IMAGENEX 881L-GS User manual

445-092
Specifications subject to
881L-GS Imaging
NOVEMBER 2013-REVISED MAY 2017
IMAGENEX MODEL 881L-GS
GYRO STABILIZED
MULTI-FREQUENCY IMAGING SONAR
APPLICATIONS: FEATURES:
•ROV, AUV, & UUV •Ethernet
•Manned Submersibles •Programmable (format available)
•Search & Recovery •Gyro stabilized transducer steering
•Borehole/cave work •Simple set-up and installation
•Drop sonar •Full scale range from 1 m to 200 m
•Scientific Research •Orientation module
Gyro-stabilization of the Imagenex Model 881L-GS
makes the high resolution 881L sonar into a system capable
of crystal clear visualization of the ocean environment from
moving platforms, no longer compromised by 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
unprecedented accuracy, stability, and robustness.
The enhanced capabilities of the 881L-GS have not
compromised the performance of the 881L sonar. Using
Ethernet communications, this all-in-one, high performance
digital imaging sonar can still exceed 100 shots per second
on short range at up to 2 mm range resolution, and can
auto-adjust acoustic frequency and resolution to scan up to
a 200 m radius, 360° surrounding area.
The Model 881L-GS still has low power, simple set-
up, and small size that make it an ideal tool for large work
ROV’s and small inspection vehicles. On it’s own it is now an
amazingly simple drop sonar and borehole inspection
package: just add a laptop computer and power supply and
run the included Imagenex software.
Copyright ©2013 - 2019
change without notice www.imagenex.com Imagenex Technology Corp.

HARDWARE
SPECIFICATIONS:
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
TRANSDUCER BEAM WIDTH 310 kHz: 4°x 40°
675 kHz: 1.8°x 20°
1 MHz: 0.9°x 10°
RANGE RESOLUTION 1 m – 4 m: 2 mm (0.08”)
5 m & up: 10 mm (0.4”)
ORIENTATION MODULE (accuracies):
PITCH & ROLL ± 0.1° typical
HEADING (Magnetic) ± 1.0° typical
MIN. DETECTABLE RANGE 150 mm (6”)
MAX. OPERATING DEPTH 1000 m and
3000 m available
MAX. CABLE LENGTH Standard: 100 m on CAT5e
Cable length may be increased up to ~9000 m using an
Ethernet extender. Please enquire for more information.
INTERFACE Standard: 10 Mbps Ethernet (10 BASE-T) using TCP/IP
Bit rate may vary if an Ethernet extender is in use.
CONNECTOR Side mounted, eight conductor, wet mateable
(Subconn MCBH8M-AS)
Optional right angle or end mount connector
POWER SUPPLY 20 – 32 VDC at less than 7 Watts
DIMENSIONS (for both depths) 79.5 mm (3.13”) diameter x 245.7 mm (9.68”) length
WEIGHT: In Air
In Water
1000 m unit: 1.8 kg (4 lbs)
3000 m unit: TBA
1000 m unit: TBA
3000 m unit: TBA
MATERIALS 1000 m unit: 6061-T6 Aluminum & Polyurethane
3000 m unit: Titanium, Polyurethane & 300 series stainless
steel
FINISH Hard Anodize
881L-GS Imaging 2
445-092 www.imagenex.com

SOFTWARE
SPECIFICATIONS: Win881AL.exe
WINDOWS™OPERATING SYSTEM Windows™XP, Vista, 7, 8, 10
MODES Sector, Polar and Side Scan
GYRO MODES North Up, Heading Up, Target Steering
RANGE SCALES 1 m, 2 m, 3 m, 4 m, 5 m, 10 m, 20 m, 30 m, 40 m,
50 m, 60 m, 80 m, 100 m, 150 m, 200 m
TRAIN ANGLES Continuous rotation, 3°increments
SECTOR SIZE:
SECTOR MODE
POLAR MODE
0°– 180°, 3°increments
0°– 357°, 3°increments, or Continuous rotation
STEP SIZES Slow (0.3°), Medium (0.6°), Fast (0.9°), Faster (1.2°),
Fastest (2.4°)
GRID TYPES Polar and rectangular
FILE FORMAT (filename).81R
RECOMMENDED
MINIMUM COMPUTER
REQUIREMENTS:
2 GHz Pentium 4
256 MB RAM
20 GB Hard Disk
1024 x 768 Screen Resolution
ORDERING
INFORMATION:
1000 m UNIT Standard 881-000-500
3000 m UNIT Standard 881-000-501
End mount connector Option -009
Right angle connector Option -010
IP Address* Option -020
Gyro Stabilization Option -048
*Note: Standard IP Address is 192.168.0.5
A different IP Address may be specified upon ordering.
Product and company names listed are trademarks or trade names of their respective companies.
881L-GS Imaging 3
445-092 www.imagenex.com

IMAGENEX TECHNOLOGY CORP.
Model 881L-GS
Gyro Stabili ed Scanning Sonar
(Ethernet Version)
Quick Start
Number 430 - 030
Revision Date Description
0A April 21, 2014 Initial Preliminary Release
00 May 6, 2014 Release
01 October 17, 2014 So tware update
02 January 21, 2015 Added auto bias, and auto ile size
03 July 7, 2015 Updated Gyro calibration description
Speci ications subject to change without notice

Table of Contents
1.0 Introduction.....................................................................................................................................................................................................................................1
2.0 Getting Started:...............................................................................................................................................................................................................................1
2.1 Step-By-Step Start Up Guide.....................................................................................................................................................................................................1
2.2 Gyro Calibration.........................................................................................................................................................................................................................2
2.2.1 Automatic Gyro Calibration.............................................................................................................................................................................................2
2.2.2 Manual Gyro Calibration.................................................................................................................................................................................................2
2.3 Overview....................................................................................................................................................................................................................................3
2.4 Hardware....................................................................................................................................................................................................................................5
2.5 So tware.....................................................................................................................................................................................................................................6
2.5.1 Acquire Target..................................................................................................................................................................................................................8
2.5.2 Latitude Adjustment and Compass Declination.............................................................................................................................................................11
2.5.3 File Size Limits..............................................................................................................................................................................................................11
Appendix A – Ethernet Setup Guide..................................................................................................................................................................................................12
A1. Con iguration o Windows XP Ethernet Communications.....................................................................................................................................................12
A2. Con iguration o Windows 7 Ethernet Communications........................................................................................................................................................14
Appendix B – Troubleshooting Communications.............................................................................................................................................................................16
Table of Figures
Figure 2.1: Unstabilized Image...............................................................................................................................................................................................................3
Figure 2.2: Stabilized Image...................................................................................................................................................................................................................4
Figure 2.3: 881L-GS External View........................................................................................................................................................................................................5
Figure 2.4: Options Menu.......................................................................................................................................................................................................................6
Figure 2.5: Standard 881L-GS Display...................................................................................................................................................................................................7
Figure 2.6: Acquire Target button has been selected...............................................................................................................................................................................9
Figure 2.7: Target has been selected......................................................................................................................................................................................................10
Figure 2.8: Auto File Sizes....................................................................................................................................................................................................................11
Figure A.1: Local Area Connection Properties Dialogue Box..............................................................................................................................................................13
Figure A.2: TCP/IP Priorities Dialogue Box.........................................................................................................................................................................................13
Figure A.3: Windows 7 - Network and Sharing Center........................................................................................................................................................................14
Figure A.4: Windows 7 - Network Connections...................................................................................................................................................................................15
Figure A.5: Windows 7 - Local Area Connection Properties................................................................................................................................................................15
Index of Tables
Table 2.1: Option Menu...........................................................................................................................................................................................................................6
Table 2.2: Main Display..........................................................................................................................................................................................................................8
i

Model 881L-GS Setup Guide 1.0 Introduction
1.0 Introduction
The Model 881L-GS is an advanced gyro-stabilized, high-resolution scanning sonar system that has been designed to provide simple,
reliable, and accurate representation o underwater images.
2.0 Getting Started:
The 881L-GS was designed to be user riendly and simple to set up in the ield. It is generally recommended however to per orm a
preliminary setup be ore heading out into the ield.
2.1 Step-By-Step Start Up Guide
1. Physically mount the sonar re erring to Section 2.4 on page 5 or details.
2. Ensure 24VDC@ 1A minimum power supply is o
3. Re erring to Appendix A – Ethernet Setup Guide, con igure the network cards IP address.
4. Connect the RJ45 (looks like a large telephone connector) to the PC’s network card.
5. Plug the underwater connector to the sonar.
6. Deploy to stable, lat location
7. Power up the 881L-GS.
8. Wait or gyro calibration to complete. The sonar, upon power up, will calibrate the motor, delay or 30 seconds and
automatically per orm a gyro calibration. No communication to the gyro sub-system is available at this time.
9. Veri y the “Local Latitude” setting in the “.ini” ile and adjust i necessary. Re er to Section 2.5.2 on page 11 or details
10. Launch the “Win881AL_GS.exe” program
I ile playback is desired, use the menu command “File->Open File to Playback”.
I real-time operation is desired, use the menu command “File->Connect to Sonar Hea ”.
11. Proceed to Section 2.5 on page 6 or so tware instructions.
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Model 881L-GS Setup Guide 2.2 Gyro Calibration
2.2 Gyro Calibration
All gyros are sensitive to the environment (i.e. temperature, motion, Earth's rotation, etc.) and will naturally dri t with time. There ore,
rom time to time, it is recommended to issue a gyro calibration (in manual mode) or recalibrate the motor (auto mode) to remove the
accumulated dri t.
2.2.1 Automatic Gyro Calibration
Imagenex Gyro enabled scanning sonars now incorporate an automatic gyro biasing eature which is selectable in the user program.
This mode continuously re-bias's the gyro in real time accommodating or temperature luctuations and internal dri t. Re er to Table
2.1 on page 6 or details on enabling / disabling this mode. When irst starting the sonar, the bias adjustment will be very rapid as the
temperature stabilizes. While the gyro will still internally dri t, 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 di erentiate between induced dri t and
real movement. A ter a ew minutes, re-calibrate the motor to realign the sonar and the transducer. This will reset the accumulated dri t
that occurred during the warmup period. It is recommended to periodically re-issue the calibrate motor command to reset the
accumulated dri t.
2.2.2 Manual Gyro Calibration
The in ormation below describes the manual biasing mode which may be necessary in strong magnetic ield environments.
Do not calibrate the gyro until the internal temperature o the sonar has stabilized, approximately 30-60minutes underwater.
1. Mount sonar on a level, stable sur ace, or settle the ROV on a lat bottom.
2. Under the “Options” Menu, select “Calibrate Gyro”.
3. Standard sonar operation is suspended during gyro calibration.
4. The message “Calibrating Gyro” will appear. Calibration takes approximately 30secs.
5. Once the message disappears, standard operation commences.
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 dri t in the gyro.
Document Number: 430-030-03 Page 2 o 16

Model 881L-GS Setup Guide 2.3 Overview
2.3 Overview
While traditional scanning sonars provide excellent imagery, they have a signi icant short coming...they rely on the sonar being
per ectly still during data acquisition. Imagenex has developed the ideal solution...the 881L-GS. Figure 2.1, below, shows a non
stabilized image taken while the sonar was spinning. Note the wavy lines. Now re er to the same area scanned with Gyro stabilization
enabled (Figure 2.2). The image is well de ined and straight.
Document Number: 430-030-03 Page 3 o 16
Figure 2.1: Unstabilize Image

Model 881L-GS Setup Guide 2.3 Overview
Document Number: 430-030-03 Page 4 o 16
Figure 2.2: Stabilize Image

Model 881L-GS Setup Guide 2.4 Hardware
2. Hardware
Figure 2.3: 881L-GS
External View
Figure 2.3, above, indicates the 881L-GS in the “Transducer Up” orientation.
Transducer End. FRAGILE. This area MUST be exposed to the water with no obstruction. Do not mount sonar using this
area.
Connect sonar cable. Ensure locking sleeve is used. Do not bend pins.
Oil illing port. Do not remove. Transducer “zero” position (Transducer Position = 600)
Electronics Bottle. Use this area or mounting the sonar.
Document Number: 430-030-03 Page 5 o 16
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Model 881L-GS Setup Guide 2.5 So tware
2.5 Software
A ter installing the “Win881AL.exe” program (generally “C:\Program Files (x86)\Imagenex”), load the program by double-clicking
on its icon.
The program, which supports the 881A, 881L, 881A-GS, 881L-GS, 882A, and 882L will need to be told which sonar type is being
connected. Choose 881L-GS rom:
“System => Sonar Type => 881L-GS”
This con igures the program to operate in 881L-GS mode.
Figure 2.4: Options Menu
Ref Item Description
1 Enable Gyro Enables Gyro Stabilized Image. Deselect to operate as standard 881L.
2 Calibrate Gyro Calibrates gyro to compensate or dri t.
3 Enable Gyro Auto Bias Enabling this puts the sonar into auto bias mode where the sonar will
continuously re-bias the gyro in real time. Disabling this mode requires
a manual bias as described in Section 2.2.2 on page 2.
4 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.
5 Calibrate Motor Calibrates Motor and realigns the sonar head position relative to the
transducer position.
Table 2.1: Option Menu
Document Number: 430-030-03 Page 6 o 16

Model 881L-GS Setup Guide 2.5 So tware
Document Number: 430-030-03 Page 7 o 16
Figure 2.5: Stan ar 881L-GS Display
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4
3
2
1
9

Model 881L-GS Setup Guide 2.5 So tware
Re Item Description
1 Range / Frequency Display Display current acoustic range and requency o sonar in yellow.
Displays Grid scale and current gain in orange
2 Gyro stabilized operating mode Displays only when Gyro Stabilized Image is enabled. One o : North
Up, Heading Up, or Target Steering.
3 File Recording in ormation Displays “Not Recording” or “Recording...”
4 Communication Error Status Displays “No Connection” when communication to the sonar is
interrupted.
5 Quick Setting Quick Setting or sonar range and gain
6 Wiper Current transducer position or the “ping”
7 Sonar Position Indicator The yellow circle indicates the current sonar position independent o the
transducer position.
In North Up mode, the circle will transverse around the perimeter o the
sonar image which remains stationary in a North up orientation.
In Heading Up mode, the circle will remain stationary at the top o the
screen, while the sonar image rotates.
In Target Steering mode, the circle will transverse around the perimeter
o the sonar image which remains stationary
8 Gyro Stabilized Image mode selection Selects the various modes o display.
In North Up mode, the circle will transverse around the perimeter o the
sonar image which remains stationary in a North up orientation.
In Heading Up mode, the circle will remain stationary at the top o the
screen, while the sonar image rotates according to the heading.
In Target Steering mode, the circle will transverse around the perimeter
o the sonar image which remains stationary
9 Acquire Target Only active in “Target Steering mode, “Acquire Target” allow the user
to select a target location. The sector will then be centred on the
selected target and rotated to place the target at the top o the display.
See Section 2.5.1, below or details.
Table 2.2: Main Display
2.5.1 Acquire Target
The 881L-GS has the ability to select a target o interest, and automatically centre and scan that target on screen. The procedure is as
ollows.
1. Ensure the gyro is enabled and in “Target Steering” mode. The image will perform a full polar scan.
2. Select the button “Acquire Target”. The mouse cursor will change to
3. Select desired target on screen The screen will automatically change to a top sector view with
the target centre within the sector
This is described urther below.
Document Number: 430-030-03 Page 8 o 16

Model 881L-GS Setup Guide 2.5.1 Acquire Target
In Figure 2.6, above, the “Acquire Target” was selected and the mouse cursor changed to . In this example, the target o
interest is positioned under the target cursor.
Document Number: 430-030-03 Page 9 o 16
Figure 2.6: Acquire Target button has been selecte
Selection Cursor

Model 881L-GS Setup Guide 2.5.1 Acquire Target
In Figure 2.7, above, the desired target rom Figure 2.6 was selected. The screen automatically centred the target within a sector and
rotated the sector to the top o the screen. The sonar will now scan the sector with the centred target.
To return, select “Release Target” to remove the sector restrictions and train angle.
Document Number: 430-030-03 Page 10 o 16
Figure 2.7: Target has been selecte

Model 881L-GS Setup Guide 2.5.2 Latitude Adjustment and Compass Declination
2.5.2 Latitude Adjustment and Compass Declination
The geographical local latitude compensates or dri t caused by the Earth's rotation. To set the latitude o the current location, open the
ile “Win881AL.ini” in a text editor and edit the lines:
•Local Latitude=49.250000 → (0 to 90 or northern latitudes, 0 to -90 or southern latitudes)
•CompassDeclination=16.5 → (±180º, o set to Magnetic North. West is negative, East is positive).
To match the approximate location o the sonar.
Once these are set, run the “Win881AL.exe” program as per usual.
The “Local Latitude” will not take e ect until a “CALIBRATE GYRO” command is initiated
manually under the “Options” menu.
The compass declination angle is used or displaying the sonar image re erenced to True North rather than Magnetic North.
The de ault values are or Vancouver, BC, Canada which has a latitude o 49.25º North and a magnetic compass declination o 16.5º
East (as o 2014).
2.5.3 File Size Limits
Storing video can generate very large iles, The so tware is able to automatically split the recorded ile in prede ined ile sizes as
shown below in Figure 2.8
Figure 2.8: Auto File Sizes
In order to re-join two split iles, rom the command prompt type:
copy /b “Source1.81R”+”Source2.81R” “dest.81R”
without the quotes.
Document Number: 430-030-03 Page 11 o 16

Model 881L-GS Setup Guide Appendix A – Ethernet Setup Guide
A endix A – Ethernet Setu Guide
The Imagenex Model 881L-GS sonar system consists o an underwater sonar head connected via Ethernet directly (or indirectly)
to a Windows © based computer.
This document covers the necessary setup procedures to enable your Windows© XP© based PC to communicate with the sonar.
Ethernet Cable
The included Ethernet cable speci ications are:
Cat 5e
RJ-45
568B wiring scheme
I this cable needs to be replaced, ensure that the above speci ications are met.
A1. Configuration of Windows XP Ethernet Communications
For the 881L-GS system, the ollowing Address’s are used
PC
IP Address 192.168.0.X
Subnet Mask 255.255.255.0
Where ‘X’ is a decimal number between 3 and 224. The number ‘1’ is reserved or a network server ‘5’ is reserved or the
881L-GS sonar head, and 255 is reserved or broadcasting.
The 881L-GS sonar head has a statically assigned IP Address o 192.168.0.5. This is the number to enter or “IP A ress”
in the “System” menu o the 881L-GS program.
The Recommended PC’s IP address and Subnet Mask on the PC are:
IP Address 192.168.0.3
Subnet Mask 255.255.255.0
On a Windows© XP© based machine, this is done as ollows:
1. Navigate to the Control Panel and double click “Network Connections”
2. Right click on the Ethernet inter ace you wish to connect with and select “Properties”
Document Number: 430-30-03 Page 12 o 16

Model 881L-GS Setup Guide A1. Con iguration o Windows XP Ethernet Communications
Figure A.1: Local Area Connection Properties Dialogue Box
3. Select Internet Protocol (TCP/IP) and select “Properties”
Figure A.2: TCP/IP Priorities Dialogue Box
4. Enter the in ormation shown above in Figure A.2 and click “OK” to accept the changes.
5. Click “OK” again to accept the changes.
Document Number: 430-30-03 Page 13 o 16

Model 881L-GS Setup Guide A1. Con iguration o Windows XP Ethernet Communications
Now your computer is on the same “Network” as the sonar head. When starting the “Win881AL.exe” program, the IP address
stored in the “881L-GS.INI” ile is read and a connection will be established.
The sonar head has a statically assigned IP Address o 192.168.0.2. Enter this number in the menu item
“Setup -> IP A ress”.
The sonar head will run ine. However, i communication to the head does not unction properly, try the suggestions located on
page 16.
A2. Configuration of Windows 7 Ethernet Communications
Windows 7 requires a ew more steps than XP or network con iguration, but is generally the same.
On a Windows© 7 based machine, this is done as ollows:
1. Go to the Start Menu and select “Control Panel”.
2. Select “Network and Sharing Center”.
Figure A.3: Win ows 7 - Network an Sharing Center
3. Select “Change adaptor settings”.
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Model 881L-GS Setup Guide A2. Con iguration o Windows 7 Ethernet Communications
Figure A.4: Win ows 7 - Network Connections
4. Right-click on “Local Area Connection” and select “Properties”.
Figure A.5: Win ows 7 - Local Area Connection
Properties
5. Select “Internet Protocol Version 4 (TCP/IPv4)” and select “Properties”.
6. Continuing rom item 4 and Figure A.2, on page 13, enter the required in ormation.
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