iXBlue GAPS User manual

GAPS
Carbon V.1
User Guide

GAPS – User Guide
MU-GAPS-AN-003 Ed. L – May 2012
i
Copyright
All rights reserved. No part of this guide may be reproduced or transmitted, in any
form or by any means, whether electronic, printed manual or otherwise, including
but not limited to photocopying, recording or information storage and retrieval
systems, for any purpose without prior written permission of iXBlue.
Disclaimer
iXBlue specifically disclaims all warranties, either express or implied, included but
not limited to implied warranties of merchantability and fitness for a particular
purpose with respect to this product and documentation. iXBlue reserves the right
to revise or make changes or improvements to this product or documentation at any
time without notifying any person of such revision or improvements.
In no event shall iXBlue be liable for any consequential or incidental damages,
including but not limited to the loss of business profits or any commercial damages,
arising from the use of this product.
Trademarks
Microsoft, MS-DOS and Windows are registered trademarks of Microsoft
Corporation. Intel and Pentium are registered trademarks and Celeron is a
trademark of Intel Corporation.

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Warranty
iXBlue provides a standard warranty of one (1) year covering this product against any
defect in materials or manufacture. The warranty starts from the date of shipment of the
product from iXBlue’s manufacturing premises to customer’s location and its duration is
indicated in the certificate of warranty delivered with the product. In the event that a defect
in materials or manufacture becomes obvious during the stipulated warranty period,
iXBlue will undertake, at its sole discretion, either to repair the defective product, bearing
the cost of all parts and labor, or to replace it with an identical product.
In order to avail itself of this warranty, Customer must notify iXBlue of the defect before
expiry of the warranty period and take all steps necessary to enable iXBlue to proceed.
Customer shall be responsible for the packaging and the shipment of the defective
product to the repair center notified by iXBlue, the cost of such shipment being borne by
Customer. iXBlue agrees to bear the cost of return freight, based on CPT (Cost Paid To)
Customer’s airport location, import tax-free.
This warranty shall not be construed as covering defects, malfunctions or damages
caused by improper use or inadequate maintenance of the product. Under no
circumstances shall iXBlue be due to provide repair or replacement under this warranty in
order a) to repair damage caused by work done by any person not representing iXBlue for
the installation, repair or maintenance of the product ; b) to repair damage caused by
improper use or connection to incompatible equipment, and specifically, the opening of
the housing of the equipment under warranty shall cause the warranty to be automatically
cancelled ; c) to maintain any product that has been modified or integrated into a larger
configuration, if such modification or integration increases the duration or difficulty of the
maintenance of said product.
This warranty covers the product hereunder and is provided by iXBlue in place of all and
any other warranty whether expressed or implied. iXBlue does not guarantee the
suitability of the product under warranty for sale or any specific use. iXBlue’s liability is
limited to the repair or replacement of defective products, this being the sole remedy open
to Customer in the event the warranty becomes applicable. iXBlue cannot be held liable
for indirect, special, subsequent or consequential damage, irrespective of whether iXBlue
has or has not received prior notification of the risk of occurrence of such damage.

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Export Regulation
This product is classified as a dual-use good: it has been developed for non-military use,
but could be used for military applications.
As a consequence, this product is subject to dual-use goods export control procedures:
•iXBlue can deliver this product freely to France or any other country of the European
Union;
•iXBlue can export this product under its own Community General Export Authorization
EU 001 to the following countries: Australia, Canada, USA, Japan, New-Zealand,
Norway and Switzerland;
•iXBlue can also export this product to other countries but only through the issuance of
an individual export license by the French authorities.
Once in its country of first destination:
•From a country member of European Union, this product is free of movement (travel)
as long as it remains within the European Union;
•From a country member of European Union, this product can only be re-exported to a
non European Union member country under the dual-use goods export control
procedures set forth by the national authorities;
•From another country, this product can only be re-exported under both the conditions
of the original export license from France (depending on its type and content) and the
dual-use goods export control procedures set forth by the national authorities.
If an individual export license has to be issued by the French authorities, iXBlue requires
you to provide as needed a description of your usual activity (and the one of the end-user
if different) and the end-user to fill out an end-user certificate which includes:
•The description of the intended application of the product
•A commitment not to re-export the product (without applying for an export license to
the competent national authorities as set above).
This product cannot be exported or re-exported to Cuba, Syria, North Korea, Libya, Sudan
and Iran.

GAPS – User Guide
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Overview of GAPS User Guide
This document is the User Guide for iXBlue’s GAPS. It must be read and understood prior
to using the GAPS system. The manufacturer shall in no case be held liable for any
application or use that does not comply with the stipulations in this manual. This issue is
updated for use with GAPS MMI software 2.09.01 and higher.
The GAPS User Guide is divided into six parts:
•Part 1: Introduction and Technical Description
This section contains a general and technical description of GAPS as well as the technical
conventions that apply.
•Part 2: Installing GAPS
In this section you will find the procedure for installation the GAPS system, to assess its
geometrical configuration parameters, and to plan all connections to external systems.
•Part 3: Configuring GAPS
In this section you will find the procedure for GAPS configuration with the MMI Software. It
describes how to configure the GAPS unit and the transponders with all required
parameters before operating the system.
•Part 4: Operating GAPS
This section provides the full description of GAPS performance and operation.
•Part 5: Maintenance
This section provides the preventative and corrective maintenance for GAPS.
•Part 6: Library Interface
This section is the protocol library documentation for GAPS. It contains the description of
all available GAPS protocols.
The abbreviations and acronyms used in this manual are listed hereafter.

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Text Usage
Bold Bold text is used for items you must select or click in the
software. It is also used for the field names used into the dialog
box.
Courier Text in this font denotes text or characters that you should enter
from the keyboard, the proper names of disk Drives, paths,
directories, programs, functions, filenames and extensions.
Italic Italic text is the result of an action in the procedures.
Icons
The Note icon indicates that the following information is of interest to the operator and
should be read.
T
HE C AUTION ICON INDICATES THAT THE FOLLOWING INFORMATION SHOULD BE READ TO FORBID
OR PREVENT PRODUCT DAMAGE .
T
HE W ARNING ICON INDICATES THAT POSSIBLE PERSONAL INJURY OR DEATH COULD RESULT
FROM FAILURE TO FOLLOW THE PROVIDED RECOMMENDATION .

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Abbreviations and Acronyms
DGPS Differential Global Positioning System
FOG Fiber Optical Gyroscope
GAPS Global Acoustic Positioning System
GPS Global Positioning System
IIF Individual Interrogation Frequency
IMU Inertial Measurement Unit
INS Inertial Navigation System
MMI Man Machine Interface
MFSK Multi-Frequency Shift Keying
NA Not Applicable
NIS Noise Isotropic Spectrum
NMEA National Marine Electronics Association
RTK Real-Time Kinematics
SNR Signal to Noise Ratio
USBL Ultra Short Base Line

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Table of Contents
IINTRODUCTION AND TECHNICAL DESCRIPTION...................................................................................1
I.1System Overview .....................................................................................................................1
I.2Acoustic Positioning Principles.............................................................................................3
I.3Technical Description..............................................................................................................4
I.3.1Overview ...............................................................................................................................4
I.3.2GAPS Unit.............................................................................................................................5
I.3.3Acoustic Transponders .........................................................................................................6
I.3.3.1Acoustic Transponder MT8x2 and ET8x2 Series .................................................................7
I.3.3.2Acoustic Transponder BT812 Series ..................................................................................10
I.3.4Integrated DGPS.................................................................................................................10
I.4Conventions and Specifications ..........................................................................................11
I.4.1General Characteristics ......................................................................................................11
I.4.2Geometrical Conventions ...................................................................................................11
I.4.3Mechanical Specifications ..................................................................................................14
I.4.4Electrical Specifications ......................................................................................................15
IIINSTALLING GAPS.........................................................................................................................19
II.1Checking of the Pack Contents............................................................................................19
II.2Installing the Acoustic Antenna ...........................................................................................20
II.2.1Recommendations Prior to Installation...............................................................................20
II.2.1.1Noise Level .........................................................................................................................20
II.2.1.2Reflective Surfaces .............................................................................................................20
II.2.1.3Corrosion ............................................................................................................................20
II.2.2Installation Principles ..........................................................................................................21
II.2.3Deployment Examples........................................................................................................25
II.3Installing the Easy Connect Box ..........................................................................................28
II.3.1Connections on the Front Face ..........................................................................................29
II.3.2Connections on the Back Face...........................................................................................29
II.4Checking the Electrical Ground Continuity ........................................................................31
II.5Installing the GPS Antenna...................................................................................................32
II.5.1Installing an External GPS..................................................................................................32
II.5.2Installing the iXBlue DGPS .................................................................................................32
II.5.3Measuring the GPS Lever Arms .........................................................................................33
II.5.4Setting the GPS Time .........................................................................................................36
II.6Installing a Transponder .......................................................................................................36
IIICONFIGURING GAPS .....................................................................................................................37
III.1Installing the Man Machine Interface ...................................................................................37
III.2Overview of the Man Machine Interface ..............................................................................38
III.2.1Starting the Man Machine Interface....................................................................................38

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III.2.2Main Window ..................................................................................................................... 40
III.2.3Color Code......................................................................................................................... 41
III.3Configuring GAPS................................................................................................................. 42
III.3.1Configuring the Survey Parameters................................................................................... 42
III.3.2Configuring the System Parameters.................................................................................. 46
III.3.3Configuring the Serial Link................................................................................................. 48
III.3.4Configuring the Interface Parameters................................................................................ 49
III.3.5Configuring the GPS Parameters ...................................................................................... 50
III.3.6Configuring the Processor Parameters.............................................................................. 51
III.3.7Configuring the Acoustic Array Parameters....................................................................... 53
III.3.8Configuring the Output Parameters ................................................................................... 54
III.3.9Defining a Sound Velocity Profile ...................................................................................... 56
III.3.10Configuring the Transponder Parameters ......................................................................... 58
III.4Monitoring the GAPS in Operation...................................................................................... 64
III.4.1Controlling The Real Time Data ........................................................................................ 64
III.4.2Visualizing with the Absolute View .................................................................................... 65
III.4.3Visualizing with the Relative View ..................................................................................... 67
III.4.4Visualizing with the Depth View......................................................................................... 68
III.4.5Controlling the GAPS Status ............................................................................................. 69
III.5Recording the Data ............................................................................................................... 72
IVOPERATING GAPS ....................................................................................................................... 73
IV.1Performances ........................................................................................................................ 73
IV.1.1Position accuracy for MT8, MT9 and ET8 Transponders .................................................. 73
IV.1.2Multi Path ........................................................................................................................... 74
IV.1.3Range versus Noise Level ................................................................................................. 75
IV.1.4Accuracy versus SNR........................................................................................................ 76
IV.2Initializing and Configuring a Survey.................................................................................. 77
IV.2.1Operating Modes ............................................................................................................... 77
IV.2.1.1Synchronization Mode / Recurrence.................................................................................. 77
IV.2.1.2Two Modes ........................................................................................................................ 78
IV.2.1.3Multi Transponders Mode .................................................................................................. 78
IV.2.2Initializing GAPS ................................................................................................................ 79
IV.2.3Configuring the Mission Parameters.................................................................................. 82
IV.2.4Installing the transponders................................................................................................. 83
IV.3Monitoring the Survey .......................................................................................................... 84
IV.3.1Visualizing the Trajectory................................................................................................... 84
IV.3.2List of the System Status ................................................................................................... 84
IV.3.3List of the Warning Messages and Troubleshooting ......................................................... 85
IV.3.4Error Messages.................................................................................................................. 86

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VMAINTENANCE ...............................................................................................................................89
V.1Preventive Maintenance ........................................................................................................89
V.1.1Precautions .........................................................................................................................89
V.1.2Cleaning Hydrophones .......................................................................................................91
V.1.3Testing GAPS before Deployment......................................................................................92
V.1.3.1Required Equipment ...........................................................................................................92
V.1.3.2Testing Communication ......................................................................................................93
V.1.3.3Testing Transmission..........................................................................................................94
V.1.3.4Testing Reception...............................................................................................................95
V.1.3.5Testing Monitoring of Heading/Roll/Pitch ...........................................................................96
V.1.3.6Testing GPS Input ..............................................................................................................97
V.1.3.7Testing GAPS Standard Output..........................................................................................98
V.2Corrective Maintenance ........................................................................................................99
V.3System Upgrade.................................................................................................................. 103
V.3.1Purpose............................................................................................................................ 103
V.3.2Recommendation............................................................................................................. 103
V.3.3Upgrading the INS Firmware ........................................................................................... 103
V.3.4Upgrading the CPU and/or 4Ways Firmware .................................................................. 106
VILIBRARY INTERFACE ................................................................................................................... 109
VI.1Input Protocols.................................................................................................................... 109
VI.1.1xxGGA ............................................................................................................................. 109
VI.1.2xxZDA .............................................................................................................................. 110
VI.1.3PMEVL............................................................................................................................. 110
VI.2Output Protocols................................................................................................................. 111
VI.2.1GAPS STANDARD .......................................................................................................... 111
VI.2.2HIPAP HPR 418 BCD (rev C) Mobile or Fixed ................................................................ 115
VI.2.3HIPAP HPR 400............................................................................................................... 118
VI.2.4NAUTRONIX ATS II......................................................................................................... 119
VI.2.5POSIDONIA 6000 ............................................................................................................ 120
VI.2.6IXSEA USBL INS 1.......................................................................................................... 121
VI.2.7IXSEA USBL INS 2.......................................................................................................... 122
VI.2.8PHINS STANDARD MESSAGE ...................................................................................... 125
VI.2.9HEHDT............................................................................................................................. 127
VI.2.10HALLIBURTON................................................................................................................ 127
VI.2.11NAVIGATION................................................................................................................... 129
VI.2.12SIMRAD EM..................................................................................................................... 130
VI.2.13SOC AUTOSUB............................................................................................................... 131
VI.2.14GPGGA Ship.................................................................................................................... 132
VI.2.15GYROCOMPASS ............................................................................................................ 132
GENERAL INDEX ................................................................................................................................ 135

GAPS – User Guide
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I INTRODUCTION AND TECHNICAL DESCRIPTION
I.1 System Overview
The Global Acoustic Positioning System, GAPS, is a portable Ultra Short Base Line
(USBL) with integrated Inertial Navigation System (INS) and Global Positioning System
(GPS).
The GAPS system is recommended for mobile or fixed installations. It can be combined
with an additional hoisting system. It is a plug & play installation and calibration is
required neither before using it nor after reinstalling it.
The GAPS system is used to deliver:
•The position of one or more underwater objects or vehicles, which can maneuver at
depth up to 3,000 meters. Greater depths are possible depending on the beacon type
used.
•The accuracy is up to 0.2% accuracy of the Distance to Go (or DTG at 1σ) depending
on environmental and operational conditions.
•The heading, attitude, motion and position of the support vessel or buoy.
The underwater objects or vehicles are located using acoustic transponders, GAPS
acoustic array is deployed underwater and is typically mounted below the ship hull or on a
buoy (see Figure 1).
Figure 1 - GAPS typical mounting
The operation principle is based on a bi-directional exchange of underwater acoustic
signals between the acoustic transponders and the GAPS unit that comprises one
transducer for transmitting and four reception hydrophones.
The GAPS has an operating field over 200 degrees coverage below the ship (see Figure
2). During the positioning operations it can be used at 3 or 4 knots or more depending on
the expected performances and at 12 knots during the transit operations.
Plug and Play
Accuracy
GAPS
Operation
Principles

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Figure 2 - GAPS Operating Field

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I.2 Acoustic Positioning Principles
The positioning of the acoustic transponder(s) is performed as follows (see Figure 3):
•The transmitting transducer sends an interrogation signal to the transponder.
•The four receiver hydrophones of the GAPS unit receive the MFSK reply from the
transponder.
•The GAPS processing unit
detects the signal,
measures the phases of the signals arriving at the four hydrophones and the
elapsed time between the interrogation and the reply.
•GAPS takes into account the attitude of the acoustic array (provided by the internal
fiber-optic gyros at the exact moment of the reception of the signal). The processing
unit deduces the relative position of the transponder.
•The INS sensor also processes also the data coming from the DGPS antenna with its
own gyros and acceleration sensors in order to accurately determine the absolute
position of the acoustic array at the exact moment when the transponder signal has
been received.
•The absolute position of GAPS is given by the GPS. The position of the transponder
relative to GAPS position is computed. GAPS can then provide the accurate absolute
position of the transponder.
•This absolute position feeds a Kalman filter, which is able to provide an estimation of
the current position of the transponder in real-time.
•Additionally, the position, heading, roll and pitch of the acoustic array (or the ship) are
available as output.
Figure 3 - GAPS Operation Synoptic

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I.3 Technical Description
I.3.1 OVERVIEW
The GAPS system consists of four main parts (see Figure 4)
•The acoustic array, i.e. the GAPS unit (see section I.3.2)
•One
or several acoustic transponders that can be mounted on objects, vehicles,
divers etc. (see section I.3.3)
•The DGPS integrated antenna (see section I.3.4)
•Man Machine Interface (MMI) software used to configure (mandatory) and to
monitor (optional) the real time data (see section III of this manual)
Other elements of the system are listed below:
A junction box named Easy Connect Box (ECB) simplifying the connections between the
GAPS unit and other devices is also available (see section II.3 of this manual).
GAPS does not need any external sensor to provide the position of the transponders but
depending on the conditions, external sensors – in particular a pressure sensor - can be
used in order to
•Increase the accuracy in noisy environments
•Simplify the installation of GAPS
The Control System is any PC on which the MMI Software is installed, it can be
•Either directly connected to GAPS through the MMI DIALOG RS 422 serial link
•Or to the MMI DIALOG RS232 serial link available on the junction box
The purpose of the Control System is
•To configure GAPS (input/output configuration, sound velocity profile, etc) if necessary
•To visualize the position(s) of the transponder(s)
The use of the Control System is not mandatory once GAPS is configured: GAPS stores
all its settings when turned off and resumes its last behavior when started up.
Three cables are used in the GAPS system:
•The 50 m main cable between GAPS and the ECB. An optional length of 100 m is also
available upon request. This cable is fitted with a 16-pin SUBCONN at one end (GAPS
side) and a 19-pin SOURIAU at the other end (ECB side).
•The Y cable can be used to connect the GPS directly to the GAPS. A 6 pins
SUBCONN end is connected to the GPS. The two other ends link the GAPS to the
ECB using the 50 m main cable.
•The 10 m GPS cable links the Y cable to the GPS antenna. It is equipped with 6-pin
SUBCONN connectors.
ECB
Control
Cables

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If the expected accuracy of an external GPS is greater than the GAPS integrated DGPS, it
is possible to connect it to the ECB (through the External GPS RS 232 serial link) and to
use its positioning data. In that case, the “Y” cable is not used.
Figure 4 – GAPS System Components
I.3.2 GAPS U NIT
Figure 5 - GAPS Unit
GPS

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GAPS has a carbon housing to deal with weight and mechanical characteristics. It is
composed of (see Figure 5)
•An upper disk for handling
•A transmission transducer
•Four reception hydrophones of different lengths to take 3D measurements
•The four hydrophones are protected by plastic caps protect them
•A 16-pin SUBCONN connection plug
The GAPS unit contains:
•The acoustic electronics for reception based on the MSFK Chirp modulation technique
•An Inertial Navigation System (INS)
•The acoustic transmitter electronics
GAPS must be powered by a 28 to 36 V - 50W - DC power supply.
The GAPS unit ensures
•the transmission of The acoustic (or electrical) triggering signals to the Transponders,
•The reception of the replies,
•The processing taking into account the attitude provided by the fiber-optic sensor
•The transmission of the results.
I.3.3 ACOUSTIC TRANSPONDERS
Five different acoustic transponders are compatible with the GAPS system:
•MT8: the standard GAPS transponder, see a description in section I.3.3.1 and in the
specific User Guide
•ET8: equivalent to the MT8 transponder with 10 times longer autonomy with larger
dimensions, please refer to the ET8 User Guide
•BT8: directive transponder, configured only in factory (IIF, code), robust design,
batteries inside, single recurrence value at 6.7 s, no responder mode, please refer to
the BT8 User Guide
•MT9: the new generation transponder, compatible with MT8 and is configured using
control software, use additional codes and batteries, please refer to the MT9 User
Guide
•ORE 435xB: monochromatic acoustic transponder, please refer to the manufacturer
User Guide
Mechanical
Description
Contents
Power Supply
GAPS Unit

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I.3.3.1 Acoustic Transponder MT8x2 and ET8x2 Series
The Acoustic Transponder series designed to be used with GAPS are:
•iXBlue MT 832 E – HD – R: Designed to depths up to 3,000 m (remote transducer)
•iXBlue MT 832 E – R: Designed to depths up to 3,000 m
•iXBlue MT 862 S – HD – R: Designed to depths up to 6,000 m (remote transducer)
•iXBlue MT 862 S – R: Designed to depths up to 6,000 m
•iXBlue ET 862 S – HD – R: Designed to depths up to 6,000 m (remote transducer)
•iXBlue ET 862 S – R: Designed to depths up to 6,000 m
Acoustic Level
188 ±4 dB ref. 1µPa at 1m (other levels 191 dB or 185 dB available).
Reception Channel (IIF)
The reception channel frequency, or IIF (Individual Interrogation Frequency) is selectable
with a switch (19.5, 20.0, 20.5 or 21 kHz) located on the lower end plate of the
transponder. This switch is also used to turn off the transponder or to check the batteries
(Test position). Only one reception channel is available on this series of transponder.
Transmission Channel
When the transponder is triggered by an IIF signal (or electrically triggered), it replies with
a MFSK chirp signal. This signal is composed of fourteen various pulses at frequencies
ranging from 22 to 30 kHz.
Chirp Code
The order of transmission of these frequencies is determined by the code of the chirp (22
or 23). The default code is 22.
Turn Around Time
There is a delay between the reception of the triggering signal and the transmission of the
reply. See Figure 6.
In responder mode, this delay is fixed at 2 ms, when the switch position is 0 or 1 otherwise
the settings are the same as in transponder mode.
In transponder mode, this delay is adjustable from 20 to 90 ms. When the switch, located
inside the transponder (see the MT832 User Guide for further information) is in position
•0 and 1, the delay is 20 ms
•N = 2 to 9, the delay is N x 10 ms
The default turn around time is 90 ms. See Figure 6.
Blanking Time
After having transmitted, no other transmission is possible for a certain time. See Figure 6.
This period is called the blanking time and is adjustable from 0.5 to 9.9 s. The default
blanking time is 0.8 s.
The Chirp Code, Turn Around Time and Blanking Time can be selected using the switches
located inside the transponder (see the MT832 User Guide for further information).
Specifications

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Figure 6 - Sketch of a 2 s Acoustic Transponder Recurrence
Responder Mode
Every iXBlue acoustic transponder with the letter "-R" at the end of its designation (e.g.
MT 832 E-R) is equipped with a waterproof plug, that is used for:
•The Electrical Triggering of the transponder in Responder mode
•The External Power Supply of the transponder
Electrical Triggering
The transponder can be triggered by a 5 V differential active high signal (rising edge
trigger) 10 ms pulse sent to this input (minimum value).
On the MT 832 series, there is no need to set the transponder either to transponder or
responder mode: if an electrical triggering signal is received through the responder input,
the transponder automatically switches to responder mode and the acoustic IIF channel is
inhibited.
After 20 seconds without receiving any electrical trigger, the transponder switches back to
the Transponder mode and starts to listen to its reception channel.
Power Supply
The transponder is usually externally powered. The batteries will be used only (and
automatically) if the external supply is lost. With full batteries and transmission at 188 dB
(factory settings), approximately 50,000 chirps can be sent by the transponder. The power
can be raised to 191 dB to improve the range but in this case the maximum chirp number
decreases. The power voltage can be any value from 15 to 40 V.
Table 1 - Power Supply Specifications for MT8x2 Series
External power Range 15 - 40 VDC, 20 W peak
Consumption 900 µA under 9 VDC and 550 µA under 25 VDC
Internal back-up batteries 3 packs of 3 Lithium batteries
Type DL123A (size 2/3 A, ≅3.9 Ah) from DURACELL
Type CR123A from VARTA
Optional
Features