Kongsberg Seatex Seapath 200 User manual

Seatex Seapath™200
Installation Manual
Issued: 2008-06-09

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Notice
•All rights reserved. Reproduction of any of this manual in any form whatsoever without
prior written permission from Kongsberg Seatex AS is forbidden.
•The contents of this manual is subject to change without notice.
•All efforts have been made to ensure the accuracy of the contents of this manual.
However, should any errors be detected, Kongsberg Seatex AS would greatly appreciate
being informed of them.
•The above notwithstanding, Kongsberg Seatex AS can assume no responsibility for any
errors in this manual or their consequences.
Copyright ©2008 by Kongsberg Seatex AS. All rights reserved.
Kongsberg Seatex AS
Pirsenteret, N-7462 Trondheim, Norway
Telephone: [phone]
Facsimile: [phone]
Duty phone: [phone]
E-mail:[email protected]
www.km.kongsberg.com/seatex

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V
Revision log
Document ID Rev. Date Reason for revision Approved
(sign)
38120-GM-002 0 1997-10-31 First version FOS
1 1998-05-04 Added to description of installing
coax connector on superflex cable,
new output data formats and some
corrections.
FOS
2 1998-12-14 Upgraded with new MRU mounting
bracket and to correspond with
Seapath version 1.02.03 and MRU
version 2.53.
FOS
3 1999-11-30 Updated to correspond with the
MRU 3.00 software version.
FOS
4 1999-12-30 Updated to include the new HW-
platform
FOS
5 2000-06-06 Updated to Seapath version 2.0
software
FOS
6 2000-11-22 Updated to correspond with latest
version of the Processing Unit with
analog output channels
FOS
7 2000-12-18 Corrected polarity for the RS-422
DB-9 connector, updated Installation
Worksheet with RS232/422
selection.
FOS
8 2003-02-12 Updated to correspond with Seapath
sw. version 2.02 and SCC version
2.1
FOS
9 2003-06-10 Updated with the possibility to
disable range rate corrections and
the change to LCD monitor
FOS
10 2004-03-30 Updated to correspond with Seapath
sw. version 2.03 and SCC version
2.1.3
FOS
11 2006-05-11 Updated to correspond with latest
PU hardware
FOS
12 2007-05-08 Updated 1PPS specification FOS
13 2008-06-09 Updated with recommendations on
antenna baseline length
FOS

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VII
Table of contents
1. INTRODUCTION............................................................................................................... 1
1.1 About this manual ........................................................................................................ 1
1.2 References.................................................................................................................... 2
1.3 Definitions, abbreviations and acronyms..................................................................... 2
1.3.1 Definitions........................................................................................................ 2
1.3.2 Abbreviations and acronyms............................................................................ 3
2. SPECIFICATIONS............................................................................................................. 5
2.1 Physical dimensions..................................................................................................... 5
2.2 Power ........................................................................................................................... 6
2.3 Environmental specification ........................................................................................ 6
2.4 Cable ............................................................................................................................ 7
3. INSTALLATION................................................................................................................. 9
3.1 General information ..................................................................................................... 9
3.2 Logistics ..................................................................................................................... 10
3.3 Location of the system parts ...................................................................................... 11
3.3.1 The GPS antennas .......................................................................................... 11
3.3.2 The MRU 5..................................................................................................... 12
3.3.3 The Processing Unit ....................................................................................... 13
3.3.4 The Video Display Unit ................................................................................. 13
3.4 Procedures.................................................................................................................. 13
3.4.1 Mechanical installation .................................................................................. 13
3.4.1.1 Installation procedure....................................................................... 14
3.4.2 Electrical
installation...................................................................................... 19
3.4.2.1 MRU to Processing Unit cable wiring ............................................. 20
3.4.2.2 External input and output serial lines............................................... 21
3.4.2.3 Ethernet connection.......................................................................... 23
3.4.2.4 1PPS signal connection.................................................................... 23
3.4.2.5 Analog output................................................................................... 24
3.4.2.6 Installation procedure....................................................................... 25
3.4.3 Setup of configuration parameters ................................................................. 27
3.4.3.1 Lever arm vector determinations ..................................................... 27
3.4.3.2 Input data.......................................................................................... 28
3.4.3.3 Serial data output ............................................................................. 29
3.4.3.4 Setup procedure................................................................................ 30
3.4.4 Calibration...................................................................................................... 30
3.4.4.1 Calibration of the GPS antenna installation..................................... 30
3.4.4.2 Typical calibration procedure .......................................................... 31
3.4.4.3 Calibration of MRU axis.................................................................. 35

VIII
4. INSTALLATION DRAWINGS....................................................................................... 37
5. APPENDIX A - INSTALLATION WORKSHEET....................................................... 45
6. APPENDIX B - OUTPUT PROTOCOLS FROM SEAPATH...................................... 51
6.1 NMEA format ............................................................................................................ 51
6.2 Binary format 3 .......................................................................................................... 53
6.3 Binary format, Simrad EM1000/950 compatible....................................................... 54
6.4 Binary format, Simrad EM3000, EM300 and HiPap compatible .............................. 55
6.5 Calibration format ...................................................................................................... 56
6.6 Echo sounder format 9 ............................................................................................... 56
6.7 RDI ADCP format...................................................................................................... 57
6.8 Binary format 11 ........................................................................................................ 57
6.9 Lehmkuhl gyro repeater format ................................................................................. 59
6.10 1PPS time tag, NMEA ZDA message........................................................................ 59
6.11 1PPS time tag, Trimble compatible ........................................................................... 59
6.12 Atlas Fansweep format............................................................................................... 60
6.13 Echo sounder format 18 ............................................................................................. 61
6.14 Submetrix format ....................................................................................................... 61
6.15 Cyclic redundancy check algorithm........................................................................... 63
7. APPENDIX C - INSTALLATION OF COAX CONNECTORS ON SUPERFLEX
CABLE.................................................................................................................................... 65
8. APPENDIX D - SEAPATH CONFIGURATION SOFTWARE, SCC......................... 71
8.1 Software installation .................................................................................................. 71
8.2 How to get started ...................................................................................................... 72
8.2.1 Starting the program....................................................................................... 72
8.2.2 Setting the serial port parameters................................................................... 74
8.2.3 Establishing connection ................................................................................. 74
8.3 General user interface ................................................................................................ 76
8.3.1 File menu........................................................................................................ 76
8.3.1.1 Demo ................................................................................................ 76
8.3.1.2 Exit ................................................................................................... 76
8.3.2 Wizards menu................................................................................................. 77
8.3.3 View
menu ..................................................................................................... 77
8.3.4 Help menu ...................................................................................................... 78
8.3.5 Tool buttons.................................................................................................... 78
8.3.6 Seapath Control Centre button ....................................................................... 79
8.3.7 Mouse operation............................................................................................. 80
8.4 Editing parameter values............................................................................................ 81
8.4.1 Vessel settings................................................................................................ 81
8.4.1.1 Vessel geometry............................................................................... 81

IX
8.4.1.2 Vessel description ............................................................................ 82
8.4.2 GPS sensor settings ........................................................................................ 83
8.4.2.1 GPS geometry .................................................................................. 83
8.4.2.2 GPS processing ................................................................................ 83
8.4.2.3 GPS reference stations ..................................................................... 85
8.4.2.4 SBAS common settings.................................................................... 85
8.4.2.5 GPS antenna configuration .............................................................. 86
8.4.2.6 GPS attitude processing ................................................................... 91
8.4.3 MRU sensor settings ...................................................................................... 92
8.4.3.1 MRU geometry................................................................................. 92
8.4.3.2 MRU heave configuration................................................................ 97
8.4.4 Measurement points ....................................................................................... 98
8.4.4.1 Measurement points geometry ......................................................... 98
8.4.5 Data
interface ................................................................................................. 99
8.4.5.1 Host
common ................................................................................... 99
8.4.5.2 Network common........................................................................... 100
8.4.5.3 Input ............................................................................................... 101
8.4.5.4 Output............................................................................................. 103
8.4.6 Parameter management ................................................................................ 108
8.4.6.1 Download ....................................................................................... 108
8.4.6.2 Upload............................................................................................ 109
8.4.6.3 Save on file..................................................................................... 109
8.4.6.4 Load from file ................................................................................ 110
8.4.6.5 Undo............................................................................................... 110
8.4.6.6 Generate report............................................................................... 111
Index...................................................................................................................................... 113
Reader's comments .............................................................................................................. 115

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XI
List of illustrations
Figure 1 Dimensional drawing for the antenna holder........................................................... 14
Figure 2 Top view of the Antenna Bracket............................................................................ 14
Figure 3 The different components for mounting of the Antenna Bracket............................ 15
Figure 4 Side view of the GPS antenna installation
............................................................... 15
Figure 5 Recommended orientation of the MRU mounting bracket...................................... 16
Figure 6 Wall mounting of bracket with MRU connector pointing down............................. 16
Figure 7 Sticker (4) shall indicate actual mounting orientation of MRU within bracket ...... 17
Figure 8 Junction box mounting............................................................................................. 18
Figure 9 Connection box mounting........................................................................................ 18
Figure 10 Rear panel of the Processing Unit ......................................................................... 19
Figure 11 The offset vectors between the different components ........................................... 28
Figure 12 GPS Antenna Configuration .................................................................................. 32
Figure 13 Page 1 of GPS Antenna Calibration ...................................................................... 32
Figure 14 Page 2 of GPS Antenna Calibration ...................................................................... 33
Figure 15 Page 3 of GPS Antenna Configuration .................................................................. 34
Figure 16 Page 4 of GPS Antenna Configuration .................................................................. 35
Figure 17 Value of roll-error as function of vessel pitch angle as parameter and 1°and 2°
yaw misalignments ................................................................................................ 36
Figure 18 Installation Complete............................................................................................. 71
Figure 19 SCC Start Window................................................................................................. 72
Figure 20 Initial Offline Dialog ............................................................................................. 73
Figure 21 Seapath Control Centre, Main Window................................................................. 73
Figure 22 Communication Setup............................................................................................ 74
Figure 23 Connect Status ....................................................................................................... 75
Figure 24 Connected to Seapath ............................................................................................ 75
Figure 25 Setup icons
............................................................................................................. 77
Figure 26 About SCC
............................................................................................................. 78
Figure 27 Tool Buttons .......................................................................................................... 78
Figure 28 Keep Folder List Open........................................................................................... 79
Figure 29 Close Folder List.................................................................................................... 79
Figure 30 Vessel 3D-View, Ghost mode ............................................................................... 79
Figure 31 Vessel Drop Down Menu ...................................................................................... 80
Figure 32 Vessel Geometry.................................................................................................... 82
Figure 33 Vessel Description ................................................................................................. 82
Figure 34 GPS Geometry ....................................................................................................... 83
Figure 35 GPS Processing Settings........................................................................................ 84
Figure 36 GPS Reference Stations......................................................................................... 85
Figure 37 SBAS Common Settings for WAAS satellites ...................................................... 86
Figure 38 GPS Antenna Configuration .................................................................................. 87
Figure 39 Page 1 of GPS Antenna Calibration ...................................................................... 87
Figure 40 Page 2 of GPS Antenna Calibration ...................................................................... 88
Figure 41 Stop Antenna Calibration ...................................................................................... 89

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Figure 42 Page 3 of GPS Antenna Configuration .................................................................. 89
Figure 43 Edit Calibration Data ............................................................................................. 90
Figure 44 Page 4 of GPS Antenna Configuration .................................................................. 91
Figure 45 GPS Attitude Processing........................................................................................ 91
Figure 46 MRU Geometry ..................................................................................................... 92
Figure 47 Step 1 of MRU Axis Orientation ........................................................................... 93
Figure 48 Step 2 of Manual MRU Axis Orientation.............................................................. 93
Figure 49 Step 3 of Manual MRU Axis Orientation.............................................................. 94
Figure 50 Positive offset angles rotations .............................................................................. 95
Figure 51 Step 2 of Auto MRU Axis Orientation .................................................................. 95
Figure 52 Step 3 of Auto MRU Axis Orientation .................................................................. 96
Figure 53 MRU Heave Filter ................................................................................................. 98
Figure 54 Measurement Points Geometry.............................................................................. 99
Figure 55 Common Host Settings ........................................................................................ 100
Figure 56 Common Network Settings.................................................................................. 101
Figure 57 Data Interface - Input Configuration ................................................................... 101
Figure 58 Serial Port Setting ................................................................................................ 102
Figure 59 Format Setting...................................................................................................... 102
Figure 60 RTCM Format Decoding..................................................................................... 103
Figure 61 Formats available for device type Gyro............................................................... 103
Figure 62 Data Interface - Output Configuration................................................................. 104
Figure 63 Network Settings ................................................................................................. 104
Figure 64 Analog Settings.................................................................................................... 105
Figure 65 Measurement Point .............................................................................................. 105
Figure 66 Message Interval Settings .................................................................................... 105
Figure 67 Selection of NMEA output standard.................................................................... 106
Figure 68 Format Settings.................................................................................................... 106
Figure 69 Analog Format Settings ....................................................................................... 107
Figure 70 Datawell Hippy compatible analog output signals .............................................. 107
Figure 71 Input of test voltage for the selected analog channel........................................... 108
Figure 72 Download Parameters.......................................................................................... 108
Figure 73 Upload Parameters............................................................................................... 109
Figure 74 Save on file .......................................................................................................... 109
Figure 75 Load from file ...................................................................................................... 110
Figure 76 Undo
..................................................................................................................... 110
Figure 77 Generate configuration report.............................................................................. 111
Figure 78 Configuration report ............................................................................................ 111

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List of drawings
Drawing no. Title Revision No. of sheets
31438-ma-010 HW platform, Enclosure dimensions 4 1
38120-md-007 Seapath 200, Antenna Holder 4 1
hs-003-a MRU housing, External dimension 4 1
hs-016-b MRU-M-MB3 bracket, Hydrographic version 1 1
hs-014-a MRU junction box MRU-E-JB1, Layout and
ext. dimensions
1 1
M410-32 Processing Unit Connection Box 0 1
M320-42 Cable, Processing Unit Aux-Serial,
Analog Output
0 1

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Seatex Seapath 200 Installation Manual, rev. 13 Introduction
1
1. INTRODUCTION
1.1 About this manual
This manual contains the information necessary to install the Seapath 200 on a ship. For all
other product information, please consult the User's Manual, reference [3].
The Seapath 200 is a precise heading, attitude and position sensor based on a sophisticated
combination of DGPS carrier phase measurements and inertial sensor technology. To achieve
the specified accuracy of the product, the installation has to be properly done and the
installation procedures in this manual have to be followed.
This manual is organised into the following chapters:
Chapter 1 Introduction - A brief presentation of the Installation Manual with references
and abbreviations.
Chapter 2 Specifications - Describes the physical dimensions, required power,
environmental and cable specifications.
Chapter 3 Installation - Presents procedures to be followed for a typical ship installation
with recommendations on location of the different parts, mechanical and electrical
installation, and how to set up and calibrate the product.
Chapter 4 Installation Drawings - Contains outline drawings showing the mechanical
dimensions of the different parts of the Seapath 200.
In this manual the following notations are used:
Is used to make the user aware of procedures and operational practice which, if not
followed, may result in degraded performance or damage to the equipment.
Note A note text has this format and is used to draw the user's attention to special
features or behaviour of the equipment.
CAUTION

Seatex Seapath 200 Installation Manual, rev. 13 Introduction
2
1.2 References
[1] NMEA 0183 Standard for interfacing marine electronic devices, Version 2.3
[2] RTCM recommended standards for differential Navstar GPS service, Version 2.2
[3] 38120-GM-001, User's Manual, Seapath 200, rev. 14
1.3 Definitions, abbreviations and acronyms
1.3.1 Definitions
alignment Is the process of adjusting the current internal navigation
frame (g, h or b-frame) in the instrument to the true external
frame.
antenna bracket Is the arrangement for mounting the GPS antennas.
antenna holder Is the arrangement on board the vessel for mounting the
antenna bracket to.
attitude The orientation relative to the vertical axis of a vehicle.
Heading is not included. If heading is included the word
orientation for the vehicle is used.
heading The direction of the main axis (bow direction) of the vehicle
as opposed to course, which is the direction of motion of the
vehicle. Yaw angle as defined here is the same as heading.
heave The vertical dynamic motion of a vehicle and defined positive
down. Heave position and velocity are dynamic motion
variables with a certain lower cutoff frequency.
host system In this manual defined as Navigation computers, Dynamic
Positioning Systems, etc., receiving data from Seapath.
pitch A rotation about the pitch axis is positive when the bow
moves up. Normally pitch means the dynamic pitch angle
motion.
roll A rotation about the roll axis is positive when starboard side
of the vehicle moves down. Normally roll means the dynamic
roll angle motion.
starboard When looking in the bow direction of a vehicle this is the
right hand side of the vehicle.
yaw A rotation about the vertical axis is positive when turning
Eastward (Clockwise) when the vehicle cruises in North
direction. Normally yaw means the dynamic yaw motion.

Seatex Seapath 200 Installation Manual, rev. 13 Introduction
3
1.3.2 Abbreviations and acronyms
b-frame Body frame. An orthogonal frame fixed to the MRU housing or to the
vehicle where the MRU is fixed.
CEP Circular Error Probability.
CG Centre of gravity. The mass centre of a vessel. This is normally the location
with least linear acceleration, and hence the best location for measurements
of roll and pitch.
EMI Electromagnetic interference.
g-frame Geographic frame. An orthogonal frame having axes pointing North, East,
and Down at the current location of the vehicle.
GPS Time The time in the GPS system. The GPS time is within UTC time ±180 nsec
(95 per cent) plus leap seconds.
IMU Inertial Measurement Unit. A system consisting of gyros and
accelerometers.
LGND Logic Ground.
MP Measurement Point.
MRU 5 Motion Reference Unit, model 5. This is the IMU within the Seapath
measuring dynamic linear motion and attitude.
NMEA National Marine Electronics Association. NMEA 0183 is a standard for
interchange of information between navigation equipment.
P-axis This axis is fixed in the vehicle, and points in the starboard direction
horizontally when the roll angle is zero. Positive rotation about this axis is
bow of the vehicle up.
PGND Power Ground.
PPM Parts per million.
1PPS One Pulse Per Second.
RFI Radio Frequency Interference.
RMS Root Mean Square.
R-axis This axis is fixed in the vehicle, and points in the forward direction
horizontally when the pitch angle is zero. Positive rotation about this axis is
starboard side of the vehicle down.
SBAS Satellite Based Augmentation System
SCC Seapath Control Centre is special software used to set configuration
parameters in Seapath. The software runs under Microsoft Windows version
95, 98, NT 4.0 or compatible on a PC.
UTC Universal Time Co-ordinated. This is the official time in the world and has
replaced GMT (Greenwich Mean Time) as the official time.
Y-axis This axis is fixed in the vehicle and points in the downward direction when
the vehicle is aligned horizontally. Positive rotation about this axis is
turning the bow of the vehicle to starboard.

Seatex Seapath 200 Installation Manual, rev. 13 Introduction
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Seatex Seapath 200 Installation Manual, rev. 13 Specifications
5
2. SPECIFICATIONS
2.1 Physical dimensions
Processing Unit
Width:...................................................................................................... 482 mm (19-inch rack)
Height:....................................................................................................................132 mm (3 U)
Depth: .............................................................................................................................. 430 mm
Weight: ................................................................................................................................ 12 kg
Colour:.........................................................................................................Front anodised black
Connection Box, M410-32
Length: ............................................................................................................................ 114 mm
Width:................................................................................................................................ 89 mm
Height:............................................................................................................................... 55 mm
Weight: ............................................................................................................................... 0.3 kg
Colour:.................................................................................................................................. Grey
Video Display Unit, 17" LCD (Samsung SyncMaster 710n)
Width:.............................................................................................................................. 380 mm
Height:............................................................................................................................. 383 mm
Depth: .............................................................................................................................. 170 mm
Weight: ............................................................................................................................... 3.8 kg
Colour:...................................................................................................................... Black/Silver
MRU 5
Height:............................................................................................................................. 204 mm
Diameter:......................................................................................................................... 105 mm
Weight: ............................................................................................................................... 2.5 kg
Colour:...................................................................................................................................Blue
MRU Mounting Bracket, MRU-M-MB3
Length: ............................................................................................................................ 265 mm
Width:.............................................................................................................................. 119 mm
Height:............................................................................................................................. 119 mm
Weight: ............................................................................................................................... 1.6 kg
Colour:................................................................................................................................. Black
Material: .......................................................................................................................... POM-H
MRU Junction Box, MRU-E-JB1
Length: ............................................................................................................................ 226 mm
Width:.............................................................................................................................. 126 mm
Height:............................................................................................................................... 90 mm
Weight: ............................................................................................................................... 2.0 kg
Colour:................................................................................................................................. Black

Seatex Seapath 200 Installation Manual, rev. 13 Specifications
6
Antenna Bracket
Length............................................................................................................................ 2560 mm
Height:............................................................................................................................... 40 mm
Width:................................................................................................................................ 75 mm
Weight for the 2.5-metre aluminium version ..................................................................... 6.6 kg
Colour:................................................................................................................ Grey RAL 7035
2.2 Power
Processing Unit
Voltage: .......................................................................................85 to 135 and 180 to 265V AC
Power consumption:............................................................................................... 100 W (max.)
Batteries: ...................................................................... None, connection to UPS recommended
Video Display Unit, 17" LCD (Samsung SyncMaster 710n)
Voltage: ........................................................................................... 100 to 240V AC (50/60 Hz)
Power consumption:.............................................................................................. 23 W (typical)
2.3 Environmental specification
Processing Unit
Enclosure material:..................................................................................................... Aluminium
Enclosure protection: .......................................................................................................... IP-30
Operating temperature range:...................................................................................... 0 to +55ºC
Operating humidity: ........................................................................................20 to 80% relative
Storage temperature range: ......................................................................................-20 to +60ºC
Storage humidity: ..................................................................................................Less than 55%
Vibration testing according to:..................................................................................... EN 60945
Connection Box, M410-32
Material: .....................................................................................................................Aluminium
Enclosure protection: .......................................................................................................... IP-20
Video Display Unit, 17" LCD (Samsung SyncMaster 710n)
Operating temperature range:...................................................................................... 5 to +40ºC
Relative humidity:........................................................................................................20 to 80%
MRU 5
Enclosure material:......................................................................................Anodised aluminium
Enclosure protection: .......................................................................................................... IP-66
Operating temperature range:.....................................................................................-5 to +55ºC
Operating humidity (max.):................................................................................................. 100%
Storage temperature range: ......................................................................................-20 to +70ºC
Storage humidity (max.):..................................................................................................... 100%
Max. allowed vibration operational (10-2000 Hz continuous):...................................... 0.5 m/s2