iXBlue ROVINS User manual

ROVINS
User Manual

ROVINS – User Manual
MU–ROVINS–AN-013 Ed. A – March 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 guide 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 notify 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 loss of business profits or any commercial damages, arising out of 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.
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.

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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 .
Abbreviations and Acronyms
Abbreviations and acronyms are described in document Inertial Products - Principle &
Conventions (Ref.: MU-INS&AHRS-AN-003).
Overview of this Document
This document is the product user manual of your ROVINS. It gives all information about
your product, and about documentation applicable to your product.
This document is divided into several parts:
•Part 1: Introduction – This part gives a quick system presentation.
•Part 2: Product Documentation – This part lists the useful documents for a best use
of your products.
•Part 3: ROVINS Specificities (including External Sensors) - This part describes the
specificities of your product.
•Part 4: Mechanical Specifications – This part describes mechanical aspects of your
product, except connectors.
•Part 5: Electrical Interface Specifications – This part describes electrical aspects of
your product: the connectors, the power supply and the pin description. This section
also gives recommended wirings.
•Part 6: Verification of Pack Contents– This part lists gives recommendation when
you receive your product.
A Table of Contents is available in the following pages to allow a quick access to
dedicated information.

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MU–ROVINS–AN-013 Ed. A – March 2012 iii
Table of Contents
COPYRIGHT............................................................................................................................................I
DISCLAIMER...........................................................................................................................................I
TRADEMARKS ........................................................................................................................................I
TEXT USAGE..........................................................................................................................................I
ICONS ...................................................................................................................................................II
ABBREVIATIONS AND ACRONYMS...........................................................................................................II
OVERVIEW OF THIS DOCUMENT..............................................................................................................II
IINTRODUCTION................................................................................................................................1
IIPRODUCT DOCUMENTATION ............................................................................................................3
IIIROVINS SPECIFICITIES (INCLUDING EXTERNAL SENSORS)...............................................................5
IVMECHANICAL SPECIFICATIONS ........................................................................................................6
IV.1ROVINS Interface Plate...........................................................................................................6
IV.2ROVINS Mechanical Alignment.............................................................................................9
IV.3ROVINS Center of Measurements.........................................................................................9
IV.4DVL Ready Option ................................................................................................................13
VELECTRICAL INTERFACE SPECIFICATIONS ......................................................................................19
V.1Overview of ROVINS Electrical Interface............................................................................19
V.2Listing of Interfaces..............................................................................................................20
V.3Port A&B Connector (Central Connector) Specifications ................................................20
V.4Ethernet Connector Specifications.....................................................................................22
V.5Port X (X being C, D, or E) Connector Specifications.......................................................23
V.6ROVINS Recommended Wirings.........................................................................................25
V.7Specifications for Communication between ROVINS & PC .............................................28
V.8Power Network......................................................................................................................28
VIVERIFICATION OF PACK CONTENTS................................................................................................29

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I INTRODUCTION
This document is the ROVINS User Manual. It provides information on ROVINS
specifications, mechanical and electrical interfaces.
The ROVINS system is an Inertial Navigation System (INS). It delivers heading and
attitude information as well as position and speed, to other systems or to displays. It can
receive data from other sensors to improve its accuracy.
The ROVINS system can also be used as a gyrocompass.
The core of ROVINS is an inertial measurement unit (IMU). The IMU is the assembly of
three high class fiber optic gyroscopes (FOG) manufactured by the Inertial Products
Division of iXBlue (formerly iXSea) and three high precision pendulum-type
accelerometers (see document Inertial Products - Principle & Conventions (Ref.: MU-
INS&AHRS-AN-003) for an overview of ROVINS technology).
Due to the very high precision of its IMU, ROVINS is subject to export regulations (see
document General Information (Ref.: MU-INS&AHRS-AN-007) for details).
Apart from its IMU, ROVINS contains a self-consistent navigation algorithm based on
Kalman Filtering. This structure enables ROVINS to work either as a black box or to be
connected to external sensor systems (GPS, Doppler Velocity Log, Depth sensor,
acoustic positioning systems …). In conjunction with external sensors, ROVINS Kalman
filter exceeds by several orders of magnitude the performances obtained with traditional
navigation approaches (see document Inertial Products - Principle & Conventions (Ref.:
MU-INS&AHRS-AN-003) for an overview of ROVINS technology).
Much attention has been put on the mechanical design of ROVINS. The system is a
cylinder of 180 mm-diameter. The box contains a high performance inertial measurement
unit (IMU) and a digital signal processor (DSP) supporting the navigation software.
Connectors enable to plug external sensors.
The initial design of ROVINS is directed to underwater applications. ROVINS is used as
the positioning system of Remotely Operated Vehicle (ROV) diving down to 3000 m and
doing 24 hours long pipeline or field surveys without any human intervention. During these
missions, ROVINS generally receives external information from acoustic positioning
systems and/or Doppler Velocity Log (DVL). Acoustic positioning systems use acoustic
transponder and compute position by triangulation. DVL are based on Doppler Shift of
acoustic waves reflecting on the seabed. In general, acoustic positioning systems are
used mainly during the diving phase of the ROV. Close to seabed ROVINS is be able to
maintain its position with only velocity aiding. During most missions, mapping of the
seabed is done using a multibeam echo sounder requiring true heading, attitude, position
and speed from the ROVINS.
System
Design

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To cope with such a mission ROVINS is designed to:
•Align at sea
•Optimize the integration of most industry standard USBL/LBL/GPS data positioning
systems
•Smooth data from USBL/LBL/GPS
•Reject USBL/LBL/GPS outlier
•Provide high output rate position and speed data
•Maintain position, over short periods, during USBL/LBL/GPS outages
•Navigate using only DVL information at low update rate
•Log raw data for post processing with DELPHINS software to quality check or improve
navigation data.

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II PRODUCT DOCUMENTATION
Your ROVINS belongs to the family of the iXBlue inertial products. The following
documents are useful to use the best way your product.
•This ROVINS User Manual gives information about:
Mechanical Specifications
Electrical Interface Specifications (included : recommended wiring)
Verification of Pack Contents
•ROVINS Technical Specifications (Ref.: G_ST_TSH_013) gives all specifications
about your product
•General Information (Ref.: MU-INS&AHRS-AN-007) gives information about
Export Regulation
Warranty
ISO Certification
Customer Support
Contacts
•Inertial Products - Principle & Conventions (Ref.: MU-INS&AHRS-AN-003) gives
information about
Abbreviations
Terminology
Behavior and operation principles
−Fiber Optical Gyroscopes description
−Alignment principle
Geometrical conventions
•Depending of the use of your product, the following Application Note can be useful for
the product installation:
Inertial Products – Application Note – Mechanical Integration of Inertial
Systems (Ref.: MU-MECHAPN-AN-001)
Inertial Products – Application Note - Installation and Configuration of AHRS
and INS for Seabed Mapping Measurements (Ref.: MU-HEAVAPN-AN-001)
•Installation Form (Ref.: MU-INS&AHRS-AN-004): this document is a link between the
installation process and the configuration process. It contains empty tables to fill in.
•Network Set-up Guide (Ref.: MU-INS&AHRS-AN-005)gives information about
default network configuration
network configuration
•INS - Configuration & Operation through Web-based User Interface (Ref.: MU-
INSIII-AN-002) gives information about
how to perform the software configuration of the product (which sensor is
connected, on which port, …)
operation : how to use the product

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•INS Interface Library (Ref.: MU-INSIII-AN-001) gives information about all the
protocols that your product can use.
•INS Advanced Configuration (Ref.: MU-INSIII-AN-004): this document gives all the
configuration and monitoring commands which can be used during operation. These
commands are sent directly through the repeater port.
•INS - Application Note - INS Calibration with RDI Workhorse DVL (Ref.: MU-
INSAPN-AN-001)

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III ROVINS SPECIFICITIES (INCLUDING EXTERNAL SENSORS)
ROVINS uses external sensor data to improve its own estimates of position, speed,
attitude and heading. The following external sensors can be connected to ROVINS:
•GPS
•LBL
•USBL
•DVL
•Sound Velocity
•Depth
When using a DVL, a calibration must be performed. The calibration of the RDI Workhorse
DVL is described in INS - Application Note - INS Calibration with RDI Workhorse DVL
(Ref.: MU-INSAPN-AN-001)
ROVINS can output two distinct heave measurements:
•Real Time Heave which provides heave in real time mode.
•Smart HeaveTM which provides an accurate, latency-compensated, measurement of
heave with a 100s fix delay.
To avoid the effect of transient vehicle/vessel movement on heave measurement, you can
define the position of the center of gravity (COG) of the vehicle/vessel. In this case,
ROVINS will compute heave at the COG and add the heave induced by lever arms from
the COG to external monitoring points. For more details see:
•Inertial Products – Application Note - Installation and Configuration of AHRS and INS
for Seabed Mapping Measurements (Ref.: MU-HEAVAPN-AN-001)
•INS- Configuration and Operation with the Web-based User Interface (Ref.: MU–INSIII-
AN-002)
Your ROVINS internal clock can be synchronized with data coming from an external
reference clock (i.e., GPS clock). In this case, time is synchronized with input coming from
the selected interface with appropriate protocol. For more details see INS - Configuration
& Operation with the Web-based User Interface (Ref.: MU-INSIII-AN-002).
Available
external
sensors
DVL
Calibration
Heave
measurement
/ Center of
Gravity of the
vehicle (COG)
UTC/Time
synchro

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IV MECHANICAL SPECIFICATIONS
IV.1 ROVINS Interface Plate
The ROVINS interface plate is sketched on Figure 1. It is fixed onboard using six CHC
M6 screws which form a 195 mm diameter.
Two accurate alignment holes can be used for fine alignment with alignment frame.

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Figure 1 - ROVINS interface plate (bottom side) layout

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IV.2 ROVINS Mechanical Alignment
ROVINS interface plate is designed with two holes for alignment of ROVINS axis X1with a
reference direction on the matching adaptation plate fixed onboard. The accuracy of this
mechanical alignment is ±0.02 degree. For mechanical mounting recommendations refer
to the document Inertial Products – Application Note – Mechanical Integration of Inertial
Systems (Ref.: MU-MECHAPN-AN-001). The adaptation plate should be designed with
two pins φ6 g6 (see Figure 1).
IV.3 ROVINS Center of Measurements
The ROVINS center of measurement P is the intersection of the three ROVINS reference
axis X1, X2 and X3 defined in Inertial Products - Principle & Conventions (Ref.: MU-
INS&AHRS-AN-003). It lies inside ROVINS, and its exact position is reported on Figure 2.
The ROVINS center of measurements P is the reference point for the determination of
ROVINS and external sensor lever arms (Refer to the document Inertial Product -
Principle & Conventions (Ref.: MU-INS&AHRS-AN-003) for details).

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Figure 2 - Center of measurements position

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IV.4 DVL Ready Option
The DVL Ready option includes
•A DVL WHN Type (from RDI, user’s manual provided on a CD-ROM)
•A dedicated mounting plate (see Figure 3)
•A dedicated PHINS to DVL cable (comprising two parts, see Figure 3)
The ROVINS DVL ready is delivered with the DVL axes already calibrated with respect to
the ROVINS ones. This feature avoids a long time consuming and dedicated sea
calibration procedure to measure heading and pitch misalignment of DVL with respect to
PHINS. This procedure is very similar to a patch test performed with a multibeam.
Calibration can also be performed by the owner. The ROVINS Calibration with RDI
Workhorse DVL is detailed in the document INS – Application Note – INS Calibration with
RDI Workhorse DVL (Ref.: MU-INSAPN-AN-001).
The characteristics and operation of the DVL is described in the RDI user’s documentation
provided with your ROVINS. A mechanical drawing of the ROVINS with DVL ready option
is provided in Figure 3. The interface plate used to couple ROVINS or ROVINS with the
DVL is sketched on Figure 2 and Figure 3.
ROVINS is fixed on this plate using six CHC M6 screws. Two centering pins, fixed by
press in the 5 H7 holes on the interface plate, are provided for ROVINS alignment (see
Figure 4).
We recommend to push PHINS against the pins in X2 direction (arbitrary choice) while
securing the screws to insure mounting repeatability.
The DVL is fixed on interface plate using four M8 screws. Two centering pins, inserted in 8
H7 holes, are provided for DVL alignment.

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