APPLIED ACOUSTICS SYSTEMS Easytrak Nexus Lite 2695 User manual

Easytrak Nexus Lite
2695 Series
Operation Manual

2695 Series Operation Manual
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Revision History
Issue Change
No. Reason for change Date
1
N/A
First Issue
25/01/17

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Contents
REVISION HISTORY......................................................................................................................................... 2
1. INTRODUCTION TO THE 2695 EASYTRAK NEXUS ................................................................................ 7
2. BASIC THEORY........................................................................................................................................... 9
3. SYSTEM DESCRIPTION ........................................................................................................................... 10
EASYTRAK NEXUS LITE 2695 CONSOLE UNIT .................................................................................................. 10
2683 EASYTRAK NEXUS LITE TRANSCEIVER.................................................................................................... 10
1000 SERIES BEACON.................................................................................................................................... 10
4. INSTALLATION ......................................................................................................................................... 11
SOFTWARE AND DRIVER INSTALLATION............................................................................................................ 11
EASYTRAK NEXUS 2695 CONSOLE UNIT.......................................................................................................... 12
FRONT PANEL........................................................................................................................................... 12
REAR PANEL............................................................................................................................................. 12
EASYTRAK NEXUS 2683 TRANSCEIVER DEPLOYMENT OPTIONS........................................................................ 14
Pole Mounted – Over The Side............................................................................................................ 15
Pole Mounted – Through A Gate Valve ............................................................................................... 15
Suspended Over the Side..................................................................................................................... 16
DECK CABLE.................................................................................................................................................. 17
5. OPERATION ............................................................................................................................................... 18
POWER UP..................................................................................................................................................... 18
FRONT PANEL INDICATORS ............................................................................................................................. 18
6. EASYTRAK NEXUS LITE SOFTWARE..................................................................................................... 19
OVERVIEW ..................................................................................................................................................... 19
TASK &MENU BAR......................................................................................................................................... 20
NEXUS LITE CONFIGURATION.......................................................................................................................... 22
WORKSPACE CONFIGURATION ................................................................................................................... 22
Display Options.................................................................................................................................... 22
Preferences.......................................................................................................................................... 23
Vessel................................................................................................................................................... 24
SYSTEM CONFIGURATION .......................................................................................................................... 25
Data In ................................................................................................................................................. 25
Data Out............................................................................................................................................... 26
Transceiver .......................................................................................................................................... 29
Notes on Transducer Depth and Z Offsets .......................................................................................... 31
UTM Grid Setup ................................................................................................................................... 32
Cycle Control........................................................................................................................................ 33
Internal Triggering Modes ................................................................................................................... 34
Fire Sequencing ................................................................................................................................... 34
Speed of Sound Profile ........................................................................................................................ 35
Loading a new Speed of Sound Profile ................................................................................................ 35
Maps .................................................................................................................................................... 39
BEACON EDITOR ....................................................................................................................................... 40
Beacon Editor Context Menu .............................................................................................................. 40
General ................................................................................................................................................ 40
Receiver ............................................................................................................................................... 43
Visuals.................................................................................................................................................. 44
Data ..................................................................................................................................................... 45

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Filtering & Gating................................................................................................................................. 46
Gating Description ............................................................................................................................... 46
Gating Search Mode ............................................................................................................................ 47
Kalman Filter Introduction................................................................................................................... 47
Kalman Filter Settings.......................................................................................................................... 47
Kalman Filter Presets ........................................................................................................................... 48
Saving Kalman Filter Setups................................................................................................................. 48
Advanced User Mode .......................................................................................................................... 48
Beacon ................................................................................................................................................. 49
Release................................................................................................................................................. 50
5xx Release Operation......................................................................................................................... 50
15xx Release Operation....................................................................................................................... 51
BEACON DATA................................................................................................................................................ 52
PLOT WINDOW ............................................................................................................................................... 53
VESSEL MONITOR........................................................................................................................................... 56
TRANSCEIVER MONITOR ................................................................................................................................. 56
PITCH &ROLL MONITOR................................................................................................................................. 57
EVENT LOG.................................................................................................................................................... 58
MEASUREMENT .............................................................................................................................................. 59
PLACEMARKS................................................................................................................................................. 60
WAYPOINTS ................................................................................................................................................... 61
RECORDER/PLAYBACK ................................................................................................................................... 62
TOOLS MENU................................................................................................................................................. 63
PROGRAMMING .............................................................................................................................................. 63
ADVANCED USER MODE ................................................................................................................................. 64
ACOUSTIC MONITOR....................................................................................................................................... 64
HELP MENU ................................................................................................................................................... 66
ABOUT........................................................................................................................................................... 66
USER INFORMATION........................................................................................................................................ 66
REQUEST SUPPORT........................................................................................................................................ 67
6. CALIBRATION............................................................................................................................................ 68
6.1 STATIC CALIBRATION............................................................................................................................ 69
6.2 EASYCAL 2 USBL CALIBRATION.......................................................................................................... 70
EASYCAL 2PROCEDURE ................................................................................................................................ 71
ACQUISITION MODE........................................................................................................................................ 72
LOGGING DATA ......................................................................................................................................... 76
PROCESSING MODE ....................................................................................................................................... 77
FILES:............................................................................................................................................................ 77
IMPORT A LOGGED FILE ............................................................................................................................. 77
MERGE ADDITIONAL FILE........................................................................................................................... 78
LOAD A PROCESSED FILE .......................................................................................................................... 78
SAVE FILE................................................................................................................................................. 78
SAVE AS................................................................................................................................................... 78
DATABASE ..................................................................................................................................................... 78
TITLES...................................................................................................................................................... 78
LIST DATABASE......................................................................................................................................... 79
PROCESSING STATISTICS .......................................................................................................................... 80
PROCESSING.................................................................................................................................................. 81
REPORTING:................................................................................................................................................... 84
OPERATION:................................................................................................................................................... 87
7. TROUBLESHOOTING................................................................................................................................ 90
8. EXTERNAL I/O CONNECTOR PIN OUTS................................................................................................. 93
9. EASYTRAK NEXUS CHANNELS .............................................................................................................. 94

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AAESPREAD SPECTRUM CHANNELS ......................................................................................................... 94
AAE EASYTRAK CHANNELS ....................................................................................................................... 95
SIMRAD HPR CHANNELS........................................................................................................................... 95
SIMRAD HIPAP CHANNELS........................................................................................................................ 96
SIMRAD HIPAP CHANNELS CONTINUED ..................................................................................................... 97
ORE TRACKPOINT CHANNELS ................................................................................................................... 98
10. EASYTRAK NEXUS DATA OUTPUT FORMATS.................................................................................... 99
APPLIED ACOUSTIC ENGINEERING (AAE) DATA STRING .............................................................................. 99
APPLIED ACOUSTIC ENGINEERING V2(AAE) DATA STRING........................................................................ 100
ORE TRACKPOINT 2EC DATA STRING...................................................................................................... 101
SIMRAD HPR 300P DATA STRING............................................................................................................ 102
ORE TRACKPOINT STD-EC W/PR DATA STRING ..................................................................................... 103
SIMRAD HPR 309 DATA TELEGRAM......................................................................................................... 104
SIMRAD $PSIMSSB DATA STRING .......................................................................................................... 107
SIMRAD $PSIMSNS DATA STRING........................................................................................................... 108
PSEUDO $GPRMC DATA STRING ............................................................................................................ 109
KLEIN 3000 SSS DATA STRINGS............................................................................................................ 110
KLEIN 3000 DATA STRINGS /CONTINUED ................................................................................................. 111
PSEUDO $GPGGA DATA STRING............................................................................................................. 112
11. SYSTEM SPECIFICATION..................................................................................................................... 113
EASYTRAK NEXUS CONSOLE MODEL 2695............................................................................................... 113
EASYTRAK NEXUS TRANSCEIVER MODEL 2683......................................................................................... 114
ACCURACY /PERFORMANCE.................................................................................................................... 114
TRANSCEIVER CABLE .............................................................................................................................. 114
ENVIRONMENT ........................................................................................................................................ 115
HANDLING.................................................................................................................................................... 116
END OF LIFE RECYCLING /DISPOSAL............................................................................................................. 116
12. SYSTEM RECOVERY............................................................................................................................. 117
APPENDIX A – TRANSDUCER MOUNTING BRACKET A ........................................................................ 118
APPENDIX B – TRANSDUCER MOUNTING BRACKET B ........................................................................ 119
APPENDIX C – TRANSDUCER MOUNTING DIMENSIONS....................................................................... 120
APPENDIX D – DECK CABLE WIRING....................................................................................................... 121
APPENDIX E – REMOTE SERIAL APPLICATION...................................................................................... 122
INDEX............................................................................................................................................................ 123

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Thank you for choosing Applied Acoustic Engineering as one of your subsea equipment suppliers.
We hope you experience many years of reliable operational use from our products.
If you do encounter any technical issues with any of our products then please don’t hesitate to
contact our Technical Team via the following methods.
Tel: [phone]
Fax: [phone]
Email: [e-mail]
The products described herein have been built and tested to the highest standards. They are supplied
“as is” and due to the nature of underwater acoustics, no liability whatsoever can be accepted by the
manufacturer for a failure to perform or to perform to a published specification or any damages that
result from the use of this manual or equipment it describes. Equipment suitability and any operational
issues such as safe working practices and risk assessments are the responsibility of the user.
The manual is believed to be correct at the time of printing. However software updates or hardware
changes may mean there are differences between the manual and the software/hardware contained in
any particular product. If in doubt, please contact us as described above. Note that we cannot accept
liability for any errors or omissions described in this manual.
These written instructions must be followed fully for reliable and safe operation of the equipment that
this manual refers to. Applied Acoustic Engineering Ltd cannot be held responsible for any issues
arising from the improper use or maintenance of equipment referred to in this manual or failure of the
operator to adhere to the instructions laid out in this manual. The user must be familiar with the
contents of this manual before use or operation.

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1. Introduction to the 2695 Easytrak Nexus
This manual provides the user with information on the installation, operation and maintenance of
the Easytrak Nexus Lite Ultra-Short Base Line (USBL) underwater acoustic positioning system.
USBL systems are used to position underwater items including Side Scan Sonars*, ROVs†, AUVs‡,
and divers.
With no compass input, a position will be SHIP (bow) referenced, e.g. 123m ‘X’ means 123m from
the starboard side of the ship, whereas, with a compass, a position would be NORTH referenced;
123m ‘X’ means 123m from the ship East.
A position can either be ‘relative’ for example 123m ‘X’ and 234m ‘Y’ from the vessel, or ‘absolute’
for example 412789m East 5823456m North if a GPS receiver and compass is enabled.
A common complaint of many USBL systems is the long time and complexity in ‘getting going’.
Easytrak Nexus Lite has been designed so that it requires the minimum of user intervention; the
system can be ranging to beacons as soon as the transducer touches the water. Favourite system
and beacon setups can be saved. Visual elements can also be saved, for example day / night
colour schemes.
The display not only gives positioning data in text form, but also graphically. Beacons are
individually identified and colour-coded, GREEN – position OK, ORANGE – caution, prediction
being used, and RED – signal lost and cannot predict safely.
Because of multi-path reflections and other types of acoustic interference, the position can
occasionally be corrupted. In gating and smoothing modes, Easytrak has the facility to ‘gate-out’
wild values of velocity. The ‘out of gate’ positions are replaced by predicted values. Note the
compass must be enabled.
The Easytrak Nexus Lite transceiver is fitted with internal compass, pitch and roll sensors. The
pitch and roll sensors work to ±80°, more than sufficient for boat work. The transceiver also
includes depth and temperature sensors.
Note: Strong magnetic anomalies can be beyond the calibration range of the internal compass. It is
advisable, that a bearing check be performed prior to use.
Easytrak Nexus Lite is ideal for surveys. With a Global Positioning System (GPS) receiver
interfaced absolute positioning of divers, sonar fish, ROVs, or seabed objects in UTM (Universal
Transverse Mercator) co-ordinates can be achieved. With GPS, Easytrak Nexus can also be used
to navigate to and from the worksite indicated by an entered waypoint. Place marks can also be
added to log items of interest.
The necessity of determining an accurate velocity of sound (VOS) through water is critical. VOS
accuracy is important in two areas, (1) across the face of the transducer (used for measuring the
bearing and depression angle to a target), and (2), the distance to and from the target (the range).
To help overcome this source of error, a sound velocity profile may be loaded into Nexus.
Alternatively, if a sound velocity profile is not available, the operator can enter two values of VOS
*Sonar system for seabed mapping
†Remotely Operated Vehicle
‡Autonomous Underwater Vehicle

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into Easytrak, one for the bearing/ depression angle, and a second for the range calculation. An
option is available where the velocity of sound can be calculated using Medwin’s formula by
entering water temperature, salinity, and depth.
Depth beacons can be used to provide greater positioning accuracy, particularly appropriate at low
depression angles where the slightest change can result in a significant shift in the target’s vertical
position.
Note: When using GPS, bearings are relative to GRID North; without GPS, bearings are relative to
TRUE North or with the compass switched off, the vessel’s Bow.
Though Easytrak Nexus Lite is simple to use, the system provides a very powerful and flexible tool
for survey use.
Note: Easytrak Nexus Lite takes about 30 seconds to initialise from power up.

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2. Basic Theory
Easytrak Nexus Lite is an Ultra Short Base Line (USBL) Acoustic Navigation System. The system
uses a single compact transducer containing multiple receiving ceramics and an interrogate
ceramic.
The receiving ceramics are so arranged that each can detect an acoustic signal from a target’s
transmission. The acoustic signals may arrive at slightly different times due to their different signal
paths. From these time differences, the bearing and depression angle*to the target are computed.
For a TRANSPONDER, time taken from the vessel’s interrogating transmission through the water
to the reception of the target acoustic signal provides the range:
Range = VOS x Travel-time (m)
2
The divide by 2 is because sound has to travel to and from the target i.e. twice the distance.
For a RESPONDER, time taken from the vessel electrical interrogate signal through a cable to the
reception of the target acoustic signal provides the range:
Range = VOS x Travel-time (m)
Given range, bearing, and the depression angle, the relative position of the target beacon to the
vessel transducer can be determined.
*The vertical angle between the horizon and the target

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3. System Description
Easytrak Nexus Lite consists of a console unit, transceiver, deck cable, user’s PC and up to 8
beacons.
Easytrak Nexus Lite 2695 Console Unit
Easytrak Nexus Lite is an advanced Ultra Short Baseline (USBL) positioning and tracking system
which incorporates Sigma 1 Spread Spectrum Technology to provide a secure acoustic link The
Easytrak Nexus Console provides control and peripheral interfaces for the system. The console is
linked to the users PC via USB running the user interface. The console also provides power and
communications to the Easytrak Nexus Transceiver.
2683 Easytrak Nexus Lite Transceiver
The Easytrak Transceiver transmits and receives acoustic signals using a multi
element ceramic transducer. It determines the position of dynamic subsea targets
through the transmission and reception of acoustic signals between the submerged
transceiver and the target beacon.The transceiver is fitted with integral depth,
temperature, compass, pitch, and roll sensors to automatically compensate external
dynamic forces.
1000 Series Beacon
The 1000 Series Beacon incorporates Spread Spectrum
Technology; the wide bandwidth transmissions reducing its
susceptibility to interference thus enabling accurate
positioning and secure data transmission. The 1000 series
retains its flexibility by incorporating tone burst channels and
analogue data telemetry options as standard. The 1000 series
beacons may be connected to the Nexus console to read and
change the beacon configuration if required.

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4. Installation
Software and Driver Installation
Minimum System Requirements
Operating System: Windows 7, Windows 8, Windows 10 – 64 Bit Only
Processor: Intel Core i5
RAM: 4GB
Disk Space: 50MB
Please install software (on supplied CD) before connecting the Easytrak Nexus Lite
to the PC
To install the software please run the ‘Setup.exe’ program on the installation CD.
Depending on the operating system and user updates installed, the installation may need to install
Microsoft .NET 4 before proceeding.
The install will proceed as shown below, follow the on screen prompts.
Upon successful completion the following window will be displayed

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Easytrak Nexus 2695 Console Unit
Front Panel
USB Interface to PC
Rear Panel
Ensure the console is secured to prevent falling or sliding due to vessel movement.
SERIAL PORTS: 4 Serial ports available for external sensor interface, aux inputs and data output.
TRANSCEIVER: Connection to the Nexus 2683 Transceiver using the Nexus Deck Cable.
RESPONDER: BNC connection to beacon to triggered as a responder.
NAV IN: BNC connection for external synchronisation key for system.
48VDC INLET: The 48VDC power supply is auto-ranging (115 – 230VAC 50/60Hz) and doesn’t
require user intervention. Plug into the nearest power outlet socket.
SAFETY EARTH: Connection for vessel earth.
1 / 0 Power Switch: Console Power Switch.
Connect USB to PC before switch ON to ensure correct boot sequence.

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Easytrak Nexus 2683 Transceiver Deployment Options
Suspended
Pole Mounted

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Pole Mounted – Over The Side
The Easytrak transducer can be fixed over the side of a ship with a suitable pole. Ensure the
transducer is aft of the pole and that the pole doesn’t protrude beyond the face of the transducer.
The diameter of the pole will depend on the length required and the anticipated maximum speed of
the ship. It is recommended that the pole be secured by cables fore and aft to prevent bending
and strumming when the ship is underway.
Ensure that when deployed the transducer is at least 1 metre below the draft of the vessel and that
it has clear horizontal visibility through 360°. Ensure the alignment mark on the transducer is inline
(forward) with the forward / aft line of the vessel. Extreme care has to be taken in shallow water
that the transducer does not strike the seabed.
See appendix A and B for mounting bracket dimensions.
Pole Mounted – Through A Gate Valve
Ensure the gate valve is of a suitable diameter to take the transducer and any mounting hardware.
The transducer should be mounted on a suitable shaft; see appendix C for transceiver mounting
dimensions.
Ensure that when deployed, the transducer’s black potted end is below the draft of the vessel by at
least 1 meter and that it has clear horizontal visibility through 360°.
The gate valve’s deployment system must be designed to ensure that the alignment mark on the
transducer is inline (forward) with the forward / aft line when positioned through the gate valve.
Note: Please see Section 8 Calibration.

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Suspended Over the Side
This is the simplest method of deployment, however, the transducer is prone to relative movement
with respect to the vessel. Care must be taken that the transducer does not spin as the internal
compass, pitch and roll sensors have a limited dynamic response. Ensure that when deployed the
transducer is below the draft of the vessel by at least 1 metre and has clear horizontal visibility
through 360°.
Note:
the suspended over the side method cannot be used if the compass is not enabled, as the
system would have no orientation reference. Also, if GPS positioning is required, the antenna must be
directly over the transducer, otherwise offset errors can occur.
System installation is the responsibility of the operator.
For advice and assistance please contact:
Email [e-mail]
Tel: [phone]
Fax: [phone]

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Deck Cable
Connects the NEXUS TRANSCEIVER to the NEXUS CONSOLE. To prevent damage to the cable and
minimise potential problems, please ensure the following points are observed:
•Ensure personnel cannot step on, or trip over, the deck cable.
•Keep the cable away from sources of electrical noise such as electrical generators, sonar
sources (bang boxes etc).
•Avoid trapping the cable in doorways, hatches and alike.
•Ensure the cable is not bent less than the minimum bend radius of 150mm.
•Ensure the cable is not laid over sharp edges.
•When deployed over the side of a vessel, ensure that the cable is secured to any mounting
pole to prevent chaffing, strumming, and excessive movement.
•Ensure the polyurethane outer jacket of the cable is not breached allowing water ingress.

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5. Operation
Power Up
•Ensuring software is installed and connections are made as Section 4; the Easytrak Nexus
Lite can be powered up.
•Switch the main power button on the rear panel. The PWR LED will indicate green.
•Launch the Easytrak Nexus Lite Application.
•The system will automatically detect the 2695 Console and set the configuration to the
selected setup.
•To power down the system close the Nexus Lite Application and power down the 2695
console.
Front Panel Indicators
•PWR will indicate Green when Nexus Lite Unit is powered ON.
•TRANS will indicate Green when power is ON to the Transceiver.
•TX / RX will indicate Green upon a beacon interrogation and valid reply received.
•SERIAL 1,2,3,4 will flash Green indicating valid activity on the serial ports.

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6. Easytrak Nexus Lite Software
Overview
The software provides an intuitive user interface to configure, operate and monitor the Easytrak
Nexus Lite USBL Tracking system.
The system setup, beacon setup and visual preferences can all be saved into individual
configuration files. A startup configuration may be selected from any combination of these files for
quick startup of the system. Previously saved files can be reloaded for easy reconfiguration of the
system. There is no limit to the number of setup files that may be saved on the system so multiple
setups can be pre-configured.
Each of the display windows can be accessed from either the Menu bar, from the Tool Bar or via a
keyboard shortcut. Each window can be resized and positioned as required or auto-positioned
within the window area. There is a Status Bar, with system and positional information.
Many windows also have ‘Context Menus’, with functions available that are appropriate to the window
that the mouse is currently over. The context menus are available by pressing the right mouse button
Context Menu
Menu Bar
Status Bar
Task Bar
Window Area

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Task & Menu Bar
Most commonly used tools and windows are accessible through the following short cuts
Save All Configuration Files
Edit System Configuration
Save System Configuration
Open System Configuration
Edit Workspace Configuration
Display/Hide Event Log Window
Display/Hide Placemarks Window
Display/Hide Waypoints Window
Display/Hide Beacon Data Window
Display/Hide Beacon Editor Window
Display/Hide Transceiver Monitor Window
Display/Hide Vessel Pitch & Roll Window
Display/Hide Vessel Monitor Window
Display/Hide Plot Window
Set Plot Window to Grid Display Mode
Set Plot Window to Polar Display Mode
Revert to previously selected centralize mode
Enable Map Overlay on Plot Window
Plot Window – Zoom In
Plot Window – Zoom Out
Enable Measurement Mode
Pause ALL beacon tracking
Display/Hide Recorder Window