IMAGENEX 852-GS User manual

IMAGENEX TECHNOLOGY CORP.
MODEL 852-GS
GYRO STABILIZED
ULTRA-MINIATURE IMAGING SONAR
(WITH OPTIONAL ECHO SOUNDER)
USER MANUAL
Imagenex Technology Corp.
209-1875 Broadway Street
Port Coquitlam, BC
Canada V3C 4Z1
Telephone: [phone]
Fax: [phone]
[email protected]
www.imagenex.com

Revision History
Number
430-048
Revision
Date
Description
0A
09-Feb-21
For internal review
0B
20-Apr-22
1st Draft edits

Doc No: 430-048-0B Page 3of 34
Table of Contents
1. Introduction.................................................................................................................................................9
2. Getting Started..........................................................................................................................................10
2.1. Hardware Installation...............................................................................................................................10
2.1.1. Sonar with Echo Sounder Option .....................................................................................................10
2.1.2. Sonar without Echo Sounder Option................................................................................................11
2.1.3. RS-232 Option...................................................................................................................................11
2.1.4. Personal Computer...........................................................................................................................12
2.2. Software Setup .........................................................................................................................................12
2.3. Interface ...................................................................................................................................................13
2.3.1. Shortcut Buttons...............................................................................................................................14
2.3.2. File Playback .....................................................................................................................................15
2.3.3. Sonar Settings...................................................................................................................................15
2.3.4. Main Sonar Display...........................................................................................................................16
2.3.5. Acquiring Targets..............................................................................................................................18
2.3.6. Mouse Cursor Heading, Range, Bearing...........................................................................................19
2.3.7. Compass Display...............................................................................................................................19
2.3.8. ROV Overlay......................................................................................................................................20
3. Software Menus........................................................................................................................................21
3.1. File ............................................................................................................................................................21
3.1.1. File => Connect to Sonar Head .........................................................................................................21
3.1.2. File => Open File to Playback............................................................................................................21
3.1.3. File => Plot data from UDP ...............................................................................................................21
3.1.4. File => Record Start (Stop)… / Copy Start (Stop)…............................................................................21
3.1.5. File => Set Record Directory… ..........................................................................................................21
3.1.6. File => Auto Save File Names............................................................................................................21
3.1.7. File => Auto File Size.........................................................................................................................22
3.1.8. File => Convert 81R File to .xyz.........................................................................................................22
3.1.9. File => Save Screen ...........................................................................................................................22
3.1.10. File => Exit.........................................................................................................................................22
3.2. View..........................................................................................................................................................22
3.2.1. View => Hold.....................................................................................................................................22
3.2.2. View => Reverse ...............................................................................................................................22

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3.2.3. View => Clear Screen........................................................................................................................22
3.2.4. View => Zoom Factor........................................................................................................................23
3.2.5. View => Zoom In...............................................................................................................................23
3.2.6. View => Zoom Out............................................................................................................................23
3.2.7. View => Grid .....................................................................................................................................23
3.2.8. View => Range Marker .....................................................................................................................23
3.2.9. View => Colour Indicator..................................................................................................................23
3.2.10. View => Compass Display .................................................................................................................23
3.2.11. View => ROV Overlay........................................................................................................................23
3.2.12. View => Main Toolbar.......................................................................................................................24
3.2.13. View => Mini Settings Bar.................................................................................................................24
3.2.14. View => Show Sonar Settings ...........................................................................................................24
3.3. Colour Table..............................................................................................................................................25
3.4. System ......................................................................................................................................................26
3.4.1. System => Choose COM Ports ..........................................................................................................26
3.4.2. System => IP Address........................................................................................................................26
3.4.3. System => Diagnostics ......................................................................................................................26
3.4.4. System => Sound Velocity.................................................................................................................26
3.4.5. System => Sonar Orientation............................................................................................................26
3.4.6. System => Sonar Type.......................................................................................................................27
3.5. Options .....................................................................................................................................................27
3.5.1. Options => Units ...............................................................................................................................27
3.5.2. Options => Measure Target..............................................................................................................27
3.5.3. Options => RealTime Play Speed......................................................................................................27
3.5.4. Options => Enable Gyro....................................................................................................................27
3.5.5. Options => Calibrate Gyro ................................................................................................................27
3.5.6. Options => Enable Gyro Auto Bias....................................................................................................28
3.5.7. Options => Calibrate Compass..........................................................................................................29
3.5.8. Options => Calibrate Motor..............................................................................................................29
3.5.9. Options => Local Lat / Compass Declination ....................................................................................29
3.6. Profile .......................................................................................................................................................29
3.6.1. Profile => Off.....................................................................................................................................29
3.6.2. Profile => Points Only .......................................................................................................................29
3.6.3. Profile => Low Mix ............................................................................................................................29

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3.6.4. Profile => Medium Mix.....................................................................................................................30
3.6.5. Profile => High Mix ...........................................................................................................................30
3.6.6. Profile => Point Size..........................................................................................................................30
3.6.7. Profile => Zero Down........................................................................................................................30
3.6.8. Profile => Profile Min Range.............................................................................................................30
3.6.9. Profile => Auto Profile ......................................................................................................................31
3.6.10. Profile => ES Profile ..........................................................................................................................31
3.7. GPS............................................................................................................................................................32
3.7.1. GPS => Enabled.................................................................................................................................32
3.7.2. GPS => Track Plotter .........................................................................................................................32
3.7.3. GPS => Erase GPS Tracks...................................................................................................................32
3.7.4. GPS => Zoom In.................................................................................................................................32
3.7.5. GPS => Zoom Out..............................................................................................................................32
3.8. Video.........................................................................................................................................................32
3.8.1. Video => Open Video Window .........................................................................................................32
3.8.2. Video => Record Video Frames to File..............................................................................................33
3.9. Help...........................................................................................................................................................33
3.9.1. Help => Help…...................................................................................................................................33
3.9.2. Help => About…................................................................................................................................33
APPENDIX A Hot Keys ...................................................................................................................................34

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Figures
Figure 1 Sonar Connection.......................................................................................................................................10
Figure 2 Software User Interface (File Playback).....................................................................................................13
Figure 3 Sonar Settings............................................................................................................................................15
Figure 4 Additional Information.................................................................................................................................16
Figure 5 Acquiring Targets .......................................................................................................................................18
Figure 6 Compass Heading and Mouse Cursor Location ........................................................................................18
Figure 7 Compass Tape Display ..............................................................................................................................19
Figure 8 ROV Overlay ..............................................................................................................................................19
Figure 9 Sonar Mounted Vertically, Transducer Down.............................................................................................29
Figure 10 Sonar Mounted Vertically, Transducer Up ...............................................................................................29
Figure 11 Sonar Mounted Horizontally, Zero Down .................................................................................................29
Figure 12 Auto Profile...............................................................................................................................................30

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Tables
Table 1 General Features......................................................................................................................................9
Table 2 Shortcut Buttons.....................................................................................................................................14
Table 3 Playback Control ....................................................................................................................................15
Table 4 Reference Table.....................................................................................................................................17
Table 5 Colour Table...........................................................................................................................................25

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Acronyms and Abbreviations
Acronym
Definition
ASCII
American Standard Code for Information Interchange
BMP
Bitmap
dB
Decibel
DC
Direct Current
GB
Gigabytes
GPS
Global Positioning System
IP
Internet Protocol
kbps
Kilobits per second
kHz
Kilohertz
m/s
Meters per second
NMEA
National Marine Electronics Association
PC
Personal Computer
RAM
Random Access Memory
ROV
Remotely Operated Vehicle
RTS
Request To Send
TB
Terabytes
UDP
User Datagram Protocol
USB
Universal Serial Bus
VDC
Volts Direct Current

852-GS Ultra-Miniature Imaging Sonar
Doc No: 430-048-0B Page 9of 34
1. INTRODUCTION
The Imagenex Model 852-GS Ultra-Miniature Imaging Sonar was designed for use with the smallest of
Remotely Operated Vehicles (ROVs) and inspection vehicles. Gyro-stabilization is integrated directly into the
sonar head, resulting in the sonar no longer being compromised by the blurring effects of host vehicle rotation.
The optional echo sounder is connected to the sonar, which, in turn, is connected to the surface. 2-Wire serial
communication is utilized (RS-485, or optionally RS-232, at 115.2 kbps). The unit will scan up to a 360° sector
with a maximum range of 50 meters. The sonar is controlled by a Windows™ based program that displays and
records data.
ROV information such as pitch, roll, and heading are available and the head can be operated using different
ranges, gains, pulse lengths, etc.
Note that although the 852-GS sonar may be ordered as an RS-232 option, the echo sounder may not be
interfaced via the 2-wire multi-drop system in this configuration.
The general features are:
Frequency
675 kHz
Transducer
Imaging type, fluid compensated
Range Resolution
10 mm (0.4") @ 500 data points or
20 mm (0.8") @ 250 data points (Polar mode)
Maximum Operating Depth
300 m
Transducer Beam Width
2.4° x 20°
Minimum Detectable Range
150 mm (6”)
Communication Interface
RS-485 serial interface @ 115.2 kbps (or RS-232 option)
Table 1 General Features

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2. GETTING STARTED
2.1. HARDWARE INSTALLATION
2.1.1. Sonar with Echo Sounder Option
To operate the sonar head and echo sounder, ensure the cable is connected to a PC via a 2-Wire RS-485
serial port or a USB to RS-485 converter. The cable is then connected to either of the echo sounder ports, and
the remaining echo sounder port is connected to the 852-GS scanning sonar by a 6-pin to 6-pin Impulse IE55
connector cable. Connections are shown below (Figure 1 Sonar Connection):
Figure 1 Sonar Connection
9 Way D-Type RS-485 / RS-232
24 VDC Power
Optional Echo Sounder
852-GS Imaging Sonar
6 Pin Impulse Connectors
Optional External Trigger

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2.1.2. Sonar without Echo Sounder Option
If the sonar is ordered without the echo sounder option, a 6-pin Impulse connection cable is supplied. This is
connected directly to the 852-GS sonar. RS-485 or RS-232 communication protocols may be specified at the
time of ordering and appropriate PC ports must be used (see 2.1.3 RS-232 Option).
In both cases (with or without echo sounder), connect 9-50 VDC to the power wires (+V to RED, -V to
BLACK) using a DC power supply capable of supplying a current of 1 A. Run the program
Win881AL_GS_vxxxx.exe (where xxxx is the version number). Ensure that the correct COM port is selected
("System => COM Ports”) and depending on the RS-485 serial I/O card installed in your computer, select
AUTO Enable or RTS Enable (Request To Send). As the software supports multiple sonar types, ensure that
the correct sonar (852-GS/ES) is selected by "System => Sonar Type”. Select the button on the left-
hand side of the toolbar to connect to the sonar and begin scanning.
If the external trigger option was ordered, an additional pair of wires (purple and grey) is available for triggering
the sonar to fire.
2.1.3. RS-232 Option
While it is possible to order both the 852-GS scanning sonar and echo sounder with the RS-232 option, they
cannot be used together with a multi-drop 2-wire communication system (as described above). Individual
RS-232 cables will be required to communicate with each device individually and this configuration is beyond
the scope of this manual.

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2.1.4. Personal Computer
The minimum requirements for the user supplied PC are:
•2 GHz Pentium 4
•Windows™ XP
•256 MB RAM
•1 RS-485 port; or 1 USB to RS-485 converter (recommend Sealevel SeaLink 2104) if no RS-485 port
is available. RS-232 protocol may also be ordered in which case a USB to RS-232 converter
(recommend ATEN UC-232A) is required if no onboard RS-232 port is available.
See 2.1.3 RS-232 Option
•1024 × 768 Screen Resolution
•20 GB Hard Disk
Refer to Document Number 410-013 - ‘USB Converters and the Windows OS’ for important information on
USB <--> RS-232 and USB <--> RS-485 Converters running on Windows operating systems (available at
https://imagenex.com/support).
2.2. SOFTWARE SETUP
The latest version of the Win881AL_GS_vxxxx.exe program is available from the Imagenex website
(https://imagenex.com/interior-page/software-download). The installation of the software on the PC is
straightforward. It can be placed in its own directory and run by double clicking the file by creating a shortcut
for it on the desktop. It is not recommended that the “New Program Wizard” nor any other installation program
be used as the file is a self contained executable.
If present in the program’s root folder, a Win881AL.INI file will be read and the settings from the previous time
the application was run will be used.
Note: The Win881AL_GS_vxxxx software is used for multiple types of Imagenex sonar systems, including the
852-GS. Ensure the correct sonar is selected by going to "System => Sonar Type” and selecting “852-GS/ES”.

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2.3. INTERFACE
Figure 2 Software User Interface (File Playback)
This Section will describe the various functions of the Win881AL_GS_vxxxx software.
Note: The Win881AL_GS_vxxxx software is used for multiple types of Imagenex sonar systems, including the
852-GS. Ensure the correct sonar is selected by going to "System => Sonar Type” and selecting “852-GS/ES”.
Freq / Gain
Gyro Status
Range
Shortcut Buttons
Playback Bar
Sonar Heading
Heading, Range, Bearing
Sonar Information

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2.3.1. Shortcut Buttons
Connect to a physical sonar head
Open a file for playback session
Start / Stop recording a .81R data file
Places the sonar in to “polar mode” which causes the sonar to do continuous 360° rotations. The scan direction
(clockwise / counter-clockwise) is toggled by clicking the “Rev” button or pressing the spacebar
Places the sonar into” scan mode” which causes the sonar to scan in a specified sector defined by the sector
setting on the settings toolbar
Places the sonar into a sidescan view mode which disables sonar rotation and displays a Side Scan type
image showing intensity of return
Pauses real-time or playback (the letter ‘H’ on the keyboard issues this command as well)
Changes the sweep direction. Toggles clockwise / counter-clockwise (the space-bar on the keyboard issues
this command as well)
Refreshes (clears) the sonar display
Restores the default zoom and pan settings
Zoom in display
Zoom out display
Ruler. Measures distance in meters or feet (depending on “Options => Units” selection) on the display
Display the “Settings” Dialogue box
Opens a diagnostics window
Opens a window with speed keys and other settings (See APPENDIX A)
Table 2 Shortcut Buttons

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2.3.2. File Playback
Table 3 Playback Control
The file playback bar is used during playback and allows the user to adjust the playback speed and file
position.
2.3.3. Sonar Settings
The sonar settings toolbar is used to control various sonar attributes. It is only available in RealTime mode:
Figure 3 Sonar Settings
•Range: Sets the maximum range of target detection. 5 - 50 m
•Gain: Sets the sonar gain. 0 - 40 dB. Adjust until the display is optimized for the target environment
•Sector: Defines the scan sector (0° –360° in 3° increments)
•Train: Allows for the rotation of the sector (set above) around the centre (0° –360° in 3° increments)
•Speed: Defines the scan speed of the sonar. (Slow –Fastest)
•Mode: Sets Polar, Sector, or Side Scan mode, as described in 3.2.7. View => Grid
•Enable ES: Click if echo sounder available. Displays echo sounder window
•Range: Sets the echo sounder range. Ranges from 5 m to 50 m are available
•Gain: Sets the echo sounder gain. Max 40 dB. Adjust until the display is optimized for the target
environment

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2.3.4. Main Sonar Display
Figure 4 Additional Information

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Ref
Description
1
Indicates the current acoustic operating range and frequency of the sonar in yellow. It also indicates the grid
scale and current gain in orange. The Gyro status (enabled / disabled) is shown in green
2
The gyro mode is displayed only when a gyro stabilized image is enabled. The modes are: North Up,
Heading Up, or Target Steering as described below
3
Displays “Not Recording” or “Recording...” RealTime file record status
5
Provides quick settings for sonar range and gain (if Gyro Enabled selected)
6
Current transducer position for the “ping”. This wiper will track where in the scan the transducer is currently
facing
7 and 8
Gyro
Enabled
Only
Sonar position indicator:
The yellow circle indicates the current sonar unit heading independent of the transducer position.
In North Up mode, the circle will remain at the heading of the sonar unit. It will rotate around the perimeter
of the sonar image which remains stationary in a North Up orientation.
In Heading Up mode, the circle will remain stationary at the top of the screen, while the sonar image
rotates.
In Target Steering mode, the circle will transverse around the perimeter of the sonar image which remains
stationary.
9
Gyro Stabilized target acquisition selection.
If Target Steering Mode is selected, the user can acquire a target manually by selecting its location on the
main screen. The scanning sector will then be centered on the selected target and rotated to place the
target at the top of the display. (See 2.3.5 Acquiring Targets below for details)
Table 4 Reference Table

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2.3.5. Acquiring Targets
This function is only available during RealTime operation only.
The 852-GS allows the operator to select a target of interest and automatically center the sector on and scan
about that target on screen. The procedure is as follows:
1. Ensure the gyro is enabled and in “Target Steering” mode. The sonar will automatically perform a
motor calibration upon entering this mode in order to re-align the sonar and transducer to a known
point (zeroing the system). Note that target acquisition may be instigated at any time while “Target
Steering” mode is active
2. Select the button “Acquire Target”. The mouse cursor will change to
3. Select the desired target on screen. The screen will automatically change to a top sector view,
defaulted to a 120° sector, and the target will be centered within the sector:
“Acquire Target” was selected and the mouse cursor
changed to the selection cursor. The target cursor is
positioned over the target of interest and left mouse button
clicked.
After the desired target was selected, the screen
automatically centered the target within a sector and rotated
the sector to the top of the screen. The sonar will now scan
the sector with the target centered.
Figure 5 Acquiring Targets
To return, select “Release Target” to remove the sector restrictions and train angle.

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2.3.6. Mouse Cursor Heading, Range, Bearing
The following data appears at the bottom left of the main display:
Figure 6 Compass Heading and
Mouse Cursor Location
H: Sonar heading.
R: Range of the mouse cursor from center.
B: Bearing of the mouse cursor.
(Note Shown) Latitude and Longitude data (if a GPS is interfaced) is displayed below this Heading, Range and
Bearing data.
2.3.7. Compass Display
Enable “View => Compass Display” displays the current heading as a moving display:
Figure 7 Compass Tape Display

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2.3.8. ROV Overlay
Displays the ROV overlay if “View => ROV Overlay” is selected.
Figure 8 ROV Overlay