IMAGENEX 881A-GS User manual

IMAGENEX TECHNOLOGY CORP.
MODEL 881A/L-GS
GYRO STABILIZED SCANNING SONAR
(SERIAL / ETHERNET VERSION)
USER MANUAL
Imagenex Technology Corp.
209-1875 Broadway Street
Port Coquitlam, BC
Canada V3C 4Z1
Telephone: [phone]
Fax: [phone]
[e-mail]
www.imagenex.com

Revision History
Number 430-044
Revision Date Description
0A 05-Apr-21 For internal review
00 23-Apr-21 For distribution

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 3 of 46
Table of Contents
1. Introduction ...............................................................................................................................................10
2. Getting Started ..........................................................................................................................................12
2.1. Hardware Installation ................................................................................................................................13
2.1.1. Personal Computer ...............................................................................................................................13
2.1.2. Sonar Considerations ...........................................................................................................................14
2.2. Software Setup .........................................................................................................................................15
2.3. Interface ....................................................................................................................................................16
2.3.1. Shortcut Buttons ...................................................................................................................................17
2.3.2. File Playback.........................................................................................................................................18
2.3.3. Sonar Settings ......................................................................................................................................18
2.3.4. Additional Information ...........................................................................................................................19
2.3.5. Acquiring Targets ..................................................................................................................................20
2.3.6. Heading, Range, Bearing .....................................................................................................................21
2.3.7. Compass Tape Display .........................................................................................................................22
2.3.8. ROV Overlay .........................................................................................................................................22
3. Software Menus ........................................................................................................................................23
3.1. File ............................................................................................................................................................23
3.1.1. File > Connect to Sonar Head ..............................................................................................................23
3.1.2. File > Open File to Playback .................................................................................................................23
3.1.3. File > Plot data from UDP .....................................................................................................................23
3.1.4. File > Record Start (Stop)… / Copy Start (Stop)… ...............................................................................23
3.1.5. Set Record Directory ............................................................................................................................23

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 4 of 46
3.1.6. File > Auto Save File Names ................................................................................................................23
3.1.7. File > Auto File Size ..............................................................................................................................23
3.1.8. File > Convert 81R File to xyz… ...........................................................................................................24
3.1.9. File > Save Screen ...............................................................................................................................24
3.1.10. File > Exit ..........................................................................................................................................24
3.2. View ..........................................................................................................................................................24
3.2.1. View > Hold ...........................................................................................................................................24
3.2.2. View > Reverse .....................................................................................................................................24
3.2.3. View > Clear Screen .............................................................................................................................24
3.2.4. View > Zoom Factor ..............................................................................................................................24
3.2.5. View > Zoom In .....................................................................................................................................25
3.2.6. View > Zoom Out ..................................................................................................................................25
3.2.7. View > Grid ...........................................................................................................................................25
3.2.8. View > Range Marker ...........................................................................................................................25
3.2.9. View > Color Indicator...........................................................................................................................25
3.2.10. View > Compass Display ..................................................................................................................25
3.2.11. View > ROV OverlayToggles the ROV Overlay on / off (see Figure 8 ROV Overlay). ....................25
3.2.12. View > Main Toolbar .........................................................................................................................25
3.2.13. View > Mini Settings Bar ...................................................................................................................25
3.2.14. View > Show Sonar Settings ............................................................................................................26
3.3. Color Table ...............................................................................................................................................26
3.4. System ......................................................................................................................................................27
3.4.1. System > Choose COM Ports ..............................................................................................................27

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 5 of 46
3.4.2. System > IP Address ............................................................................................................................27
3.4.3. System > Diagnostics ...........................................................................................................................27
3.4.4. System > Sound Velocity ......................................................................................................................27
3.4.5. System > Sonar Orientation .................................................................................................................28
3.4.6. System > Sonar Type ...........................................................................................................................30
3.5. Options ......................................................................................................................................................30
3.5.1. Options > Units .....................................................................................................................................30
3.5.2. Options > Measure Target ....................................................................................................................30
3.5.3. Options > RealTime Play Speed ..........................................................................................................31
3.5.4. Options > Enable Gyro .........................................................................................................................31
3.5.5. Options > Calibrate Gyro ......................................................................................................................31
3.5.6. Options > Enable Gyro Auto Bias .........................................................................................................32
3.5.7. Options > Set Heading Reference ........................................................................................................33
3.5.8. Options > Calibrate Compass ...............................................................................................................33
3.5.9. Options > Calibrate Motor .....................................................................................................................34
3.5.10. Options > Local Lat / Compass Declination......................................................................................34
3.6. Profile ........................................................................................................................................................34
3.6.1. Profile > Off ...........................................................................................................................................34
3.6.2. Profile > Points Only .............................................................................................................................34
3.6.3. Profile > Low Mix ..................................................................................................................................34
3.6.4. Profile > Medium Mix ............................................................................................................................34
3.6.5. Profile > High Mix ..................................................................................................................................34
3.6.6. Profile > Point Size ...............................................................................................................................35

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 6 of 46
3.6.7. Profile > Zero Down ..............................................................................................................................35
3.6.8. Profile > Profile Min Range ...................................................................................................................35
3.6.9. Profile > Auto Profile > Horizontal Scan (Borehole)… ..........................................................................35
3.7. GPS ..........................................................................................................................................................38
3.7.1. GPS > Enabled .....................................................................................................................................38
3.7.2. GPS > Track Plotter ..............................................................................................................................38
3.7.3. GPS > Erase GPS Tracks ....................................................................................................................38
3.7.4. GPS > Zoom In .....................................................................................................................................39
3.7.5. GPS > Zoom Out ..................................................................................................................................39
3.8. Video .........................................................................................................................................................39
3.8.1. Video > Open Video Window ................................................................................................................39
3.8.2. Video > Record Video Frames to File ...................................................................................................39
3.9. Help ...........................................................................................................................................................39
3.9.1. Help > Help… .......................................................................................................................................39
3.9.2. Help > About… .....................................................................................................................................39
4. Additional Documentation .........................................................................................................................40
APPENDIX A Hot Keys ...................................................................................................................................41
APPENDIX B Cable Diagram (881L and 881A) ..............................................................................................43
APPENDIX C Spec Sheets ..............................................................................................................................46

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 7 of 46
Figures
Figure 1 External View ........................................................................................................................................14
Figure 2 Software User Interface (File Playback)................................................................................................16
Figure 3 Sonar Settings .......................................................................................................................................18
Figure 4 Additional Information............................................................................................................................19
Figure 5 Acquiring Targets ..................................................................................................................................21
Figure 6 Bottom Left ............................................................................................................................................21
Figure 7 Compass Tape Display .........................................................................................................................22
Figure 8 ROV Overlay .........................................................................................................................................22
Figure 9 Transducer Up. ......................................................................................................................................28
Figure 10 Transducer Down. ...............................................................................................................................28
Figure 11 Zero Down. ..........................................................................................................................................35
Figure 12 Auto Profile ..........................................................................................................................................38

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 8 of 46
Tables
Table 1 General Features ....................................................................................................................................11
Table 2 Adapters .................................................................................................................................................13
Table 3 External Hardware ..................................................................................................................................14
Table 4 Shortcut Buttons .....................................................................................................................................17
Table 5 Playback Control ....................................................................................................................................18
Table 6 Reference Table .....................................................................................................................................20
Table 7 Color Table .............................................................................................................................................26
Table 8 Conventions ............................................................................................................................................30
Table 9 Additional Document ..............................................................................................................................40

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 9 of 46
Acronyms and Abbreviations
Acronym Definition
ASCII American Standard Code for Information Interchange
dB Decibel
ES Echo Sounder
GB Gigabyte
GPS Global Positioning System
GS Gyro Stabilized
IP Internet Protocol
kHz Kilohertz
m/s Meters per second
MHz Megahertz
NMEA National Marine Electronics Association
PC Personal Computer
RAM Random Access Memory
ROV Remotely Operated Vehicle
TB Terabytes
UDP User Datagram Protocol
USB Universal Serial Bus
VDC Volts Direct Current

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 10 of 46
1. INTRODUCTION
The Model 881A-GS and 881L-GS (hereafter called 881A/L-GS) are advanced mechanical scanning, gyro-
stabilized, high-resolution imaging or profiling sonar systems that have been designed to provide simple, reliable,
and accurate representation of underwater targets. The 881A-GS is a serial device and the 881L-GS is
connected via ethernet. Gyro stabilization means that the sonar is capable of crystal-clear visualization from
moving ROVs without the blurring effects of host vehicle rotation. An advanced, low drift gyro is integrated
directly into the sonar head, so the sonar can now compensate for vehicle motion in real time with accuracy and
stability. Gyro stabilization is very useful to ROV pilots when working in close proximity to targets. Both units
contain a magnetic compass and a gyro that work together to deliver a robust heading reference even in areas
of high magnetic interference.
Both units deliver a high level of performance with the 881L-GS ethernet unit able to transfer data at a higher
data rate.
A profiling version of the 881A-GS has been tailored for use in a borehole surveying role and contains features
for auto scanning boreholes (see 3.6.9 Profile > Auto Profile > Horizontal Scan (Borehole)…).
Both sonars contain a pitch and roll sensor that is used to apply pitch and roll values to the sonar data when
creating an XYZ output.
The sonars come with a free Windows® program that is used to interface with the sonar, control settings, log and
play back data.

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 11 of 46
The general features are:
Frequency 310 kHz, 675 kHz, or 1 MHz (standard default settings) -Other
frequencies can be selected through programmable software
configurations (Tunable from 280 kHz to 1.1 MHz in 5 kHz steps)
Transducer Imaging type, fluid compensated
Range Resolution 1 m – 4 m: 2 mm (0.08”)
5 m & up: 10 mm (0.4”)
Maximum Operating Depth 1000 m (3000 m available)
Transducer Beam Width 310 kHz: 4° x 40°
675 kHz: 1.8° x 20°
1 MHz: 0.9° x 10°
Minimum Detectable Range 150 mm (6”)
Table 1 General Features

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 12 of 46
2. GETTING STARTED
The following bullet points describe the set-up procedure:
 Physically mount the sonar. Refer to Section 2.1.2 Sonar Considerations for details.
 Ensure 24 VDC (1A minimum) power supply is off.
 Configure the network card’s IP address or COM port when using 881L-GS and 881A-GS respectively.
(see Sections 3.4.2 System > IP Address and 3.4.1 System > Choose COM Ports)
 Connect the RJ45 connector to the PC’s network port or cable to the PC’s Comm port (881L and 881A
respectively).
 Plug the underwater connector into the sonar.
 Deploy to a stable, flat location.
 Power up the 881A/L-GS.
 Wait for the gyro calibration process to be completed. Upon power up, the sonar will automatically
calibrate the motor, pause for 30 seconds and automatically perform a gyro calibration. No
communication to the gyro sub-system is available at this time.
 Launch the Win881AL_GS_vxxxx.exe program.
 Verify the local latitude and declination setting (see 3.5.10 Options > Local Lat / Compass Declination)
and adjust if necessary.

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 13 of 46
2.1. HARDWARE INSTALLATION
2.1.1. Personal Computer
The minimum requirements for the user supplied PC are:
 Intel i5 or equivalent
 Windows® 7
 8 GB RAM
 Minimum software screen resolution is 1024 x 768
 1 TB Hard drive
 If an 881L-GS is used – an available discreet Gigabit Ethernet port, supported by a Realtek PCIE GBE
family chipset (not an FE family chipset) must be used. If an external Ethernet to USB adapter is used,
a high specification USB 3.0 Gigabit Ethernet Adapter is recommended. The TP-LINK Model UE300
appears to work well.
 If an 881A-GS is used – an available RS-485 or RS-232 (depending on the type of receiver) port is
required. If no COM port is present on the PC, an RS-485 to USB adaptor or an RS-232 to USB adaptor
is used. The following are recommended models of such adaptors:
Protocol Recommended Adaptor
RS-485 Model 2104 USB to RS-485 from Sealevel Systems
RS-232 UC-232A USB to RS-232 from ATEN
Table 2 Adapters
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 on the
Imagenex website https://imagenex.com/support).

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 14 of 46
2.1.2. Sonar Considerations
Figure 1 External View
A FRAGILE. This area must not be obstructed. Do not attach any brackets or fastenings to this area.
B Ensure locking sleeve is used. Do not bend pins.
C Do not remove. Represents moving transducer zero position.
D Use this area to mount the sonar.
Table 3 External Hardware

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 15 of 46
2.2. SOFTWARE SETUP
The latest version of the Win881AL_GS program is available from the Imagenex Technology Corp. website
(https://imagenex.com/interior-page/software-download). The installation of the software on the PC is
straightforward. It can be installed in its own directory, and run by double clicking, or you can create a shortcut
from the desktop for it. It is not recommended that the “New Program Wizard” nor any other installation program
be used.
If present, a Win881AL.INI file will be read and the settings from the previous time the application was run will
be used.

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 16 of 46
2.3. INTERFACE
Figure 2 Software User Interface (File Playback)
Freq / Gain
Gyro Status
Range Shortcut Buttons
Playback Bar
Sonar Heading

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 17 of 46
2.3.1. Shortcut Buttons
Connect to a physical sonar head.
Open a File play-back session.
Start / Stop recording an 81R data file.
Scan in polar mode which means the sonar will do 360° rotations. Direction (C/W CC/W) is toggled by clicking
.
Scan in a sector defined by the Sector setting.
Displays a Side Scan type image showing intensity of return.
Pauses real-time or playback.
Changes the sweep direction. Toggles clockwise / counter-clockwise.
Clears the display.
Restore default zoom and pan.
Zoom in display.
Zoom out display.
Ruler. Measures distance in meters or feet (depending on Options > Units selection) on the display.
Display Settings dialog box.
Opens a diagnostics window.
Opens a window with speed keys and other settings (See Appendix A).
Table 4 Shortcut Buttons

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 18 of 46
2.3.2. File Playback
Table 5 Playback Control
Used during playback and allows the user to adjust the playback speed and file position.
2.3.3. Sonar Settings
Used to control various sonar attributes. Only available in real-time mode:
Figure 3 Sonar Settings
 Range: Set the maximum range of target detection. (1 – 200 m).
 Gain: Set the sonar gain. (0 – 40 dB). Adjust until display optimized.
 Sector: Define 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: Define the scan speed of the sonar. (Slow – Fastest).
 Mode: Polar / Sector / Side Scan, as described in 3.2.7 View > Grid.
 Enable ES: Not used for the 881A/L-GS.
 Range: Not used for the 881A/L-GS.
 Gain: Not used for the 881A/L-GS.

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 19 of 46
2.3.4. Additional Information
Figure 4 Additional Information

881A/L-GS Scanning Sonar
Doc No: 430-044-00 Page 20 of 46
Ref Description
1 Display current acoustic range and frequency of sonar in yellow. Displays grid scale and current gain in
orange. Gyro enabled / disabled in green.
2 Displays only when Gyro Stabilized Image is enabled. One of: North Up, Heading Up, or Target Steering.
3 Displays “Not Recording” or “Recording...”
4 Displays “No Connection” when communication to the sonar is interrupted. Steps between IP address and
connection status (If 881L-GS used).
5 Quick setting for sonar range and gain (if Gyro Enabled selected).
6 Current transducer position for the “ping”.
7 and 8
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. Used in conjunction with Acquire Target (see 9 below)
9
Gyro Stabilized Image mode selection
If Target Steering Mode selected, the user can Acquire Target which allows the user to select a target
location. The scanning sector will then be centred 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 6 Reference Table
2.3.5. Acquiring Targets
The 881A/L-GS has the ability to select a target of interest and automatically centre on and scan about this target
on screen. The procedure is as follows:
 Ensure the gyro is enabled and in “Target Steering” mode. The sonar will perform a full polar scan.
 Select the button “Acquire Target”. The mouse cursor will change to
 Select desired target on screen. The screen will automatically change to a top sector view, sector size
defaults to 120° and the target is centred within the sector: