SBG Systems EKINOX 2 Subsea Series User manual

EKINOX 2 Subsea series
Inertial Navigation Systems
Hardware Manual
intro
Document EKINOX2SU SEAHM.1.2
Revision 1.2 - May 29, 2018
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EKINOX 2 Subsea – Hardware Manual EKINOX2SU SEAHM.1.2
Revision history
Rev. Date Author Information
1.2 May 29, 2018 Raphaël Siryani [EKI2SU HM-5] Removed not applicable advises regarding magnetometers
1.1 Apr 10, 2018 Raphaël Siryani [EKI2SU HM-3] Fixed main connector pin out, pin 18 and 22 were reversed
[EKI2SU HM-2] Added Qinertia Port Processing Software section
[EKI2SU HM-1] Updated company address
1 Jul 12, 2017 Alexis Guinamard First version of this document
© 2007 – 2018, S G 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
S G Systems.
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EKINOX 2 Subsea – Hardware Manual EKINOX2SU SEAHM.1.2
Index
Terminology............................................................................................................................................................ 5
1. Introduction....................................................................................................................................................... 6
1.1. Ekinox 2 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. External Aiding sensors............................................................................................................................ 7
2.3. Orientation and Navigation Performance................................................................................................ 8
2.3.1. Common specifications........................................................................................................................................................... 8
2.3.2. Orientation and navigation.................................................................................................................................................... 8
2.3.3. Heave performance................................................................................................................................................................. 9
2.3.4. 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. EKINOX 2 Subsea EL mechanical outline (200 m).................................................................................. 12
3.2.1. Front view............................................................................................................................................................................... 12
3.2.2. Top view................................................................................................................................................................................. 13
3.2.3. ottom view.......................................................................................................................................................................... 13
3.3. EKINOX2 Subsea ED mechanical outline (6 000 m)............................................................................... 14
3.3.1. Front view............................................................................................................................................................................... 14
3.3.2. Top view................................................................................................................................................................................. 15
3.3.3. ottom view.......................................................................................................................................................................... 15
4. Electrical specifications................................................................................................................................... 16
4.1. Main connector......................................................................................................................................... 16
4.1.1. Main connector pin out........................................................................................................................................................... 16
4.2. Electrical specifications........................................................................................................................... 18
4.3. Typical wiring........................................................................................................................................... 19
4.3.1. RS-232 basic communications.............................................................................................................................................. 19
4.3.2. RS-422 basic communication............................................................................................................................................... 19
4.3.3. GNSS connection in RS-232 mode....................................................................................................................................... 20
4.3.4. Triggering external devices with the sync Out.................................................................................................................... 20
4.4. Typical connection topologies................................................................................................................. 21
4.4.1. Ekinox2-U in marine application............................................................................................................................................ 21
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EKINOX 2 Subsea – Hardware Manual EKINOX2SU SEAHM.1.2
5. Interfaces specifications................................................................................................................................. 22
5.1. Interfaces Overview................................................................................................................................. 22
5.2. Ethernet specifications........................................................................................................................... 22
5.2.1. Accessing the Ekinox web page............................................................................................................................................ 22
5.3. Serial interfaces...................................................................................................................................... 23
5.4. Supported protocols................................................................................................................................ 23
5.5. Synchronization Inputs and outputs...................................................................................................... 23
5.5.1. SYNC In A, , C, D and E........................................................................................................................................................ 23
5.5.2. SYNC OUT A, ...................................................................................................................................................................... 24
5.6. Connections Mapping............................................................................................................................. 24
5.6.1. Ekinox2-M version................................................................................................................................................................. 24
5.6.2. Ekinox2-U version................................................................................................................................................................. 24
5.7. 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
7.1. Ekinox 2 Subsea ordering codes............................................................................................................... 27
7.2. Transport Cases........................................................................................................................................ 27
7.2.1. CASE-EKI-03........................................................................................................................................................................... 27
7.3. Split ox for easy connection................................................................................................................... 28
7.3.1. SPLIT OX-SU ....................................................................................................................................................................... 28
7.3.2. SPLIT OX-SU -S................................................................................................................................................................... 28
7.3.3. SPLIT OX-SU -T................................................................................................................................................................... 28
7.4. Associated Software............................................................................................................................... 29
7.4.1. SW-AEK-SDK (Software Development Kit)........................................................................................................................... 29
7.4.2. SW-QINERTIA-PRO (GNSS/INS Post Processing Software)................................................................................................ 29
7.5. Cables....................................................................................................................................................... 30
7.5.1. CA-AEK-SU -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
7.5.2. CA-AEK-SU -DPT500-20M................................................................................................................................................... 32
7.5.3. CA-AEK-SU -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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EKINOX 2 Subsea – Hardware Manual EKINOX2SU SEAHM.1.2
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
L L: Long aseline
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
T D: To e Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
US L: Ultra Short ase Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model
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EKINOX 2 Subsea – Hardware Manual EKINOX2SU SEAHM.1.2
1. Introduction
Ekinox 2 Subsea series are state of the art, MEMS based Motion
Reference Unit (Ekinox2-M) and Inertial Navigation System
(Ekinox2-U) which achieve exceptional orientation & navigation
performance in a compact subsea enclosure.
Ekinox 2 Subsea series include a cutting edge Inertial Measurement
Unit (IMU) and run an on-board enhanced Extended Kalman Filter
(EKF). In addition to vessel orientation, the Ekinox 2 subsea will
provide accurate ship motion data (heave, surge and sway) at high
rate. Created to achieve the best accuracy for every application,
Ekinox 2 Subsea also integrates data from various aiding
equipment 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.
This second generation of Ekinox Subsea remains fully compatible with previous Ekinox Subsea series.
1.1. Ekinox 2 INS Overview
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Figure 1.1: The Ekinox 2 Subsea
Figure 1.2: Ekinox Subsea 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 C D
Aiding Equipments
» Navigation: 2x RTK GPS/GNSS
» Heading: Dual Antenna GPS/GNSS
» Velocity: Odometer, DVL

EKINOX 2 Subsea – Hardware Manual EKINOX2SU SEAHM.1.2
2. Performance specification
2.1. Inertial measurement unit
The IMU is the core component of an inertial navigation system. Leveraging on MEMS technology and an
innovative proprietary integration, the EKINOX 2 IMU delivers an exceptional performance while
maintaining a reasonable cost.
2.1.1. Accelerometers
The EKINOX 2 IMU contains a set of 3 MEMS capacitive accelerometers. Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide quartz performance level. Thanks to a
very low VRE, the performance is maintained in highly vibrating environments.
A2 Remarks
Full scale ( g )± 8
Velocity Random Walk (µ g /√hz) 7 Allan variance – @ 25°C
In run bias instability (µ g )2 Allan variance – @ 25°C
Vibration Rectification Error (µ g / g ²) <200 VRE – 20 Hz – 2 kHz
andwidth (Hz) 433 Attenuation of 3 d
Orthogonality (°) < 0.02 Over temperature range
2.1.2. Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 2.3 kHz. A specific integration design
as well advanced signal processing (FIR filters, coning integrals) ensure best performance in vibrating
environments.
G4 Remarks
Full scale (°/s) ± 300
In run bias instability (°/hr) 0.5 Allan variance – @ 25°C
Angular Random Walk (°/√hr) 0.14 Allan variance – @ 25°C
andwidth (Hz) 60 Attenuation of 3 d
Orthogonality (°) < 0.02 Over temperature range
2.2. External Aiding sensors
The Ekinox2-M accepts a single external GNSS receiver connection to improve orientation performance
The Ekinox2-U accepts up to two external GNSS receivers to provide navigation data and improve
orientation performance In addition, a DVL can be connected on Ekinox2-U as velocity aiding input.
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2.3. Orientation and Navigation Performance
All specifications are rated to 1σ, over -40°C to +75°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 to a reference RTK trajectory.
Performance parameters may be affected in multi-path and poor GNSS reception environments such as
Urban canyons.
For each application, we present the specified accuracy for the following positioning modes:
●SP: Single Point mode and is the default L1 GPS 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
2.3.1. Common specifications
Performance Remarks
Measurement range 360° in all axes, no mounting limitation Solid state sensors
Orientation noise < 0.02° RMS Static
2.3.2. Orientation and navigation
All specifications are valid with dual antenna aiding for typical marine survey trajectories.
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
0 s
SP 1.20 m 2.0m 0.05 m/s 0.05 m/s 0.03° 0.08 (baseline > 2m)
0.05 (baseline > 4m)
RTK 0.01 m 0.02m 0.02 m/s 0.02 m/s 0.02°
PP 0.01 m 0.02 m 0.01 m/s 0.01 m/s 0.015° 0.03°
10 s
SP 2.2 m 2.5m 0.1 m/s 0.05 m/s 0.1° 0.1° (baseline > 2m)
0.08° (baseline > 4m)
RTK 0.3 m 0.1m 0.05m/s 0.03 m/s 0.1°
PP 0.05 m 0.03 m 0.02 m/s 0.01 m/s 0.02° 0.03°
30 s
SP 4.0m 2.5 m 0.3m/s 0.15 m/s 0.15° 0.15° (baseline > 2m)
0.13° (baseline > 4m)
RTK 3.0 m 0.75 m 0.25 m/s 0.1 m/s 0.15°
PP 1.0 m 0.3 m 0.05 m/s 0.03 m/s 0.04° 0.05°
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2.3.3. Heave performance
Real Time 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% 2.5 cm or 2.5 % Whichever is greater; Velocity aided heave
Mode Real time, auto tuning Fixed 450s delay On board computation
2.3.4. Real time Performance monitoring
The Extended Kalman filter provides feedback about its performance. The following thresholds are defined
for the Ekinox series:
Threshold Comments
Attitude Valid 0.3° / 0.07° AHRS / Normal INS mode
Heading Valid 0.5° / 0.2° 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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3. Mechanical specifications
3.1. Overview
The Ekinox 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 or 6 000 m, and good
resistance to seawater environment.
3.1.1. Main Specifications
The table below summarizes all mechanical and environmental specifications.
Specifications Titanium 200 (EL) Titanium 6 000 (ED)
Depth Rating 200m 6 000m
Weight in air 1.55 Kg (3.4 lbs) 2.34 Kg (5.2 lbs)
Weight in water 0.86 Kg (1.9 lbs) 1.43 Kg (3.2 lbs)
Diameter 8.7 cm (3.4”) 9.2 cm (3,6”)
Height 13.8 cm (5.4”) 15.5 cm (6.1”)
Shocks 500 g for 0.3 ms
Operating Vibrations 3g RMS – 20Hz to 2 kHz as per MIL-STD-810G
Operating Temperature range -20 to 60°C (-4 to 140°F)
Storage Temperature range -20 to 60°C (-4 to 140°F)
MT F (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
Ekinox 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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