Impact Subsea ISS360 User manual

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T. [phone]
Impact Subsea Ltd, Company Number: SC498003, Registered in Scotland, Registered
Office: Unit 10, Castle Street, Castle Road Industrial Estate, Ellon, AB41 9FR, UK
E. [email protected]
W. www.impactsubsea.com
ISS360
Imaging Sonar
Installation & Operation Manual
Revision Number:
1.6
Date
6th October 2020

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Contents
1.0 Introduction................................................................................................................................................. 4
2.0 Specification ................................................................................................................................................ 5
2.1 Overview ................................................................................................................................................. 5
2.2 Dimensions.............................................................................................................................................. 5
2.3 Acoustic, Heading & Attitude.................................................................................................................. 6
2.4 Communication, Power & Physical.......................................................................................................... 6
3.0 Installation................................................................................................................................................... 7
3.1 Electrical Installation ............................................................................................................................... 7
3.1.1 Connector Pin Out............................................................................................................................ 7
3.1.2 Power............................................................................................................................................... 8
3.1.3 Serial Interface................................................................................................................................. 8
3.1.4 RS232 Wiring.................................................................................................................................... 8
3.1.5 RS485 Wiring.................................................................................................................................... 9
3.1.6 Ethernet Wiring................................................................................................................................ 9
3.1.7 Establishing Communications........................................................................................................ 10
3.1.8 Connector Mating.......................................................................................................................... 10
3.1.9 Connector Cleaning........................................................................................................................ 10
3.2 Installation Location.............................................................................................................................. 11
3.2.1 Acoustics (Image Performance) ..................................................................................................... 11
3.2.2 Alignment with Vehicle.................................................................................................................. 12
3.2.3 Magnetic Disturbers (Heading Performance)................................................................................ 12
3.3 Mounting............................................................................................................................................... 13
4.0 Operation................................................................................................................................................... 14
4.1 Use with seaView Software................................................................................................................... 14
4.1.1 Initial Connection........................................................................................................................... 15
4.1.2 ISS360 Sonar Application ............................................................................................................... 16
4.1.3 ISS360 Operational Settings........................................................................................................... 19
4.1.4 ISS360 Sensor Settings................................................................................................................... 21
4.1.6 Other Settings & Logging ............................................................................................................... 24
4.1.7 Hot Keys......................................................................................................................................... 25
5.0 Maintenance & Servicing........................................................................................................................... 26
6.0 Theory of Operation .................................................................................................................................. 27
6.1 Sonar – Basic Principles......................................................................................................................... 27
6.2 The Sonar Equation ............................................................................................................................... 29
6.2.1 Source Level (SL) ............................................................................................................................ 29
6.2.2 Transmission Loss (TL).................................................................................................................... 30

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6.2.3 Noise Level (NL) ............................................................................................................................. 30
6.2.4 Directional Index (DI)..................................................................................................................... 31
6.2.5 Detection Threshold (DT)............................................................................................................... 31
7.0 Warranty.................................................................................................................................................... 32
8.0 Technical Support ...................................................................................................................................... 33

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1.0 Introduction
The ISS360 Imaging Sonar provides excellent image clarity with a range capability of up to 90
meters / 295 feet.
The ISS360 is a new generation of imaging sonar, providing exceptionally fast scanning speeds
which were previously unseen. This allows imagery to be produced more quickly and is ideal for
obstacle avoidance, navigation and underwater target identification.
As a very compact imaging sonar, the ISS360 is an ideal navigation and obstacle avoidance sonar
for the smallest to the largest underwater vehicles.
Provided with a titanium housing the ISS360 is depth rated to 4,000 meters / 13,123 feet.
Optionally, the ISS360 can be provided with an integrated Attitude and Heading Reference System
(AHRS). This provides highly stable Heading, Pitch and Roll readings.
The ISS360 imaging sonar utilises a broadband composite transducer coupled with CHIRP acoustics
to provide excellent image clarity and range capability.
The sonar provides a full 360° field of vision produced by a mechanically scanned transducer. The
transducer utilises inductive coupling to the sonar electronics which enables operation without the
use of slip rings. This ensures excellent longevity in operation.
All sonar settings are fully software configurable using the seaView software. The ISS360 sonar
application within seaView is highly intuitive; ensuring range, resolution and other settings can
quickly and easily be adjusted.
As an alternative to the seaView software, a software development kit is available for third party
integration and interface development.
ISS360 Sonar (Titanium)

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2.0 Specification
2.1 Overview
Above: ISS360 (Titanium)
2.2 Dimensions
The dimensions of the ISS360 sonar are shown below:
All dimensions are in mm.

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2.3 Acoustic, Heading & Attitude
Acoustic
Attitude
Frequency
700kHz Centre
650 to 750kHz Optimal Bandwidth
600 to 900kHz Bandwidth Available
Pitch Range
± 90°
Roll Range
± 180°
Range
0.15 to 90 meters
Accuracy
0.2°
Range Resolution
7.5mm
2.5mm achievable at lower ranges
Resolution
0.1°
Beam Angle
23° Vertical
2.2° Horizontal
Heading
Signalling
CHIRP & Continuous Wave
Accuracy
± 1°
Step Size
0.225°, 0.45°, 0.9°, 1.8°, 3.6° & 7.2°
Resolution
0.1°
Scan Angle
360° Continuous or Sector Scan
2.4 Communication, Power & Physical
Communications & Power
Physical
Digital
RS232, RS485 & Ethernet
Weight
(Air/Fresh
Water)
0.38/0.3kg
Depth Rating
4,000m
Protocol
9600 to 115,200 baud
Temperature
Operating: -10°C to 40°C
Storage: -20°C to 60°C
Input Voltage
12 to 65V DC
Connector
Subconn MCBH8M-SS
(other options available)
Power (Standby)
110mA @ 24V DC
Power (Scanning)*
150mA @ 24V DC
* Based on maximum power level and scanning speed

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3.0 Installation
3.1 Electrical Installation
The ISS360 Sonar is fitted with a SubConn MCBH8M-SS connector as standard. This will
mate to a SubConn MCIL8F connector/cable assembly.
3.1.1 Connector Pin Out
The standard connector pinout is provided below:
Male Connector on ISS360 Sonar
Pin
Function
Mating Wire Colour
1
0VDC (Power)
Black
2
12-65V DC
White
3
Ethernet TX-
Red
4
Ethernet TX+
Green
5
Ethernet RX- / Serial 0V
Orange
6
Ethernet RX+ / Serial 0V
Blue
7
RS232 TX & RS485 A+
White/Black
8
RS232 RX & RS485 B-
Red/Black

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3.1.2 Power
The ISS360 Sonar power input is polarity protected and can accept a DC voltage from 12 to
65V.
3.1.3 Serial Interface
Both the RS232 and RS485 interfaces are isolated from the supply and the sonar has in-line
fused protection on the serial lines. A prolonged transient voltage on these lines will blow
the surface mount fuses which will require replacement by Impact Subsea or an approved
service agent.
3.1.4 RS232 Wiring
Note: RS232 will not function if the digital 0V pin is not used as the RS232 ground

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3.1.5 RS485 Wiring
The digital 0V must be connected on an RS485 interface, otherwise the voltage potential
between one of the A+ or B- lines to ground could reach a damaging level.
3.1.6 Ethernet Wiring

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3.1.7 Establishing Communications
The default serial settings are RS232, 9600, N81.
If the ISS360 is tilted from vertical to upside down 3 times within the first 10 seconds of
power up then it will temporarily configure the serial interface to the default (RS232, 9600,
N81) and output an ASCII message displaying the settings.
Note: When the sonar is power cycled following this process the serial interface setting will
revert back to the last saved configuration.
3.1.8 Connector Mating
When mating the cable to the SubConn connector, to maximise the life of the connector, it
is important to observe the following:
•Always apply grease before mating, Molykote 44 Medium grease must be used.
•Disconnect by pulling straight, not at an angle.
•Do not pull on the cable and avoid sharp bends at cable entry.
•Do not over-tighten the bulkhead nut.
Do not expose the connector to extended periods of heat or direct sunlight. If a connector
becomes very dry, it should be soaked in fresh water before use.
3.1.9 Connector Cleaning
General cleaning and removal of any accumulated sand or mud on a connector should be
performed using spray based cleaner (for example Isopropyl Alcohol).
New grease must be applied again prior to mating.

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3.2 Installation Location
When evaluating the installation location of the ISS360 sonar, there are several factors to consider
to achieve optimum performance:
•Acoustics (For Imaging)
•Magnetic Disturbers (For Heading)
•Alignment with Vehicle (For Pitch/Roll)
3.2.1 Acoustics (Image Performance)
Of primary importance is the location of the sonar to achieve good imagery. The boot end
of the sonar (see diagram in section 2.1) requires to have a full 360° field of vision.
The boot end of the sonar contains a single transducer mounted to a stepper motor. This
transducer rotates through a 360° rotation in order to provide a 360° image of the sonar’s
surroundings.
When operating with a central frequency of 700kHz, the sonar has a 23° horizontal beam.
It is therefore important to ensure that no part of the sonar mount/vehicle passes within
this 23° beam. If it does, the part will be shown on the sonar image and may reduce range
performance.
Ideally the ISS360 should not be operated in close proximity to other acoustic equipment
with the same operational frequency (650 to 750kHz). Other acoustic equipment within
this frequency range may cause acoustic irregularities in the sonar image.
If required, the ISS360 operational frequency can be adjusted to move it out of band with
other equipment.

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3.2.2 Alignment with Vehicle
The standard installation is to install the ISS360 sonar with the boot end facing upwards,
connector facing downwards.
The sonar should be installed so that the top of the boot is perfectly level.
The indentation on the connector endcap should be installed pointing forward, in the
direction of the vehicle’s travel:
The sonar can also be installed with the connector facing upwards and the boot end facing
downwards. In this installation orientation, ensure that the ‘Sonar is Inverted’ box is ticked
in the seaView ISS360 Orientation settings window. This will automatically correct the
imagery to compensate for the inverted sonar installation.
3.2.3 Magnetic Disturbers (Heading Performance)
When the heading output is used, the ISS360 should be mounted as far as possible from
sources of magnetic interference.
Electrical items which can cause magnetic interference include motors, transformer and
valve packs. Ferrous metals or any other magnetically active materials will also have
influence on the heading reading.
Thus, where possible, the sonar should be installed as far away from magnetically active
materials as is possible.

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3.3 Mounting
The ISS360 should be mounted using clamps around the mid-section of the body. The body has a
20mm recess to allow a clamp to be tightened securely around the unit.
When mounting the Acetal version of the ISS360, ensure excessive mounting force is not used.
A non-metallic clamp should be used. In the event this is not possible, effort should be made to
electrically isolate the clamp from the ISS360 housing.
This can be achieved by using rubber or plastic strips around the body of the ISS360.
The ISS360 has two flats on either side of the connector endcap end of the body. These are to
enable the unit to sit tightly against another flat surface if available. These flats also help prevent
the sonar moving when on the workbench for testing.

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4.0 Operation
4.1 Use with seaView Software
Shown above: seaView ISS360 Sonar Application
The ISS360 Sonar is supplied with the intuitive Impact Subsea seaView software on USB. The latest
version of seaView can be downloaded from www.impactsubsea.com
seaView software works with all of the Impact Subsea range of underwater sensors. Single sensors
can be operated or multiple sensors together.
The ISS360 sonar will operate with seaView version 2.0 or newer. seaView is designed for use with
a PC running the Windows 7, 8 or 10 operating system.
The ISS360 application within the seaView software has been designed to be highly intuitive and
easy to use. For this reason, this manual only covers the core areas of the software to help the
user obtain familiarity with the application upon first use.

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4.1.1 Initial Connection
Shown above: Initial seaView launch screen
To begin, ensure the sonar is connected to the computer via RS232, RS485 or Ethernet
communications and is powered on.
Upon launch of seaView, the software will automatically scan the available communication
ports to detect the imaging sonar.
Once detected, the sonar will be displayed in the ‘Devices’ section in the centre of the
display. In the above example, the ISS360 sonar with serial number 1660.0015 has been
detected via an Ethernet connection and has an IP address of 192.168.1.200
Should a sonar be connected after running the software, the search button should
be pressed to search for the newly connected sonar.
Note:
Ethernet communications: If communicating via a network the ISS360 has DHCP enabled
by default, so it will automatically be allocated an IP address on the network.
If running directly into a PC - allocate the PC a static IP address to enable communication.
The default IP address of the ISS360 is 192.168.1.200. The PC should be configured to have
a compatible IP address (for example 192.168.1.100).
Left click once on the sonar then click on the ‘ISS360’ app at the left-hand side of the
screen. This will open the ISS360 sonar application and the sonar will automatically start to
scan.

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4.1.2 ISS360 Sonar Application
Shown above: ISS360 Application
Provided in this section is an overview of the key features of the application:
Colour Pallet:
To the left of the screen is the colour pallet selector, clicking on this will allow you to select
various colour pallet options for the sonar data to be rendered in.
Raw Data:
The raw data returning from the sonar is presented as a red line overlaid onto the colour
pallet:
To ensure all data is plotted on screen, the colour pallet should cover all of the raw data
being shown.

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Image Threshold & Contrast:
Using the red handle on the upper and lower part of the colour pallet allows the data
threshold and contract to be adjusted.
This allows the sonar image to be adjusted to suit the requirements of the application at
hand:
•Weaker targets can be removed from screen by raising the lowest red handle.
•Higher contrast can be provided by lowering the uppermost red handle.
Several examples of adjusting these variables on the same image are shown below:
Standard setting – all data shown
Upper Red Handle lowered - increasing
contrast
Lower Red Handle raised – removing
weaker targets

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Regular Access Controls:
Along the lower part of the screen, the controls which require most regular access are provided:
•Gain Slider
oThe amount of amplification of the raw signal can be adjusted here
•Range
oThe distance the sonar is to look over can be adjusted
•CHIRP
oTurn CHIRP signalling On, Off or set to Auto based on range input
•Speed/Quality Slider
oThe resolution and scanning speed of the sonar can be set here
oSpeed: Moving towards ‘Speed’ will enable a large step size and lower bins. This
will increase the scan rate of the sonar and reduce the resolution – ideal for
navigation & obstacle avoidance
oQuality: Moving towards ‘Quality’ will enable a smaller step size and higher bins.
This will increase the resolution of the sonar image and decrease the scan rate –
ideal for target identification or survey work

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4.1.3 ISS360 Operational Settings
Shown above: ISS360 Setup
Clicking the Setup icon will allow access to the operational settings of the sonar.
Shown above: ISS360 Setup
In this tab, features such as the scan angle of the sonar (full 360 or user defined sector scan) can
be configured.
Flyback can be used to speed up sector scans. Instead to scanning right to left then left to right; in
this mode, the sonar will produce imagery one way then quickly flyback to the start position and
start again.

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Note:
Bins are the number of samples that the sonar sends to the seaView software for each ‘Ping’ that
is makes.
When set to ‘Auto’ seaView will read the number of pixels present on your display screen and
request the sonar to send one sample per pixel. This sends the maximum number of values which
can physically be shown on screen at any one time.
If operating on a low baud rate serial connection and also using a very high-resolution monitor, you
may wish to disable the ‘Auto’ feature and manually input a lower number of bins. Alternatively,
ensure that you move the Speed/Quality bar towards ‘Speed’ on the regular access controls (see
previous page).
This will ensure that the sonar scans quickly and no latency is introduced.
Elements of the sonar display can be enabled or disabled (such as the heading, image smoothing
etc) by clicking the Display Options icon .
Shown above: ISS360 Display Options