SBG Systems Apogee Subsea Series User manual

Apogee Subsea series
Ultimate accuracy MEMS Inertial Sensors
Hardware Manual
intro
Document APOGEESUBSEAHM 1 1
Revision 1 1 - Apr 10, 2018
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
Revision history
Rev Date Author Information
1 1 Apr 10, 2018 Raphaël Siryani [APGSUBHM-10] Add cover coordinate frame location specifications for IMU center of
measurement
[APGSUBHM-9] Refined IMU sensor specifications
[APGSUBHM-8] Added Qinertia Port Processing Software section
[APGSUBHM-7] Updated company address
[APGSUBHM-5] Fixed main connector pin out, pin 18 and 22 were reversed
1 Jun 9, 2016 Alexis Guinamard First version of this document
© 2007 – 2018, SBG Systems SAS All rights reserved Information in this document is subject to change
without notice Copy or redistribution of this document is forbidden without express authorization of
SBG Systems
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
Index
Terminology 5
1 Introduction 6
1 1 Apogee INS Overview 6
2 Performance specification 7
2 1 Inertial measurement unit 7
2 1 1 Accelerometers 7
2 1 2 Gyroscopes 7
2 2 Orientation and Navigation Performance 8
2 2 1 Common specifications 8
2 2 2 Orientation and Navigation 8
2 2 3 Heave performance 9
2 2 4 Real time Performance monitoring 9
3 Mechanical specifications 10
3 1 Overview 10
3 1 1 Main Specifications 10
3 1 2 Device mechanical alignment 10
3 1 3 Origin of measurements 11
3 1 4 Device label 11
3 2 Apogee Subsea mechanical outline 12
3 2 1 Front view 12
3 2 2 Top view 13
3 2 3 Bottom view 14
4 Electrical specifications 15
4 1 Main connector 15
4 1 1 Main connector pin out 15
4 2 Electrical specifications 17
4 3 Typical wiring 18
4 3 1 RS-232 basic communications 18
4 3 2 RS-422 basic communication 19
4 3 3 GNSS connection in RS-232 mode 19
4 3 4 Triggering external devices with the sync Out 19
4 4 Typical connection topologies 20
4 4 1 Apogee-U in marine application 20
5 Interfaces specifications 21
5 1 Interfaces Overview 21
5 2 Ethernet specifications 21
5 2 1 Accessing the Apogee web page 21
5 3 Serial interfaces 22
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
5 3 1 Physical serial interfaces 22
5 3 1 1 Main port A 22
5 3 1 2 Aiding ports B, C, D and E 23
5 3 2 Virtual serial interfaces 23
5 4 Supported protocols 23
5 5 Connections Mapping 24
5 5 1 Apogee-M version 24
5 5 2 Apogee-U version 24
5 6 Internal Datalogger 24
6 Important notices 25
6 1 Maintenance 25
6 1 1 Cleaning 25
6 2 Absolute maximum ratings 25
6 3 Support 26
6 4 Warranty, liability and return procedure 26
7 Appendix A: Ordering codes and Accessories 27
71 Apogee Subsea ordering codes 27
7 2 Transport Cases 27
72 1 CASE-EKI-03 27
7 3 SplitBox for easy connection 28
7 3 1 SPLITBOX-SUB 28
7 3 2 SPLITBOX-SUB-S 28
7 3 3 SPLITBOX-SUB-T 28
74 Associated Software 29
74 1 SW-AEK-SDK (Software Development Kit) 29
74 2 SW-QINERTIA-PRO (GNSS/INS Post Processing Software) 29
7 5 Cables 30
75 1 CA-AEK-SUB-DPT500-10M 30
7 5 1 1 Cable Construction 30
7 5 1 2 Electrical characteristics 30
7 5 1 3 Mechanical characteristics 31
7 5 1 4 Cable wiring 31
75 2 CA-AEK-SUB-DPT500-20M 32
75 3 CA-AEK-SUB-DPT6000-5M 32
7 5 3 1 Cable Construction 32
7 5 3 2 Electrical characteristics 33
7 5 3 3 Mechanical characteristics 33
7 5 3 4 Cable wiring 34
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
Terminology
ADC: Analog to Digital Converter
AHRS: Attitude and Heading Reference System
DHCP: Dynamic Host Configuration Protocol
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EEPROM: Electrically-Erasable Programmable Read-Only Memory
FIR: Finite Impulse Response (filter)
FTP: File Transfer Protocol
FS: Full Scale
FOG: Fiber Optic Gyroscope
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
IIR: Infinite Impulse Response (filter)
IMU: Inertial Measurement Unit
INS: Inertial Navigation System
IP: Internet Protocol
LBL: Long Baseline
MAC (address): Media Access Control
MEMS: Micro Electro-Mechanical Systems
NED: North East Down (coordinate frame)
NA: Not applicable
NMEA (NMEA 0183): National Marine Electronics Association (standardized communication protocol)
PPS: Pulse Per Second (signal)
RAM: Random Access Memory
RMA: Return Merchandize Authorization
RMS: Root Mean Square
RTCM: Radio Technical Commission for Maritime Services (Protocol)
RTK: Real Time Kinematics
SI: International System of Units
TBD: To Be Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
USBL: Ultra Short Base Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
1 Introduction
Apogee Subsea series are state of the art, MEMS based Motion
Reference Unit (Apogee-M) and Inertial Navigation System
(Apoge-U) which achieves tactical grade accuracy in a compact
subsea enclosure It includes an Inertial Measurement Unit (IMU)
and runs an on-board enhanced Extended Kalman Filter (EKF) In
addition, to vessel orientation, the Apogee subsea will provide
accurate ship motion data (heave, surge and sway) at high rate
Created to achieve the best accuracy for every application, Apogee
Subsea also integrates data from various aiding equipments such
as GNSS, DVL, etc
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements An embedded web interface enables easy configuration and a wide connectivity
as well as standard protocols output provide direct integration into existing applications
1 1 Apogee INS Overview
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Figure 1 1: The Apogee Subsea
Figure 1 2: Apogee simplified block diagram
IMU DATA FUSION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
EKF and output
@ 200 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data loggerGNSS
A B C D
Aiding Equipments
» Navigation: 2x RTK GPS/GNSS
» Heading: Dual Antenna GPS/GNSS
» Velocity: Odometer, DVL

Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
2 Performance specification
2 1 Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the Apogee IMU has been carefully
designed to take full advantage and performance of MEMS technology
2 1 1 Accelerometers
The Apogee IMU embeds a set of 3 MEMS capacitive accelerometers Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide consistent performance, even in
vibrating environment
A1 A3 Remarks
Full scale ( g )± 2 ± 10
Scale factor stability (ppm) < 300 < 300 1 year composite stability
Non-Linearity (ppm of FS) < 200 < 100 Residual over temperature range
One year bias stability (m g )< 1 < 2 Total composite bias
Velocity Random Walk (µ g /√hz) < 15 < 85 Allan variance – @ 25°C
In run bias instability (µ g )< 2 < 15 Allan variance – @ 25°C
Vibration Rectification Error (µ g / g ²) < 800 < 125 20 Hz – 2 kHz
Bandwidth (Hz) > 200 > 200 Attenuation of 3 dB
Orthogonality (°) < 0 02 < 0 02 Over temperature range
2 1 2 Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 1 000 KHz An efficient FIR filter and
coning integrals computations ensures best performance in vibrating environments
G3 Remarks
Full scale (°/s) ± 200
Scale factor stability (ppm) < 300 1 year composite stability
Non-Linearity (ppm of FS) < 100 Residual over temperature range
One year bias stability (°/hr) 50 Total composite bias
In run bias instability (°/hr) < 0 08 Allan variance – @ 25°C
Angular Random Walk (°/√hr) < 0 012 Allan variance – @ 25°C
Bandwidth (Hz) > 100 Attenuation of 3 dB
Orthogonality (°) < 0 02 Over temperature range
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
2 2 Orientation and Navigation Performance
All specifications are rated to 1-Sigma, over -20°C to +60°C unless otherwise stated
These specifications have been obtained by field tests, using typical mission scenarios and comparison to
reference units using post-processing Outage performance validated by simulation of repeated, pure GNSS
outages, separated by at least 200s of optimal GNSS condition, compared with reference trajectory
Performance parameters may be affected in multi-path and poor GNSS reception environments such as
Urban canyons
The following positioning modes are considered:
●SP: Single Point mode and is the default L1/L2 GNSS fix quality
●RTK: Real Time Kinematics with a typical 1 cm accuracy position
●PP: Post Processed data using Inertial Explorer with at least Precise Point Positioning data
2 2 1 Common specifications
Performance Remarks
Measurement range 360° in all axes, no mounting limitation Solid state sensors
Orientation noise < 0 005° RMS Static conditions
2 2 2 Orientation and Navigation
All specifications are specified in 1sigmavalid with dual antenna aiding for typical marine survey trajectories
Outage
Duration Positioning Mode Position Accuracy (m) Velocity Accuracy (m/s) Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
0 s
SP 1 0 1 0 0 02 0 01 0 01 0 04 (baseline > 2m)
0 025 (baseline > 4m)
RTK 0 01 0 03 0 01 0 01 0 008
PPK 0 01 0 02 0 01 0 01 0 005 0 02
10 s
SP 1 2 1 1 0 03 0 015 0 01 0 04 (baseline > 2m)
0 025 (baseline > 4m)
RTK 0 17 0 1 0 02 0 015 0 008
PPK 0 03 0 02 0 015 0 01 0 005 0 02
60 s
SP 5 0 2 0 0 15 0 075 0 015 0 04 (baseline > 2m)
0 025 (baseline > 4m)
RTK 4 0 0 75 0 15 0 075 0 012
PPK 0 15 0 05 0 04 0 03 0 008 0 025
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
2 2 3 Heave performance
Real Time Heave Delayed Heave (ShipMotionHP) Remark
Range 50 meters 50 meters Automatic adjustment to every sea
conditions
Period 0 to 20 s 0 to 40 s
Accuracy 5 cm or 5% 2 cm or 2 % Whichever is greater; Velocity aided heave
Mode Real time, auto tuning Fixed 450s delay On board computation
2 2 4 Real time Performance monitoring
The Extended Kalman filter provides feedback about its performance The following validity levels
thresholds are defined for the Apogee series:
Threshold Comments
Attitude Valid 0 3° / 0 025° AHRS / Normal INS mode
Heading Valid 0 5° / 0 08° AHRS / Normal INS mode
Velocity Valid 0 2m/s Total velocity error (3D)
Position Valid 1m Total position error (3D)
Note: The thresholds are less accurate in AHRS mode, when there is no GNSS aiding available Full
performance can be reached with GNSS aiding
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
3 Mechanical specifications
3 1 Overview
The Apogee Subsea enclosure is composed of titanium parts, one for the cover and one for the base plate
The device uses high quality alloys and connectors to offer a depth rating of 200 m, and good resistance to
seawater environment
3 1 1 Main Specifications
The table below summarizes all mechanical and environmental specifications
Specifications
Depth Rating 200m
Weight in air 2 1 Kg
Weight in water 0 95 Kg
Diameter 9 2 cm
Height 17 0 cm
Shocks 500 g for 0 3 ms
Operating Vibrations 1g RMS – 20Hz to 2 kHz as per MIL-STD-810G
Specified Temperature range -20 to 60°C (-4 to 140°F)
Operating Temperature range -40 to 71°C (-40 to 185°F)
MTBF (computed) 50 000 hours
Calibration interval None required, maintenance free
3 1 2 Device mechanical alignment
For best measurement accuracy, a good mechanical alignment is required During manufacturing, the
Apogee measurement frame has been carefully aligned to 0 02° with the base plate for roll, pitch and yaw
angles
To ease the yaw alignment (X axis), the base plate features two alignment holes Ø 4 mm H8 that
guarantees with two taper pins Ø 4 mm h7 a yaw alignment better than ±0 04°
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
3 1 3 Origin of measurements
The Apogee offers the possibility to output data at different measurement points
The default center of measurement is located on top of Apogee enclosure It is represented on the
mechanical outlines by the symbol This point is defined to simplify installation
Alternatively, user can select between two other center of measurement points:
●Alignment hole (aligned to the bottom of the base plate)
●Bare IMU center of measurement, represented by the symbol
3 1 4 Device label
SBG Systems manufacturing process is based on EN-9100 system with individual and full traceability of
every component and operation Each Apogee is identified by a unique serial number that can be used to
trace all operations during the product lifetime such as manufacturing, calibration, tests and repairs
In addition to a unique serial number, a product code is used to define exactly the device type and options
Finally, the Apogee features an Ethernet interface and a unique MAC address is required to identify the
device on a network
You can find on the back side of the Apogee a laser printed label that hold all these identification
information This label also includes a data-matrix code that encodes the device unique serial number
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Figure 3 1: Apogee subsea device label sample
APOGEE Subsea Motion Reference Unit
Made in France
Product code
Serial Number
MAC Address
APOGEE-M-G2A3-EL
050000100
98:5C:93:00:00:00
:
:
:

Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
3 2 Apogee Subsea mechanical outline
All dimensions are in mm
3 2 1 Front view
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170
92
188,85
5
169,20
95,50

Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
3 2 2 Top view
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75 ±0,10
75 ±0,10 94 ±0,30
94 ±0,30
116
4 HOLES 5,50
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3 2 3 Bottom view
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4 H8 2,5
4 H8 2,5
36 ±0,025
6
72
39,50
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
4 Electrical specifications
4 1 Main connector
The main Apogee Subsea connector, located on the top of the enclosure, is an underwater electrical dry-
mate SEACON 37 ways MINI-CON connector The exact reference is MINM37#22-FCR-Ti
It is manufactured from Titanium Ti6Al4V and withstands up to 20000 PSI, thus exceeding the pressure
rating of the enclosure
The following diagram shows the pin-out definition for the Apogee Subsea connector
4 1 1 Main connector pin out
Pin # Name Remarks
1 Port A - RS-422 - Tx+ Port A serial output RS-422
2 Port A - RS-232/RS-422 - Tx- Port A serial output RS-232/RS-422
3 Port B - RS-232/RS-422 - Rx+ Port B serial input RS-232/RS-422
4 Port B - RS-422 - Rx- Port B serial input RS-422
5 Ethernet Rx+ White/Orange RJ45 pin# 3
6 Ethernet Rx- Orange RJ45 pin# 6
7 NC Not connected
8 Port C - RS-422 - Tx+ Port C serial output RS-422
9 Port C - RS-232/RS-422 - Tx- Port C serial output RS-232/RS-422
10 Ethernet Tx+ White/Green RJ45 pin#1
11 Ethernet Tx- Green RJ45 pin#2
12 Port A - RS-232/RS-422 - Rx+ Port A serial input RS-232/RS-422
13 Port A - RS-422 - Rx- Port A serial input RS-422
14 Port C - RS-232/RS-422 - Rx+ Port C serial input RS-232/RS-422
15 Port C - RS-422 - Rx- Port C serial input RS-422
16 VDD_PWR Positive power supply
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Figure 4 1: MINM37#22-FCR pin numbering
12 3
5
4
6 7 8 9
10 11 12 13 14 15
16 17 18 19 20 21 22
23 24 25 26 27 28
29 30 31 32 33
34 35 36 37

Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
Pin # Name Remarks
17 Sync In D Synchronization input signal D
18 GND Data Ground return
19 NC Not connected
20 Port B - RS-422 - Tx+ Port B serial output RS-422
21 Port B - RS-232/RS-422 - Tx- Port B serial output RS-232/RS-422
22 GND_PWR Power Supply Ground return
23 Sync In B Synchronization input signal B
24 GND Data Ground return
25 Port D - RS-232/RS-422 - Rx+ Port D serial input RS-232/RS-422
26 Port D - RS-422 - Rx- Port D serial input RS-422
27 Sync Out B Synchronization output signal B
28 GND Data Ground return
29 Sync In A Synchronization input signal A
30 GND Data Ground return
31 NC Not connected
32 Port E - RS-232/RS-422 - Rx+ Port E serial input RS-232/RS-422
33 Port E - RS-422 - Rx- Port E serial input RS-422
34 Sync In E Synchronization input signal E
35 GND Data Ground return
36 Sync Out A Synchronization output signal A
37 GND Data Ground return
Note: Unlike the Apogee surface version the subsea one doesn't provide Sync In C signal However,
please keep in mind that the synchronization input signals are not hard linked to a serial port
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4 2 Electrical specifications
Electrical specifications from -40°C to 71°C
Parameter Conditions Min Typ Max Units
Power supply
Operating voltage 9 12 36 VDC
Power consumption 3 W
Allowable Input Voltage Ripple 400 mV p-p
Under voltage lock out Turn on threshold 8,5 V
Turn off threshold 7,5 V
Galvanic Isolation 200 VDC
Sync Out A, Sync Out B
Output Type Open-Drain -
High-level Input Voltage 25 V
Low-level Output Voltage 0,25 0,4 V
Low-level Output Current 40 mA
Sync In A, B, D, E
Input Voltage Range -25 +25 V
Input Threshold Threshold Low 0,8 1,5 V
Threshold High 1,8 2,7 V
Input Hysteresis 300 mV
Input Resistance 3 5 7 kΩ
Maximum Sync Pulse Rate 1 kHz
Port A, B, C, D, E – RS-422 – Receiver
Receiver Data Rate 4800 921600 bps
Input Resistance -7V < Common Mode Voltage < +12V 96 kΩ
Input Current Common Mode Voltage = -7V -0,075 mA
Common Mode Voltage = +12V 0,125 mA
Input Differential Threshold -7V < Common Mode Voltage < +12V -200 -50 mV
Input Hysteresis 30 mV
PORT A, B, C – RS-422 – Transmitter
Transmitter Data Rate 4800 921600 bps
Transmitter Rise & Fall Time Data rate <= 230400 200 400 800 ns
Data rate > 230400 10 25 ns
Differential Output Voltage 2 V
Change in Magnitude of Output Voltage
for Complementary Output States
0,2 V
Common-Mode Output Voltage 3 V
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Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
Parameter Conditions Min Typ Max Units
Output Short-circuit Current -7V < TX+ or TX- < +12V ±250 mA
Port A, B, C, D, E – RS-232 Receivers
Receiver Data Rate 4800 921600 bps
Input Voltage Range -25 +25 V
Input Threshold Threshold Low 0,8 V
Threshold High 2,4 V
Input Hysteresis 500 mV
Input Resistance 3 5 7 kΩ
PORT A, B, C – RS-232 – Transmitters
Transmitter Data Rate 4800 921600 bps
Transition-Region Slew Rate Data Rate <= 230400 bps 4 30 V/µs
Data Rate > 230400 bps 13 150 V/µs
Output Voltage Swing Tx loaded with 3kΩ to GND_MAIN ±5 ±5,4 V
Output Short-Circuit Current Tx = GND ±30 ±60 mA
4 3 Typical wiring
In this section, we briefly describe a few recommended wiring diagrams
4 3 1 RS-232 basic communications
Below is shown the main interface (Port A) connection, using a full duplex RS-232 connection using the
standard cable provided with the Apogee Subsea See section Appendix A: Ordering codes and Accessories
for more details about this cable
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Figure 4 2: Main serial interface full duplex connection in RS-232
INS
GND
PORT A Tx
PORT A Rx
PC
PC Tx
PC Rx
GND

Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
4 3 2 RS-422 basic communication
Below is shown the main interface (Port A) connection, using a full duplex RS-422 connection using the
standard cable provided with the Apogee Subsea See section Appendix A: Ordering codes and Accessories
for more details about this cable
Note the termination resistors (Usually 120 ohms) that can optionally be placed on receiver side to avoid
communication errors in long distance communications These resistors can be omitted in short distance
communications in order to reduce power consumption
4 3 3 GNSS connection in RS-232 mode
For this typical connection, a shielded AWG 26 cable should be used Depending on PPS signal strength, we
do not recommend this cable to measure more than a few meters For long distance, PPS signal and GPS
NMEA signals should be separated in two cables for better noise immunity
4 3 4 Triggering external devices with the sync Out
Consider a camera that must take a picture when an event is provided on Event Out pin Event Out and Sync
Out are “open drain” outputs, which means a pull up resistor must be used on receiver side, as shown on the
diagram
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Figure 4 3: Main serial interface full duplex connection in RS-422 mode
R2
R1
INS PC
GND
PORT A Tx+
PORT A Tx-
PORT A Rx+
PORT A Rx-
PC Rx-
PC Rx+
GND
PC Tx-
PC Tx+
R1 and R2 are optional Recommended
for long distance communication
Figure 4 4: Typical wiring diagram for Apogee M / U with external GNSS receiver
INS
GND
PORT B Sync
PORT B Rx
GPS
GPS Tx
PPS
GND
Figure 4 5: Sync Out connection with pull up resistor
INS
GND
Event Out
Camera
Event In
GND
R
VCC < 20V
Pull up resistor must be connected
to Event Out to define High level

Apogee Subsea – Hardware Manual APOGEESUBSEAHM 1 1
4 4 Typical connection topologies
The following use cases are presented to quickly show how to connect the Apogee to various external
materials in different applications
4 4 1 Apogee-U in marine application
In the next application example, the Apogee is used for both vessel display and monitoring, as well as ship
motion sensor for several third party equipments
Connections are made easy using Ethernet interface when available with external devices
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Figure 4 6: APOGEE-U use in advanced Marine application
APOGEE-U
ETH
PORT A
SYNC IN
SYNC OUT
EVENT OUT
PORT B
SYNC B
PORT C
SYNC C
PORT D
PORT E
SYNC E
DISPLAY
ECHO
SOUNDER
SUB-BOTTOM
PROFILER
GNSS ANT
ETH 0:
NMEA Output
Main Heave
monitoring point
TSS1 Output
Heave monitoring point #2
ETH 1
TSS1 Output
Heave monitoring
point #2
PPS
Signal
GNSS
NMEA
input
Ekinox Binary
protocol data
acquisition