MDL Dynascan User manual

RT3005_Operators_Manual_v0711
D
Dy yn na as sc ca an n O Op pe er ra at to or r’ ’s s M Ma an nu ua al l
D
Dy yn na as sc ca an n
L
LA AN ND D V VE EH HI IC CL LE E A AN ND D M MA AR RI IN NE E V VE ES SS SE EL L L Li iD DA AR R
MEASUREMENT DEVICES US LLC
17555 GROESCHKE ROAD
HOUSTON
TEXAS
77084
USA
TELEPHONE: [phone]
FAX: [phone]

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CONTENTS PAGE
1Dynascan MANUAL 5
1.1 Manual Revision History: ..............................................................................5
2Introduction 6
2.1 Scope .............................................................................................................6
3Glossary of Terms 7
3.1 Acronym table ..............................................................................................7
4Product Specification 8
4.1 Dynascan General Specifications .............................................................8
5Laser Safety Information 10
5.1 SLM Laser Module with Red-Dot Pointer Option.....................................10
6System Components 11
6.1 Dynascan pod .............................................................................................11
6.2 Laptop computer ........................................................................................11
6.3 Interface Adapter (IA) ................................................................................12
6.4 Interconnecting cables ..............................................................................13
6.4.1 Optional cables ..............................................................................14
7Installation 15
7.1 Pod installation.............................................................................................15
7.2 Equipment Interconnection.......................................................................17
7.3 RTK / VRS corrections...................................................................................18
7.3.1 RTK radio inside pod.......................................................................18
7.3.2 RTK radio built into GNSS receiver................................................18
7.3.3 VRS corrections ...............................................................................18
7.4 Powering up .................................................................................................18
7.5 System initialisation ......................................................................................19
7.6 Pinging the laser ..........................................................................................21
8Quick Start Guide 24
8.1 Restoring Dynascan factory settings ........................................................25
8.1.1 QINSy restore...................................................................................25
9MDL Support 29

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9.1 Teamviewer ..................................................................................................29
9.2 Laptop Recovery.........................................................................................29
10 Laptop Settings 30
10.1 Laser IP Address settings .............................................................................30
10.2 RTK Radio programming.............................................................................31
10.2.1 Select Serial Port .............................................................................32
10.2.2 Set Capture Method ......................................................................33
11 INS Sensor Setup Parameters 36
11.1 Using setup software (RT3005G) ................................................................36
12 Pod Offsets 44
12.1 Offset table...................................................................................................44
13 QINSy Software 46
13.1 Calibrating Pitch, Roll and Heading .........................................................46
13.2 QINSy General Guide .................................................................................51
13.2.1 Manage Projects ............................................................................52
13.2.2 Database Setup..............................................................................53
13.2.3 Online Settings ................................................................................56
13.2.4 Replay function...............................................................................57
13.2.5 Dynascan Displays .........................................................................60
13.2.6 Computation Setup .......................................................................61
13.2.7 Session Setup –Sounding grid ......................................................62
13.2.8 Session Setup –DTM Storage ........................................................66
13.2.9 Session Setup - Control ..................................................................67
13.2.10 SLM Settings .....................................................................................68
13.2.11 Data Export settings........................................................................71
14 Maintenance and Care 74
14.1 General .........................................................................................................74
14.2 Preventative Maintenance........................................................................74
14.2.1 In Use ................................................................................................74
14.2.2 In storage .........................................................................................74
14.2.3 In transportation..............................................................................74
14.2.4 General ............................................................................................74
15 Cable connector information 75
15.1 RTK Cable (8303A) .......................................................................................75
15.2 VRS Cable (8304A) ......................................................................................75
15.3 Power Cable (8302A)..................................................................................75

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16 Frequently Asked Questions 76
17 Appendix 1 Odometer Option 77
17.1 Pulses per metre...........................................................................................77
17.1.1 Example - Pegasem Odometer ...................................................77
17.1.2 Example - Corrsys-Datron Odometer ..........................................78
18 Appendix 2 Camera Option 79
18.1 Nikon D90 ......................................................................................................79
18.2 MDL integrated pod cameras...................................................................81
19 Appendix 3 Multibeam Option 82
19.1 Teledyne ODOM ES3...................................................................................82
19.1.1 ES3 and Velocimeter transducer mounting ...............................83

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1Dynascan MANUAL
1.1 Manual Revision History:
DATE
INITIALS
ISSUE
Comments
20 Mar 2011
MB
1
Initial version
MB
2

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2Introduction
Dynascan is a portable and easy to use laser scanning system, with the laser scanning
module, GNSS receiver, motion sensor and RTK radio all combined in one small pod. The
offsets between these individual units are fixed and each system is factory calibrated for
pitch and roll.
If you are using a Dynascan system which uses GNSS heading you will have to calibrate the
heading if you move the system from one platform to another.
2.1 Scope
This document is intended to enable the user to install, set-up and use the Dynascan system
in as fast a time as possible and provides a detailed explanation of the system and how to
modify various system parameters.
If you are required to update QPS QINSy software you need to visit the QPS website and log
on using the
username: webqinsy
password: beta_220

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3Glossary of Terms
The following table explains some of the acronyms and expressions used in this manual.
3.1 Acronym table
Acronym
Description
Comments
CMR+
Type of Message used for RTK
corrections
Data protocol for GNSS
correction message
DONGLE
Security device for computers
FOG
Fibre Optic Gyro
GLONASS
Russian GNSS system
GNSS
Global Navigation Satellite System
Covers GPS, GLONASS and future
GALILEO
IA
Interface Adapter
Used on the Dynascan system
INS
Inertial Navigation System
IP
Internet Protocol
LED
Light Emitting Diode
MB
Multi Beam
Type of Echo Sounder
RMS
Root Mean Square
RTK
Real Time Kinematic
SBAS
Satellite Based Augmentation System
e.g. Fugro OmniSTAR HP
VDC
Volts Direct Current
Voltage used by Dynascan
VRS
Virtual Reference Station
GNSS corrections using mobile
phone technology

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4Product Specification
4.1 Dynascan General Specifications
Laser Scanner
Class 1 eye safe (FDA / IEC)
Maximum range 150 metres (500 metre version also available)
Accuracy ± 5cm (2”)
Range resolution 1cm (0.4”)
Scanner field of view 360
Scanner angle resolution 0.01
Scanner rate 10 Hz (600 rpm)
Measurement rate 36,000 points per second
Inertial Sensor
Velocity Accuracy 0.05km/h RMS
Acceleration
-bias 10mm/s2
-Linearity 0.01%
-Scale Factor 0.1%
-Range 100m/s2
Angular Rate
-Bias 0.010/s
-Scale Factor 0.1%
-Range 1000/s
Track (at 50km/h) 0.070RMS
Attitude Accuracy
Azimuth 0.05 RMS or better (dependant on GNSS antenna separation)
Roll 0.03 RMS
Pitch 0.03 RMS
Horizontal Position Accuracy (RMS)
SBAS 0.6 metre

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OMNISTAR® HP (SBAS) 0.1 metre
RT-2 1cm + 1ppm
Environmental
Operating temperature -20 to +60 C (14 F to 140 F)
Storage temperature -20 C to +70 C (14 F to 158 F)
Water and dust resistant to IP 67
Power and Dimensions (single head)
Power 10 to 36 Volts DC @ 25 Watts
Weight 12 kgs (26lbs)
Size L 595mm x W 240mm x H 255mm (L 23” x W 9.5” x H 10”)

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5Laser Safety Information
The SLM is supplied with the standard laser module described below which has an integrated
red-dot laser pointer.
5.1 SLM Laser Module with Red-Dot Pointer Option
The laser classification of the SLM is a Class 2 laser product in compliance with the IEC 60825-
1:2001/07 / EN 60825-1:2001/07.
Only qualified and trained persons should be assigned to operate the SLM with red-dot laser
pointer. When not in use the laser should be stored in a location where unauthorized
personnel cannot gain access.
We recommend that the instrument is not directly pointed at people’s eyes, especially if they
are using binoculars. Do not unnecessarily look into the transmitter lens of the SLM laser
module.
WARNING –Visible and invisible laser radiation. Do not stare into the beam.
CAUTION –Use of controls or adjustments or performance of procedures other
that those specified herein may result in hazardous radiation exposure.
WARNING –Opening the protective housing may result in exposure to Class
3B radiation.

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6System Components
The complete Dynascan system is made up of the following components, which are
explained below.
6.1 Dynascan pod
The Dynascan pod provides a weatherproof toughened plastic housing, which is attached to
a rigid metal base with fixing holes for mounting. The following items are fitted inside the pod:
An MDL Laser scanning module providing full 3600coverage
GNSS receiver capable of receiving RTK, VRS or SBAS correction signals
Motion sensor providing pitch, roll and heading information as well as an INS function
Radio module (and antenna) capable of receiving RTK corrections. The radio module is
either fitted separately from the GNSS receiver or inside the GNSS receiver, as an option.
An external GNSS antenna (secondary antenna) is fitted forward of the pod, which connects
to the pod and provides heading information. There is also a connector, which can be used
for either an odometer or multibeam echo sounder.
6.2 Laptop computer
A ruggedised laptop computer is supplied with each Dynascan and is loaded with QPS
QINSy and QLOUD software. The laptop has bright screen technology and a security dongle
is also supplied which enables secure use of the QPS software. A copy of the laptop hard
disc information, prior to shipment, is maintained at the MDL Houston factory. This information
can be made available to the customer if difficulties occur when the system is in use. Details
are given in Section 9.2 Laptop Recovery, below.
Pod to IA
cable
GNSS heading
antenna connector
Odometer or
ES3 connector

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6.3 Interface Adapter (IA)
The MDL Interface Adapter (IA) provides a stabilised D.C. voltage to the pod components as
well as acting as the interface for the system cables. The IA is fitted with an ON/OFF switch,
which powers the pod and is reverse polarity protected. When the IA is switched on a green
LED will illuminate to indicate that the pod is powered up. The input power requirement for
the IA is 10 –36 VDC and system power consumption is approximately 25 Watts, for the single
laser head version.

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6.4 Interconnecting cables
The following cables are supplied with every Dynascan system:
Dynascan Pod to IA cable CBL 8301A 10009
**IA power cable*** (terminated with cigarette lighter connector) CBL 8302A 10009
*IA RTK cable* (also used for programming the pod radio) CBL 8303A 10009
IA VRS cable (set for CMR+ input at 115200 baud rate –8 N 1) CBL 8304A 10009
IA to laptop Ethernet cable CBL 8305A 10009
The first part of the cable number is the type number and the second part is the serial
number. You should ensure the serial number of the set of cables in use is the same for all
cables and match the serial number of the pod.
*N.B. This cable must remain connected to the IA during survey work to allow RTK
corrections to be maintained (even though the other end remains unterminated).If the
GNSS receiver includes the option of a fitted RTK radio module this cable is not
required as the radio is programmed through the GNSS receiver software.
**N.B. The power cable cigarette lighter connector is fused and the IA is reverse polarity
protected
CBL 8301A 10009
CBL 8302A 10009

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6.4.1 Optional cables
Some systems are integrated with external equipment such as Odometers or echo sounders.
These systems have cables, which connect to the pod and are labelled accordingly.
CBL 8303A 10009
CBL 8304A 10009
CBL 8305A 10009

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7Installation
This section contains the information necessary to install, power up and initialise the system
ready to start surveying.
7.1 Pod installation
The Dynascan pod should be mounted securely using four bolts passing through the holes of
the pod mounting bracket. The pod must be mounted clear of any metal obstructions close
to and above the GNSS antennas, which may cause multipath effects.
N.B. It is important for the pod to be mounted on a flat surface and that no distortion of the
pod base takes place when the bolts are tightened. If distortion of the base plate occurs it
will affect the calibration of the pitch and roll values.
When the system is vehicle mounted a roof rack and ladder can be used to provide a
reasonably rigid, cost effective, platform on which to mount the Dynascan pod and
secondary GNSS antenna. This has the added advantage of not having to re-calibrate the
heading if the same fixing holes are used for the pod and GNSS antenna. It is recommended
that a flat metal base plate be fixed to the ladder, which will provide an even flat surface for
the Dynascan pod. The pod should be fixed so that the laser beam clears the back of the
vehicle, including any tow ball.
When using a second GNSS antenna, for heading, the pod and antenna should both be
mounted along the centreline of the vehicle with the antennas at the same height. The
distance between the antennas should be ideally 1.0 to 1.5 metres (do not exceed 2 metres).
Examples of vehicle and vessel mounting are shown below.

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It is important to line up the pod and secondary GNSS antenna along the centreline of the
vehicle (see photo below). Try to fabricate brackets / fixing holes for the pod and secondary
antenna so that the system can be re-installed in the same place. This will save time, as you
will not need to re-calibrate the heading.
The ideal distance between the antennas is 2.5 metres

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7.2 Equipment Interconnection
Equipment interconnection cables are supplied which enable connection between the pod,
GNSS secondary antenna, IA, Laptop and peripheral equipment such as an optional VRS
input. Care should be taken when running the cables, especially between the pod and IA, to
avoid damage from doors being slammed. When fitting equipment to vessels care should be
taken to avoid running cables close to transmitter feeder cables or hot surfaces. An
interconnection diagram is shown below.
N.B. 1. Ensure the IA power switch is turned off before connecting any of the cables.
2. There are two different cables, which fit the same RTK correction socket on the IA. One
is for RTK use, when using the pod radio receiver, and the other is for VRS use or
external mobile RTK radio. You must choose the correct one according to your choice
of GNSS correction input. You do not need to use the RTK cable if the GNSS receiver is
fitted with an internal RTK radio module.
3. The GNSS antennas must be oriented the same way with the cable exiting from each
antenna in the same direction.
Dynascan Pod
Interface Adapter
(IA)
Rugged Laptop
Computer
Power 10-36 VDC
(25 Watts)
RTK + Radio Program
VRS (CMR+ 38400 baud 8N1)
GNSS Antenna (heading)

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The system requires an input voltage between 10 –36 VDC rated at 25 Watts and the
Interface Adapter is reverse polarity protected. A cigarette lighter connection is supplied for
convenience but if the system is permanently fitted it is recommended to remove the
connector and terminate directly to a power supply or battery. The cigarette lighter
connector shows a red LED when power is available at the socket.
The laptop can run for approximately 4 hours on its internal battery. If this is insufficient an
inverter can be used, connected to the vehicle / vessel battery, or a suitable power supply
installed, to power the computer.
7.3 RTK / VRS corrections
RTK or VRS corrections can be sent to the pod GNSS receiver via the radio inside the pod or
via the VRS cable supplied with the Dynascan system.
7.3.1 RTK radio inside pod
If using RTK corrections you will need to set up the RTK base station and Dynascan pod radio
to be compatible with one another. You can program the Pod radio from the laptop
computer, as shown in section 10.2 RTK Radio programming. Remember to leave the RTK
cable connected to the IA when working even though it is not terminated at the other end.
7.3.2 RTK radio built into GNSS receiver
When using a GNSS receiver with combined RTK radio module you do not need to use the
RTK cable at all. The internal radio is programmed through the GNSS software and the RTK
cable is not required (see section Error! Reference source not found. Error! Reference source
not found.).
7.3.3 VRS corrections
If using VRS corrections you must set up the mobile VRS equipment to provide a CMR+
message at 38400 baud with 8 data bits NO parity and 1 stop bit. The 9 pin D type connector
on the end of the VRS cable, which is connected to the IA, should be connected to the
output of the VRS equipment. When using your own RTK mobile radio receiver, instead of the
internal pod radio, you should also use the VRS cable. Some Dynascan systems may offer the
choice of changing the parameters for this input by using the LEMO serial input on the GNSS
software (see section Error! Reference source not found. Error! Reference source not found.).
7.4 Powering up
Before applying power to the system ensure the pod is in a position to receive adequate
satellites, in a relatively clear sky area. When the cables are connected, and you are ready
to use the system, start the vehicle engine before switching on the power to the IA and
ensure the green LED illuminates. The reason for starting the engine first is that the starter
motor will cause the voltage to drop, which will have an adverse effect on the system.

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Next ensure the QINSy dongle is inserted in the laptop USB socket and power up the laptop
computer. Check the computer time is set to local time before starting the QINSy
application. After clicking on the ‘online’ icon you should display a screen similar to the one
below with the alerts shown in the bottom left of the screen.
Check the computer clock is set to local time.
7.5 System initialisation
In order to enable a useable output from the motion sensor it is necessary to start the vehicle
or vessel moving for approximately 1 minute. Ideally a figure of eight track should be driven
at slow speed (approximately 15-20 KPH) and you will see the appropriate alert display
change from red to green plus the status window will show the INS status when the system is
initialised (see screenshot below).
N.B. It is important to only move in a forward direction whilst initialising the system

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You should now only have one red alert in the Alert Display, which is the Laser alert (SLM).
Click on ‘settings’ and select echo sounder settings then click the control tab and switch on
the laser next to the scanning box.