IMAGENEX 881A/L-GS Setup guide

IMAGENEX TECHNOLOGY CORP.
Set Up and Configuration of the
Imagenex Model 881A/L-GS
Gyro Stabilized Scanning Sonar
(Serial / Ethernet Version)
Imagenex Technology Corp.
209-1875 Broadway Street
Port Coquitlam, BC
Canada V3C 4Z1
Telephone: [phone]
Fax: [phone]
[e-mail]
www.imagenex.com
Number 430-044
Revision
Date
Description
0
A
December 03
, 2019
For
internal review

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Table of Contents
1.0 INTRODUCTION ...............................................................................................................................................6
2.0 GETTING STARTED .........................................................................................................................................7
2.1 Hardware Installation .....................................................................................................................................8
2.2 Software Setup ..............................................................................................................................................8
2.3 Interface.........................................................................................................................................................9
3.0 SOFTWARE MENUS ..................................................................................................................................... 15
3.1 File .............................................................................................................................................................. 15
3.1.1 Connect to Sonar Head ..................................................................................................................... 15
3.1.2 File > Open File to Playback.............................................................................................................. 15
3.1.3 File > Plot data from UDP .................................................................................................................. 15
3.1.4 File > Record Start (Stop) .................................................................................................................. 15
3.1.5 File > Auto Save File Names ............................................................................................................. 15
3.1.6 File > Auto File Size ........................................................................................................................... 15
3.1.7 File > Save Screen............................................................................................................................. 15
3.1.8 File > Exit ........................................................................................................................................... 15
3.2 View ............................................................................................................................................................ 16
3.2.1 View > Hold........................................................................................................................................ 16
3.2.2 View > Reverse.................................................................................................................................. 16
3.2.3 View > Clear Screen .......................................................................................................................... 16
3.2.4 View > Zoom Factor........................................................................................................................... 16
3.2.5 View > Zoom In .................................................................................................................................. 16
3.2.6 View > Zoom Out ............................................................................................................................... 16
3.2.7 View > Grid ........................................................................................................................................ 16
3.2.8 View > Range Marker ........................................................................................................................ 16
3.2.9 View > Color Indicator........................................................................................................................ 16
3.2.10 View > Compass Display............................................................................................................... 16
3.2.11 View > ROV Overlay...................................................................................................................... 16
3.2.12 View > Main Toolbar...................................................................................................................... 16
3.2.13 View > Mini Settings Bar ............................................................................................................... 16
3.2.14 View > Show Sonar Settings ......................................................................................................... 16
3.3 Color Table ................................................................................................................................................. 17
3.4 Systems ...................................................................................................................................................... 18
3.4.1 System > Choose COM Ports............................................................................................................ 18
3.4.2 System > IP Address ......................................................................................................................... 18
3.4.3 System > Diagnostics ........................................................................................................................ 18
3.4.4 System > Sound Velocity................................................................................................................... 18
3.4.5 System > Sonar Orientation............................................................................................................... 18
3.4.6 System > Sonar Type ........................................................................................................................ 18
3.5 Options ....................................................................................................................................................... 19
3.5.1 Options > Units .................................................................................................................................. 19
3.5.2 Options > Measure Target ................................................................................................................. 19
3.5.3 Options > Enable Gyro ...................................................................................................................... 19
3.5.4 Options > Calibrate Gyro ................................................................................................................... 19
3.5.5 Options > Enable Gyro Auto Bias ...................................................................................................... 20
3.5.6 Options > Calibrate Compass............................................................................................................ 20
3.5.7 Options > Calibrate Motor.................................................................................................................. 20
3.5.8 Options > Local Lat / Compass Declination....................................................................................... 20
3.6 Profile.......................................................................................................................................................... 21
3.6.1 Profile > Points Only .......................................................................................................................... 21
3.6.2 Profile > Low Mix................................................................................................................................ 21
3.6.3 Profile > Medium Mix ......................................................................................................................... 21
3.6.4 Profile > High Mix............................................................................................................................... 21
3.6.5 Profile > Point Size............................................................................................................................. 21

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3.6.6 Profile > Zero Down ........................................................................................................................... 21
3.6.7 Profile > Profile Min Range… ............................................................................................................ 21
3.6.8 Profile > Auto Profile .......................................................................................................................... 21
3.7 GPS ............................................................................................................................................................ 22
3.7.1 GPS > Enable .................................................................................................................................... 22
3.7.2 GPS > Track Plotter........................................................................................................................... 22
3.7.3 GPS > Erase GPS Tracks ................................................................................................................. 22
3.7.4 GPS > Zoom In .................................................................................................................................. 22
3.7.5 GPS > Zoom Out ............................................................................................................................... 22
3.8 Video........................................................................................................................................................... 23
3.8.1 Video > Open Video Window............................................................................................................. 23
3.8.2 Video > Record Video Frames to File................................................................................................ 23
3.9 Help ............................................................................................................................................................ 24
3.9.1 Help > Help…..................................................................................................................................... 24
3.9.2 Help > About…................................................................................................................................... 24
APPENDIX A HOT KEYS .................................................................................................................................... 25
APPENDIX B WINDOWS™ TCP/IP SET-UP AND TROUBLESHOOTING ....................................................... 26

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Figures and Tables
FIGURE 2-1 EXTERNAL VIEW .........................................................................................................................................8
TABLE 2-2 TOOLBAR OPTIONS.......................................................................................................................................9
FIGURE 2-3 FILE POS AND SPEED CONTROL ............................................................................................................... 10
FIGURE 2-4 SONAR ATTRIBUTES................................................................................................................................. 10
FIGURE 2-5 DISPLAY .................................................................................................................................................. 11
TABLE 2-6 TOOLBAR OPTIONS.................................................................................................................................... 12
FIGURE 2-7 ACQUIRE TARGET .................................................................................................................................... 13
FIGURE 2-8 BOTTOM LEFT.......................................................................................................................................... 13
FIGURE 2-9 COMPASS DISPLAY .................................................................................................................................. 14
FIGURE 2-10 ROV OVERLAY...................................................................................................................................... 14
TABLE 3-1 COLOUR OPTIONS ..................................................................................................................................... 17

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Acronyms and Abbreviations
Acronym
Meaning
UDP User Datagram Protocol
ROV Remotely Operated Vehicle
VDC Volts Direct Current
PC Personal Computer
USB Universal Serial Bus

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1.0 Introduction
The Model 881A-GS and 881L-GS (hereafter called 881A/L-GS) are advanced gyro-stabilized, high-resolution
scanning 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.
The Sonar is interfaced via Serial (RS-232 or RS-485) or Ethernet depending on the model (881A-GS – serial and
881L-GS – ethernet).
Both units deliver a high level of performance with the 881L-GS ethernet unit able transfer data at a higher rate
which leads to improved range resolution.
The 881A/L-GS sonar comes with a free Windows™ program that is used to interface with the sonar, control
settings, log and play back data.

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2.0 Getting Started
The following points describe the set-up procedure:
•Physically mount the sonar. Refer to Section 2.1 for details.
•Ensure 24 VDC @ 1 A minimum power supply is off.
•Configure the network card’s IP address (see Sections 3.4.2 and 3.4.1) or Comm port when using 881L
and 881A respectively.
•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 to the sonar.
•Deploy to stable, flat location.
•Power up the 881A/L-GS.
•Wait for gyro calibration to complete. The sonar, upon power up will calibrate the motor, delay 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.exe program.
•Verify the local latitude and declination setting (see Section 3.5.8) and adjust if necessary.

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2.1 Hardware Installation
Figure 2-1 External View
A: Transducer. FRAGILE. This area must not be obstructed. Do not attach any brackets or fastenings to this area.
B: Connector. Ensure locking sleeve is used. Do not bend pins.
C: Oil filling port. Do not remove. Represents moving transducer Zero position.
D: Electronics bottle. Use this area to mount the sonar.
2.2 Software Setup
The latest version of the Win881AL_GS.exe program is available from the Imagenex Technology 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.

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2.3 Interface
Controls:
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 (CW / CCW) is toggled
by clicking Rev.
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 / counterclockwise
Refreshes display
Restore default zoom and pan.
Zoom in display.
Zoom out display.
Ruler. Measures distance in metres or feet (depending on Options > Units selection) on the display.
Opens a diagnostics window.
Opens a window with speed keys and other settings (See Appendix A)
Table 2-2 Toolbar Options

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Figure 2-3 File Pos and Speed Control
Used during Playback and allows the user to adjust the playback speed and File position (see Figure 2-3 File Pos
and Speed Control above)
Figure 2-4 Sonar Attributes
Used to control various sonar attributes. Only available in Real Time (see Figure 2-4 Sonar Attributes above)
Range: Set the maximum range of target detection. Maximum 200m.
Gain: Set the sonar gain. Max 40 db. Adjust until display optimized.
Sector: Define the scan sector (0° – 360°).
Train: Allows for the rotation of the sector set above around the centre
Speed: Define the scan speed of the sonar. (Slow – Fastest).
Mode: Polar / Sector / Side Scan, as described in Table 2-2 Toolbar Options.
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.

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Figure 2-5 Display

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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
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
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 Figure 2-7 Acquire Target below for details).
Table 2-6 Toolbar Options

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Acquire Target
The 881A/L-GS has the ability to select a target of interest, and automatically centre on and scan about a target on
screen. The procedure is as follows:
•Ensure the gyro is enabled and in “Target Steering” mode. The image 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 centred 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 once
clicked, >> see slide alongside.
The desired target was selected. The screen
automatically centred the target within a sector and
rotated the sector to the top of the screen. The sonar
will now scan the sector with the centred target.
Figure 2-7 Acquire Target
To return, select “Release Target” to remove the sector restrictions and train angle.
Figure 2-8 Bottom Left
See Figure 2-8 Bottom Left above.
H: Sonar heading
R: Range of the cursor
B: Bearing of the cursor
Latitude and Longitude data (if a GPS is interfaced) is displayed below this Heading, Range and Bearing data

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Figure 2-9 Compass Display
See Figure 2-9 Compass Display above. Displays the current heading as a moving display if View > Compass
Display is selected.
Figure 2-10 ROV
Overlay
See Figure 2-10 ROV Overlay above. Displays the current heading as a moving display if View > ROV Overlay is
selected. Size can be adjusted by using the Z speed key, which toggles through various size options.
Additional information is displayed in the bottom of the interface toolbar.

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3.0 Software Menus
3.1 File
3.1.1 Connect to Sonar Head
Select data source to be from the sonar head and viewed in real-time.
3.1.2 File > Open File to Playback
Data can be replayed from a previously recorded file from the Open File Dialog.
3.1.3 File > Plot data from UDP
Specify a data source as an .81R data file that is received through a UDP port.
3.1.4 File > Record Start (Stop)
Toggles the record state on and off. Recording is done as per the settings below. The file format for an 881A/L-GS
is .81R.
3.1.5 File > Auto Save File Names
Select the file name set automatically as Win881AL DD-MMM-YYYY HHMMSS.81R.
3.1.6 File > Auto File Size
Select the file size to be limited to 1 – 4Gbytes. If selected, data will be logged to the max file size and a new file
will be created to continue logging.
3.1.7 File > Save Screen
Opens a dialog that allows for the saving of a BMP file of the current screen.
3.1.8 File > Exit
Writes all settings to the Win881AL.INI file that is kept in the same location as executable file and closes the program.
The next time the program is started, the system will load these settings from the .ini file.

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3.2 View
3.2.1 View > Hold
Pause the display of sonar data.
3.2.2 View > Reverse
Changes the sweep direction. Toggles clockwise / counterclockwise.
3.2.3 View > Clear Screen
Clears the screen of historical data.
3.2.4 View > Zoom Factor
Changes the factor by which the display is zoomed in or out (50, 75, 100, 125, 150, 175, 200%).
3.2.5 View > Zoom In
Zooms in by the factor specified in Zoom Factor.
3.2.6 View > Zoom Out
Zooms out by the factor specified in Zoom Factor.
3.2.7 View > Grid
Choose between None, Rectangular, and Polar.
3.2.8 View > Range Marker
Displays / hides the range, frequency, and gain information on the top left of the display.
3.2.9 View > Color Indicator
Toggles the colour bar on and off.
3.2.10 View > Compass Display
Toggles the Compass Bar on and off (see Figure 2-9 Compass Display).
3.2.11 View > ROV Overlay
Toggles the ROV Overlay on and off (see Figure 2-10 ROV Overlay).
3.2.12 View > Main Toolbar
Toggles the Main Toolbar on and off (see Table 2-2 Toolbar Options).
3.2.13 View > Mini Settings Bar
Toggles the Mini Settings Bar (top of display) on and off (see Figure 2-4 Sonar Attributes).
3.2.14 View > Show Sonar Settings
Toggles a display window on / off that shows various Sonar settings.

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3.3 Color Table
Allows various colour combinations (background and scan) to be selected.
Used to change the sonar data colour palettes for the sonar images. The 881A/L-GS uses a colour table to represent
echo data strength (amplitude). For example, the Normal High intensity colour table maps the echo data amplitude
to 256 colours ranging from black (low strength level) through blue, green, orange, yellow, white, and red (highest
strength level).
The Color Table menu offers the following options:
Normal High Standard colour table used for mapping the echo data amplitude to 256 colors ranging from
black (low level), through blue, green, orange, yellow, white, and red (highest level).
Normal Low Same colours as Norm Hi, but uses a lower colour intensity.
Green 256 shades of green.
Grey 256 shades of grey (white on black).
Reverse Grey 256 shades of grey (black on white).
Brown/Yellow 256 mixed shades of brown and yellow.
Green/Blue 256 mixed shades of green and blue.
Green/Yellow 256 mixed shades of green and yellow.
Blue 256 shades of blue.
Table 3-1 Colour Options

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3.4 Systems
3.4.1 System > Choose COM Ports
Allows for the configuration of communication ports:
If an 881A-GS is being used, the communication port parameters are set in the Sonar Head section. The Sonar
Head configuration is not relevant with 881L as it is connected via ethernet.
A serial heading output can be set here which will output the heading sensors heading on a serial port. (String
format: $HEHDT)
A GPS serial input port can also be configured here to read GPS information. Expected format ($GPGGA)
3.4.2 System > IP Address
Allows for the configuration of the Internet Protocol (IP) address for incoming sonar data.
The statically assigned default for the sonar IP Address is 192.168.0.5 and unless a different IP address was
selected at the time of ordering, this should be used and is set in the Sonar IP Address textbox.
Note: 192.168.0.1 is reserved for a network server.
(See Appendix B WINDOWS™ TCP/IP SET-UP AND TROUBLESHOOTING)
3.4.3 System > Diagnostics
Displays a window showing various diagnostic information relating to the sonar.
3.4.4 System > Sound Velocity
Opens a window that allows for the manual input of sound velocity. Default is 1500 m/s.
3.4.5 System > Sonar Orientation
Select Up if sonar orientated with transducer towards the top and down if inverted.
3.4.6 System > Sonar Type
Various models of Sonar use the same interface software. Select 881A-GS or 881L-GS depending on model.

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3.5 Options
3.5.1 Options > Units
Metres or Feet can be selected as the units used.
3.5.2 Options > Measure Target
Measures distance in metres or feet (depending on Options > Units selection) on the display.
3.5.3 Options > Enable Gyro
Enables the internal gyro to be used in North Up, Heading Up, Target Steering and Acquire Target modes.
3.5.4 Options > Calibrate Gyro
All gyros are sensitive to the environment (i.e. temperature, motion, earth's rotation, etc.) and will naturally drift with
time. Therefore, from time to time, it is recommended to complete a gyro calibration (in manual mode) or recalibrate
the motor (auto mode) to remove the accumulated drift.
Automatic Gyro Calibration
Imagenex Gyro enabled scanning sonars now incorporate an automatic gyro biasing feature which is selectable in
the user program. This mode continuously re-bias's the gyro in real time, accommodating for temperature
fluctuations and internal drift. See Section 3.5.5 Options > Enable Gyro Auto Bias for enabling / disabling this mode.
When first starting the sonar, the bias adjustment will be very rapid as the temperature stabilizes. While the gyro
will still internally drift, the sonar image will be coherent, allowing the operator to continue to work. Note that the
absolute heading will not be exact during this time as the sonar does not differentiate between induced drift and
real movement. After a few minutes, re-calibrate the motor to realign the sonar and the transducer. This will reset
the accumulated drift that occurred during the warmup period. It is recommended to periodically re-calibrate the
motor to reset the accumulated drift.
Manual Gyro Calibration
The information below describes the manual biasing mode which may be necessary in strong magnetic field
environments.
Do not calibrate the gyro until the internal temperature of the sonar has stabilized, approximately 30-60 minutes
underwater.
The procedure below is followed:
•Suspend sonar operations and mount the sonar on a level stable surface or settle the ROV on a flat bottom.
•Select Options > Calibrate Gyro.
•The message Calibrating Gyro will appear. Calibration takes approximately 30 seconds.
•Once the message disappears, standard operation commences.
Note: When using manual biasing, it is ESSENTIAL that the sonar is completely stationary and at constant
temperature during gyro calibration. Any movement will cause undesirable drift in the gyro.

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3.5.5 Options > Enable Gyro Auto Bias
Puts the sonar into auto bias mode where the sonar will continuously re-bias the gyro in real time. Disabling this
mode requires periodic manual calibration. See Section Options > Calibrate Gyro.
3.5.6 Options > Calibrate Compass
Field calibrates the internal compass. To calibrate the compass, the sonar head MUST be rotated 360º (direction
is irrelevant). Check Calibrate Compass, rotate 360º, then un-check Calibrate Compass to store the settings.
3.5.7 Options > Calibrate Motor
Calibrates the motor and realigns the sonar head position relative to the transducer position.
This can be done periodically to remove unwanted drift.
3.5.8 Options > Local Lat / Compass Declination
The geographical local latitude compensates for drift caused by the Earth's rotation. Use the Local Lat / Compass
Declination window to set the Latitude (0 to 90 for northern latitudes, 0 to -90 for southern latitudes) and Compass
Declination (offset to magnetic north. west is negative, east is positive).
Note that the Local Latitude will not take effect until a calibrate gyro process is completed.
The following website reports declination https://www.geomag.nrcan.gc.ca/calc/mdcal-en.php for a given position.