CHCNAV APACHE 3 User manual

APACHE 3 User Guide (Network Bridge Version)| 2021-07 P a g e | 1
APACHE 3
User Guide
Marine Survey | Jul 2021
FCC ID:SY4-A02032

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Table of Contents
Copyright.................................................................................................................................4
Safety Warnings...................................................................................................................... 4
FCC Interference Statement....................................................................................................4
CE Interference Statement......................................................................................................4
Introduction................................................................................................................................5
Warnings and Cautions.......................................................................................................5
Regulations and Safety....................................................................................................... 5
Use and Care.......................................................................................................................5
Technical Support....................................................................................................................5
Disclaimer............................................................................................................................... 6
Your Comments.......................................................................................................................6
1 Getting Started with APACHE 3...............................................................................................7
1.1 APACHE 3 brief introduction.............................................................................................7
1.2 Product Basic Supply Accessories.....................................................................................7
2 Hardware Installation........................................................................................................... 10
2.1 Preparing for conducting the survey.............................................................................. 10
2.2 Setup RTK Base Station and Onshore Data Receiving System........................................ 10
2.3 Install Accessories for the USV System........................................................................... 11
2.3.1 Install the accessories of the boat........................................................................... 11
2.3.2 Mount the accessories of the ground station......................................................... 12
2.3.3 Debug before launching the boat............................................................................12
3 Software Operation for the USV System.............................................................................. 14
3.1 Install the software......................................................................................................... 14
3.2 AP Software Configurations............................................................................................14
3.2.1 Configure the computer IP...................................................................................... 14
3.2.2 TCP Connection for AP Software............................................................................. 15
3.2.3 Plan Route for AP Software..................................................................................... 15
3.2.4 Login HD Camera for AP Software........................................................................... 18
3.2.5 Other common functions for AP Software.............................................................. 19
3.3 Webpage Setting for GD100........................................................................................... 20
3.3.1 Login webpage.........................................................................................................20

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3.3.2. Register the receiver...............................................................................................21
3.3.3. Configure the I/O of rover station.......................................................................... 21
3.3.4 System State............................................................................................................ 22
3.3.5 Firmware upgrade....................................................................................................23
3.4 Set Hydrosurvey..................................................................................................................24
3.4.1 New project and connect to the boat..........................................................................24
3.4.2 Record control..............................................................................................................25
3.4.3 start work.....................................................................................................................26
3.4.4 Download depth file from boat................................................................................... 27
4 Data Processing..................................................................................................................... 30
4.1 Water depth sampling.................................................................................................... 30
4.2 Data export..................................................................................................................... 35

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Preface
Copyright
Copyright 2016-2017
CHC | Shanghai Huace Navigation Technology Ltd. All rights reserved. The CHC are trademark
of Shanghai Huace Navigation Technology Limited. All other trademarks are the property of
their respective owners.
Trademarks
All product and brand names mentioned in this publication are trademarks of their
respective holders.
Safety Warnings
The Global Positioning System (GPS) is operated by the U.S. Government, which is solely
responsible for the accuracy and maintenance of the GPS network. Accuracy can also be
affected by poor satellite geometry and obstructions, like buildings and heavy canopy.
FCC Interference Statement
This equipment has been designed to comply with the limits for a Class B digital device,
pursuant to part 15 of the FCC Rules in the Portable Mode. These limits are designed to
provide reasonable protection against harmful interference in a residential installation.
Operation is subject to the following two conditions: (1) this device may not cause harmful
interference and (2) this device must accept any interference received, including interference
that may cause undesired operation.
CE Interference Statement
Declaration of Conformity: Hereby, Shanghai Huace Navigation Technology Ltd. declares that
this APACHE 3 is in compliance with the essential requirements and other relevant provisions
of Directive 2014/53/EU. A copy of the Declaration of conformity can be found at Shanghai
Huace Navigation Technology Ltd

Make your work more efficient
Introduction
The APACHE 3 USV User Guide describes how to set up and use the CHC® APACHE 3 USV. In
this manual, “the USV” refers to the APACHE 3 USV unless otherwise stated.
Even if you have used other Unmanned Surface Vessel before, CHC recommends that you
spend some time reading this manual to learn about the special features of this product. If
you are not familiar with USV, go to www.chcnav.com for an interactive look at CHC and USV
safety information
Warnings and Cautions
An absence of specific alerts does not mean that there are no safety risks involved.
A Warning or Caution information is intended to minimize the risk of personal injury and/or
damage to the equipment.
WARNING – batteries for USV should be full charged if the LED light on the battery
have one light.
CAUTION –it is necessary to check the motors if work normally via the remote
controller before put it on the water.
Regulations and Safety
The receivers contain a built-in wireless modem for signal communication through wireless
technology. Regulations regarding the use of the wireless modem vary greatly from country
to country. In some countries, the unit can be used without obtaining an end-user license.
However, in some countries, the administrative permissions are required. For license
information, consult your local dealer.
Before operating an APACHE 3 USV, determine if authorization or a license to operate the
unit is required in your country.
Use and Care
This APACHE 3 is designed to withstand the rough environment that typically occurs in the
field. However, the USV is high-precision electronic equipment and should be treated with
reasonable care.
CAUTION - Operating or storing the USV outside the specified temperature range will
cause irreversible damage.
Technical Support
If you have a problem and cannot find the information you need in this manual or CHC
website (www.chcnav.com), contact your local CHC dealer from which you purchased the

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receiver(s).
If you need to contact CHC technical support, please contact us by email
([e-mail]) or Skype (chc_support).
Disclaimer
Before using the receiver, please make sure that you have read and understood this User
Guide, as well as the safety information. CHC holds no responsibility for the wrong operation
by users and for the losses incurred by the wrong understanding about this User Guide.
However, CHC reserves the rights to update and optimize the contents in this guide regularly.
Please contact your local CHC dealer for new information.
Your Comments
Your feedback about this user guide will help us to improve it in future revision. Please email
your comments to [e-mail].

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1 Getting Started with APACHE 3
1.1 APACHE 3 brief introduction
Featuring triple-hulled and the shallow draught design, the APACHE 3 USV
offers a portable remotely controlled platform in small lakes, inland rivers,
and coastal water for bathymetric surveys. Its overall 1-meter length and 7 kg
weight (without instrument) allows one person to operate the system easily.
Multiple data transfer options are available with RS232 connection and TCP
protocols along with multi-channel and high bandwidth transmission. It can
also carry single beam echo sounder, AP-2000 water quality and other
instruments to meet diverse application requirements.
1.2 Product Basic Supply Accessories
Item
Quantity
Picture
The Hull of APACHE 3 USV
(Including D230&Camera)
1
Remote Controller(M12 PRO)
1
Power Adapter for Remote
Controller
1
APACHE3 Holder
1

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LiPo Battery (40000mAh 18V)
4
LiPo Battery (15000mAh 18V)
1
Lithium Battery Charger
3
Hand Toolbox
1
5.0G Network Bridge
1
CAT6E Cable (5m)
1
POE Power Cable
1
RF adapter cable (320mm)
2
RF Connector for Network Bridge
2

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Remote Control Antenna
1
High Frequency Radio Antenna
1
4G Antenna
1
Hydro Survey Dongle Version
1
5G Antenna
3
Tripod For Network bridge
Antenna
1
Backpack
1
APACHE3 Hard Case
1

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2 Hardware Installation
2.1 Preparing for conducting the survey
It is necessary to have an accumulator to supply power for external radio if you use
external radio mode. Full charge the remote controller and batteries with standard
charwger. Figure 2-1 is about how to charge the batteries.
Figure 2-1 and 2-2 Battery connection during charging
Firstly we connect the charger to the battery interface, pay attention to tighten the
nut, and then connect to 220v AC power supply. When the battery is not connected,
only the POWER LED of the charger lights up, the CHARGE LED lights up red when
connected to the battery, and turns green when fully charged.
Maintenance instructions for batteries:
1. For the new arrival battery, please fully charge it as soon as possible.
2. Please charge the battery in time if the remaining power is less than 25% left.
3. Fully charged battery can be placed for 6 months. Please charge it in time if not
being used.
2.2 Setup RTK Base Station and Onshore Data Receiving System
Set RTK base station:
1.External radio mode
Prepare GNSS Base receiver, external radio and transmitting antenna, tripod, etc.
Configure base receiver to send RTCM3.2 via external radio.
2.Ntrip mode
For detailed operation, please check 3.3.4 Rover Configuration

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Figure 2-3 Set RTK Base Station
Check the accuracy of the rover station: Under the fixed solution state, compare the accuracy
of the RTK rover station with the coordinates of the known points to ensure that the
accuracy meets the measurement requirements before proceeding to the next operation.
2.3 Install Accessories for the USV System
2.3.1 Install the accessories of the boat
Figure 2-4 Install the accessories on the boat

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Figure 2-5 Connect battery-powered interface
Note: Two large batteries are placed in the boat. Pay attention to the direction when
installing the battery power detection interface.
2.3.2 Mount the accessories of the ground station
Figure 2-6 Working with backpack Figure 2-7 Working with tripod
2.3.3 Debug before launching the boat
1). Boot the boat
Turn on the switches on both sides of the boat. Pay attention to the lights on both
sides, when the red satellite lights and green differential signal lights are always on,
they are in normal working condition.
2). Turn on the remote control
The switch button is in the lower left corner. Press the key first, then long press
quickly, and wait until the indicator lights up gradually, showing that it has been
successful booted. The indicator light represents the power of the remote control.
The operation of powering off the remote control shutdown is the same.

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Figure 2-8 Remote control
3). Debug the motors
Use the remote control to check whether the motors are working properly.
Figure 2-9 Debug the motors

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3 Software Operation for the USV System
3.1 Install the software
There are two software for the USV system, AutoPlanner and HydroSurvey.
1) When installing the AutoPlanner software, double-click the installation package,
click Next until the installation driver and plug-in interface appears, tick ‘Install Tap
Driver’ and ‘Install Ezopen Plugin’, and then click Next until the installation is OK.
Figure 3-1 Install the software
2) When installing the HydroSurvey software, double-click the installation package
and click Next until the installation is complete.
3.2 AP Software Configurations
3.2.1 Configure the computer IP
Figure 3-2 Configure the computer IP

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Figure 3-3 Configure the computer IP
3.2.2 TCP Connection for AP Software
Double-click the AP software icon to open it, select [TCP], and click [Connect].
Figure 3-4 TCP connection
3.2.3 Plan Route for AP Software
（1）
Connect the computer to the network, and load the surrounding satellite image
maps through the positioning of the boat. Select [NAVIGATION PLAN] on the main
interface, and select the appropriate satellite image map. Commonly used are Bing
satellite maps and Google satellite maps.

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（2）Plan work area
Right-click on the interface and select [Draw Polygon] →[Add Polygon Point].
Note:
1) The satellite image is not updated in real time, so pay attention to the actual area
when planning the polygon.
2) The role of the home point: a. The home point is the return point. b. The logic for
generating the automatic route is to generate the waypoint 1 near the home point,
and the other waypoints are generated in sequence.
Figure 3-5 Plan work area
Figure 3-6 Plan work area

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（3）Edit auto waypoints
Right click the interface and select [Auto WP] [WP Grid].
Figure 3-7 Set WP Grid
Figure 3-8 Set WP Grid
[Angle]: Adjust the angle of the route.
[Distance between lines]: The distance between routes.
[Spacing inline]: The distance between points on the route, the value set should be
greater than the true distance of the route, so as to ensure that there are only two
points on a route. The automatic waypoint spacing here is not the same as the data
collection spacing.
（4）Write waypoints to boat

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[Save WP File]: Save the currently planned route to computer.
[Load WP File]: Load the WP file from computer.
[Read WP File]: Read the current mission waypoints from boat.
[Write WP File]: Write the planned waypoints data to the central control.
Figure 3-9 Write WP into boat
3.2.4 Login HD Camera for AP Software
a. Click [Navigation Data][Spread/Shrink Hud and Video][Intranet]
Username: admin
Password: Admin1234
IP: 192.168.53.64
Port: 8000
b. Click [Login][Play]
Figure 3-10 Login HD camera

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Figure 3-11 Login HD camera
3.2.5 Other common functions for AP Software
1. Control USV via AP software
Click [Shrink Remote-Control], remotely control USV by dragging the blue dot.
Figure 3-12 Control USV via AP software
2. Useful functions
[Set WP]: Set a new waypoint quickly without clicking the navigation plan interface.
[Restart mission]:back to the first point and start a new mission.
[Clear track]:clear the track line of the interface you have run.
[Keep loiter]:change the state of the boat.

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Figure 3-13 Other functions
3. Convenient switch
Now we can turn on the switch when you need in software instead of Web page.
shoal: set a shoal depth to ensure your boat's safety.
avoid obstacles: set a distance to ensure your boat will not crash into some
objects in water.
low power return: makes you boat return to home point automatically.
lost connection and return: makes you boat return to home point automatically
when your boat has lost connection for few times.
Figure 3-14 Convenient switch
3.3 Webpage Setting for GD100
3.3.1 Login webpage
connect the wifi of boat
Input 192.168.53.254 on the browser