RTK or VRS input. You can change the baud rate here. © Copyright Measurement Devices Limited Page 40 Issue 1 Copying of the materials in this document is prohibited...
  • Page 41 Dynascan Manual (RT3005G) v_0611 Further options are shown at the bottom of this page © Copyright Measurement Devices Limited Issue 1 Page 41 Copying of the materials in this document is prohibited...
  • Page 42 Dynascan Manual (RT3005G) v_0611 © Copyright Measurement Devices Limited Page 42 Issue 1 Copying of the materials in this document is prohibited...
  • Page 43 Dynascan Manual (RT3005G) v_0611 Below shows you can save the settings in the folder of your choice. You can then recover them in the future, if required. © Copyright Measurement Devices Limited Issue 1 Page 43 Copying of the materials in this document is prohibited...

  • Page 44: Pod Offsets

    Dynascan Manual (RT3005G) v_0611 12 Pod Offsets The pod offsets vary from pod to pod and are shown below. 12.1 Offset table Description X (metres) Y (metres) Z (metres) Jan 2010 to July 2010 units IMU to GPS 0.02535 0.1920 0.15887...
  • Page 45 Dynascan Manual (RT3005G) v_0611 Production Twin Head (OXTS) X (metres) Y (metres) Z (metres) 0.186 * IMU to GPS 0.00 0.125 IMU to Port Laser -0.153 -0.536 0.112 IMU to Starboard Laser 0.153 -0.536 0.112 * Add 19mm if the white spacer is fitted under the GPS Antenna...

  • Page 46: Qinsy Software

    13 QINSy Software 13.1 Calibrating Pitch, Roll and Heading The Dynascan comes ready calibrated for Roll and Pitch and these two values do not need changing. The heading will vary between installations and should be calibrated for each different vehicle or vessel used (heading starts at step 22 below).
  • Page 47 Dynascan Manual (RT3005G) v_0611 Click the colour icon and select ‘Unique Colour Per QPD’ then click the user defined line and draw a line in the direction of vehicle travel on the Plan View screen (as per 6 above). Click the View=Validate icon and use the clip icons to remove any obstacles in the swathe view.
  • Page 48 Dynascan Manual (RT3005G) v_0611 Make the slice box fit the flat area where the two files were recorded. 10. Click the Calibrate Alignment icon to bring up the roll, pitch & heading value box then select Roll and click Auto 11.
  • Page 49 Dynascan Manual (RT3005G) v_0611 13. Click on the Transfer button to transfer the data to the setup menu. The transfer button will appear when you select the files. 14. Replay all four files before starting on the pitch calibration (see Section 13.2.4 Replay function).
  • Page 50 Dynascan Manual (RT3005G) v_0611 18. You will see that the two images are not parallel and so you must click the View=Validate icon and then the Calibrate Alignment icon to bring up the values box. 19. Select Pitch and manually enter values in the settings box until the images are parallel.

  • Page 51: Qinsy General Guide

    Dynascan Manual (RT3005G) v_0611 25. You will see that the two images are parallel but not aligned and so you must click the View=Validate icon and then the Calibrate Alignment icon to bring up the values box. 26. Select Heading and manually enter values in the settings box until the images are parallel.

  • Page 52: Manage Projects

    Dynascan Manual (RT3005G) v_0611 13.2.1 Manage Projects Figure 3: Add New Project © Copyright Measurement Devices Limited Page 52 Issue 1 Copying of the materials in this document is prohibited...

  • Page 53: Database Setup

    Dynascan Manual (RT3005G) v_0611 13.2.2 Database Setup © Copyright Measurement Devices Limited Issue 1 Page 53 Copying of the materials in this document is prohibited...
  • Page 54 Dynascan Manual (RT3005G) v_0611 Figure 8: New Database Copy Database Settings © Copyright Measurement Devices Limited Page 54 Issue 1 Copying of the materials in this document is prohibited...
  • Page 55 Dynascan Manual (RT3005G) v_0611 New Database Set Active Template © Copyright Measurement Devices Limited Issue 1 Page 55 Copying of the materials in this document is prohibited...

  • Page 56: Online Settings

    Dynascan Manual (RT3005G) v_0611 13.2.3 Online Settings © Copyright Measurement Devices Limited Page 56 Issue 1 Copying of the materials in this document is prohibited...

  • Page 57: Replay Function

    Dynascan Manual (RT3005G) v_0611 13.2.4 Replay function The replay function can be used to replay data, after changes have been made, without losing the original ‘raw’ data. From the QINSy console click on the replay button. You must then select the file(s) you wish to replay by highlighting them and then click on the replay icon (see below).
  • Page 58 Dynascan Manual (RT3005G) v_0611 You will then see a screen similar to the one below. Click on the session set-up icon to get to the next screen. Select sounding grid and modify any settings, as required and then click on the DTM File button.
  • Page 59 Dynascan Manual (RT3005G) v_0611 Select the options required for replaying the data and then click OK. Click on the play button, which will enable the files to be replayed. © Copyright Measurement Devices Limited Issue 1 Page 59 Copying of the materials in this document is prohibited...

  • Page 60: Dynascan Displays

    Dynascan Manual (RT3005G) v_0611 13.2.5 Dynascan Displays Online Controller Dynascan Status Window   Computation, Session , Displays INS and RTK Solution Status &Echosounder Setup Navigation Display  Displays Vehicle and Sounding Grid in Geographic Location SLM Data Alerts Window ...

  • Page 61: Computation Setup

    Dynascan Manual (RT3005G) v_0611 13.2.6 Computation Setup N.B. Enter Approximate Location (to ensure footprint on Nav screen) © Copyright Measurement Devices Limited Issue 1 Page 61 Copying of the materials in this document is prohibited...

  • Page 62: Session Setup - Sounding Grid

    Dynascan Manual (RT3005G) v_0611 13.2.7 Session Setup – Sounding grid Sounding grid Storage © Copyright Measurement Devices Limited Page 62 Issue 1 Copying of the materials in this document is prohibited...
  • Page 63 Dynascan Manual (RT3005G) v_0611 Create New Sounding Grid © Copyright Measurement Devices Limited Issue 1 Page 63 Copying of the materials in this document is prohibited...
  • Page 64 Dynascan Manual (RT3005G) v_0611 Add a New Layer to the Sounding Grid Add Intensity to Sounding grid © Copyright Measurement Devices Limited Page 64 Issue 1 Copying of the materials in this document is prohibited...
  • Page 65 Dynascan Manual (RT3005G) v_0611 Select the Correct Layer © Copyright Measurement Devices Limited Issue 1 Page 65 Copying of the materials in this document is prohibited...

  • Page 66: Session Setup - Dtm Storage

    Dynascan Manual (RT3005G) v_0611 13.2.8 Session Setup – DTM Storage Select Point Storage – QINSy Processing File Select Point Storage – ASCII Easting, Northing & Height – Only Use for Direct Export © Copyright Measurement Devices Limited Page 66 Issue 1...

  • Page 67: Session Setup - Control

    Dynascan Manual (RT3005G) v_0611 13.2.9 Session Setup - Control © Copyright Measurement Devices Limited Issue 1 Page 67 Copying of the materials in this document is prohibited...

  • Page 68: Slm Settings

    Dynascan Manual (RT3005G) v_0611 13.2.10 SLM Settings Laser control ON / OFF Frequency Selection © Copyright Measurement Devices Limited Page 68 Issue 1 Copying of the materials in this document is prohibited...
  • Page 69 Dynascan Manual (RT3005G) v_0611 Laser Filter Settings © Copyright Measurement Devices Limited Issue 1 Page 69 Copying of the materials in this document is prohibited...
  • Page 70 Dynascan Manual (RT3005G) v_0611 Sounding Grid Properties for Navigation Display – Click Auto for Best Results © Copyright Measurement Devices Limited Page 70 Issue 1 Copying of the materials in this document is prohibited...

  • Page 71: Data Export Settings

    Dynascan Manual (RT3005G) v_0611 13.2.11 Data Export settings © Copyright Measurement Devices Limited Issue 1 Page 71 Copying of the materials in this document is prohibited...
  • Page 72 Dynascan Manual (RT3005G) v_0611 © Copyright Measurement Devices Limited Page 72 Issue 1 Copying of the materials in this document is prohibited...
  • Page 73 Dynascan Manual (RT3005G) v_0611 © Copyright Measurement Devices Limited Issue 1 Page 73 Copying of the materials in this document is prohibited...

  • Page 74: General

    14.2.4 General  Carry out regular functional testing of the system  Detect and report damage, malfunctions and poor performance  Arrange a yearly calibration: contact MDL or your local service and support centre for details © Copyright Measurement Devices Limited...

  • Page 75: Cable Connector Information

    Dynascan Manual (RT3005G) v_0611 15 Cable connector information Information on the system external cable connectors for RTK / VRS and the power functions are available below. 15.1 RTK Cable (8303A) D Type Socket (Female) BROWN To Interface Box YELLOW 15.2 VRS Cable (8304A)
  • Page 76 What if my frequency band for the RTK radio is different than the pod radio? You can request the correct frequency band radio when ordering a new Dynascan system to be compatible with your existing equipment. Alternatively you can use your own base RTK radio and also your own mobile radio.

  • Page 77: Appendix 1 Odometer Option

    Dynascan Manual (RT3005G) v_0611 17 Appendix 1 Odometer Option When using an Odometer the INS set up page should be selected (see below) and the cable connected between the pod and odometer. 17.1 Pulses per metre The pulses per metre information can be worked out as below, if you know the pulses per revolution.

  • Page 78: Example - Corrsys-Datron Odometer

    Dynascan Manual (RT3005G) v_0611 π Therefore the wheel circumference = 79 x which is 2.48 metres for each revolution Therefore the pulses/metre = 1024/2.48 which is 413 17.1.2 Example - Corrsys-Datron Odometer Pulses/revolution = 1000 Wheel diameter = 79cm π...

  • Page 79: Appendix 2 Camera Option

    Camera Option 18.1 Nikon D90 If you intend to use the same vehicle repeatedly for Survey work, with Dynascan and cameras, it is best to manufacture a bracket, which rigidly supports the cameras either side of the pod. This will also speed up the process of setting up the cameras as you can design the bracket to mount the cameras in exactly the same position each time they are fitted.
  • Page 80 Dynascan Manual (RT3005G) v_0611 The picture below shows the camera mounted close to the Dynascan pod and perpendicular to the Z and Y axes. The picture below shows the USB cable connected between the camera and laptop computer running QINSy. USB extension cables will be required to extend the Nikon supplied cables.

  • Page 81: Mdl Integrated Pod Cameras

    Dynascan Manual (RT3005G) v_0611 18.2 MDL integrated pod cameras MDL are undergoing trials of an internal camera system mounted inside the pod, which will be available in Q3 of 2011. © Copyright Measurement Devices Limited Issue 1 Page 81 Copying of the materials in this document is prohibited...

  • Page 82: Appendix 3 Multibeam Option

    1PPS and an NMEA message. Information on this connection is supplied below. 19.1 Teledyne ODOM ES3 The ES3 requires a cable from the Dynascan pod to the RTA unit in order to provide time tagged data to QINSy. This cable connects to the same connector as the Odometer cable, on the pod and to the GPS IN connector on the back of the RTA unit.

  • Page 83: Es3 And Velocimeter Transducer Mounting

    Dynascan Manual (RT3005G) v_0611 19.1.1 ES3 and Velocimeter transducer mounting The ES3 transducer and velocimeter transducer are fitted to the pole as per the photographs below. Both cables from these sensors connect to the rear of the RTA unit. © Copyright Measurement Devices Limited...
  • Page 84 Dynascan Manual (RT3005G) v_0611 © Copyright Measurement Devices Limited Page 84 Issue 1 Copying of the materials in this document is prohibited...
  • Page 85 Dynascan Manual (RT3005G) v_0611 © Copyright Measurement Devices Limited Issue 1 Page 85 Copying of the materials in this document is prohibited...

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