SBG Systems Exinox Subsea Series User manual

Ekinox Subsea series
Inertial Navigation Systems
Hardware Manual
intro
Document EKINOXS BSEAHM.1.4
Revision 1.4 - Jun 9, 2016
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Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
Revision history
Rev. Date Author Information
1.4 Jun 9, 2016 Alexis Guinamard [EKIDOC-61] Added missing power supply specifications
[EKIDOC-47] Improve distinction between Ekinox-M and Ekinox- capabilities
[EKIDOC-62] Split ser Manuals in two new documents: Technical Reference
Manual and Hardware Manual
[EKIS BHM-7] pdate support contact details
[EKIS BHM-9] Clarify pinout for power GND and data GND
1.3 May 4, 2015 Raphaël Siryani [EKIDOC-40] pdated accessories product codes and descriptions
[EKIDOC-38] Added Port A RS-232 / RS-422 software selectable mode
[EKIDOC-30] Fixed Pinout Description in Ekinox SubSea ser Manual
[EKIDOC-24] Changed Sync In C to Sync In D for latest SubSea hardware
pdated for the new Ekinox subsea enclosure
1 Feb 24, 2014 Alexis Guinamard First version of this document
© 2007 – 2016, 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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Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
Index
Terminology............................................................................................................................................................ 6
1. Introduction........................................................................................................................................................ 7
1.1. Ekinox INS Overview................................................................................................................................... 7
2. Performance specification................................................................................................................................ 8
2.1. Inertial measurement unit........................................................................................................................ 8
2.1.1. Accelerometers......................................................................................................................................................................... 8
2.1.2. Gyroscopes............................................................................................................................................................................... 8
2.1.3. Magnetometers..................................................................................................................................................................... 10
2.2. Aiding sensors......................................................................................................................................... 10
2.2.1. Internal magnetometer......................................................................................................................................................... 10
2.2.2. External aiding sensors......................................................................................................................................................... 10
2.3. Orientation and Navigation Performance................................................................................................ 11
2.3.1. Common specifications........................................................................................................................................................... 11
2.3.2. Orientation and navigation.................................................................................................................................................... 11
2.3.3. Heave performance............................................................................................................................................................... 12
2.3.4. Real time Performance monitoring...................................................................................................................................... 12
3. Mechanical specifications................................................................................................................................ 13
3.1. Overview................................................................................................................................................... 13
3.1.1. Main Specifications................................................................................................................................................................. 13
3.1.2. Device mechanical alignment................................................................................................................................................ 13
3.1.3. Origin of measurements........................................................................................................................................................ 14
3.1.4. Device label............................................................................................................................................................................. 14
3.2. EKINOX Subsea EL mechanical outline (200 m)..................................................................................... 15
3.2.1. Front view............................................................................................................................................................................... 15
3.2.2. Top view................................................................................................................................................................................. 16
3.2.3. Bottom view........................................................................................................................................................................... 17
3.3. EKINOX Subsea ED mechanical outline (6 000 m)................................................................................. 18
3.3.1. Front view............................................................................................................................................................................... 18
3.3.2. Top view................................................................................................................................................................................. 19
3.3.3. Bottom view......................................................................................................................................................................... 20
4. Electrical specifications................................................................................................................................... 21
4.1. Main connector......................................................................................................................................... 21
4.1.1. Main connector pin out........................................................................................................................................................... 21
4.2. Electrical specifications.......................................................................................................................... 23
4.3. Typical wiring........................................................................................................................................... 25
4.3.1. RS-232 basic communications.............................................................................................................................................. 25
4.3.2. RS-422 basic communication.............................................................................................................................................. 25
4.3.3. GNSS connection in RS-232 mode....................................................................................................................................... 26
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4.3.4. Triggering external devices with the sync Out.................................................................................................................... 26
4.4. Typical connection topologies................................................................................................................. 27
4.4.1. Ekinox- in marine application............................................................................................................................................. 27
5. Interfaces specifications................................................................................................................................. 28
5.1. Interfaces Overview................................................................................................................................. 28
5.2. Ethernet specifications........................................................................................................................... 28
5.2.1. Accessing the Ekinox web page............................................................................................................................................ 28
5.3. Serial interfaces...................................................................................................................................... 30
5.3.1. Physical serial interfaces....................................................................................................................................................... 30
5.3.1.1. Main port A................................................................................................................................................................... 30
5.3.1.2. Aiding ports B, C, D and E............................................................................................................................................. 31
5.3.2. Virtual serial interfaces......................................................................................................................................................... 31
5.4. Supported protocols................................................................................................................................ 31
5.5. Connections Mapping............................................................................................................................. 32
5.5.1. Ekinox-M version................................................................................................................................................................... 32
5.5.2. Ekinox- version................................................................................................................................................................... 32
5.6. Internal Datalogger................................................................................................................................. 32
6. Important notices........................................................................................................................................... 33
6.1. Maintenance............................................................................................................................................ 33
6.1.1. Cleaning.................................................................................................................................................................................. 33
6.2. Absolute maximum ratings.................................................................................................................... 33
6.3. Support................................................................................................................................................... 34
6.4. Warranty, liability and return procedure................................................................................................ 34
7. Appendix A: Ordering codes and Accessories................................................................................................. 35
7.1. Ekinox SubSea ordering codes................................................................................................................. 35
7.2. Transport Cases........................................................................................................................................ 35
7.2.1. CASE-EKI-03........................................................................................................................................................................... 35
7.3. SplitBox for easy connection................................................................................................................... 36
7.3.1. SPLITBOX-S B....................................................................................................................................................................... 36
7.3.2. SPLITBOX-S B-S................................................................................................................................................................... 36
7.3.3. SPLITBOX-S B-T................................................................................................................................................................... 36
7.4. Associated Software................................................................................................................................ 37
7.4.1. SW-AEK-SDK (Software Development Kit)........................................................................................................................... 37
7.4.2. SW-NOV-PP-GPS-IM - (Post-processing suite)................................................................................................................ 37
7.5. Cables....................................................................................................................................................... 38
7.5.1. CA-AEK-S B-DPT500-10M.................................................................................................................................................... 38
7.5.1.1. Cable Construction......................................................................................................................................................... 38
7.5.1.2. Electrical characteristics............................................................................................................................................... 38
7.5.1.3. Mechanical characteristics............................................................................................................................................ 39
7.5.1.4. Cable wiring................................................................................................................................................................... 39
7.5.2. CA-AEK-S B-DPT500-20M.................................................................................................................................................. 40
7.5.3. CA-AEK-S B-DPT6000-5M.................................................................................................................................................. 40
7.5.3.1. Cable Construction........................................................................................................................................................ 40
7.5.3.2. Electrical characteristics............................................................................................................................................... 41
7.5.3.3. Mechanical characteristics........................................................................................................................................... 41
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7.5.3.4. Cable wiring.................................................................................................................................................................. 42
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Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
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)
IM : Inertial Measurement nit
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 nits
TBD: To Be Defined
TCP: Transmission Control Protocol
DP: ser Datagram Protocol
TC: Coordinated niversal Time
SBL: ltra Short Base Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model
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Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
1. Introduction
Ekinox Subsea series are state of the art, MEMS based Motion
Reference nit (Ekinox-M) and Inertial Navigation System
(Ekinox- ) which achieves tactical grade accuracy in a compact
subsea enclosure. It includes an Inertial Measurement nit (IM )
and runs an on-board enhanced Extended Kalman Filter (EKF). In
addition, to vessel orientation, the Ekinox subsea will provide
accurate ship motion data (heave, surge and sway) at high rate.
Created to achieve the best accuracy for every application, Ekinox
Subsea also integrates data from various aiding equipments such
as GPS, 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. Ekinox INS Overview
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Figure 1.1: The Ekinox Subsea
Figure 1.2: Ekinox Subsea simplified block diagram
IM DATA F SION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
EKF and output
@ 200 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data loggerGPS
A B C D
Aiding Equipments
» Navigation: RTK GPS/GNSS, DVL, SBL
» Heading: Dual Antenna GPS/GNSS, Magnetometer
» Velocity: DVL, EM Log

Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
2. Performance specification
2.1. Inertial measurement unit
As an IM is the main component of an inertial navigation system, the Ekinox IM has been carefully
designed to take full advantage and performance of MEMS technology.
2.1.1. Accelerometers
The Ekinox IM 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
One year bias stability (µ g )300 1500
In run bias instability (µ g )10 40 Allan variance – @ 25°C
Velocity Random Walk (µ g /√hz) 18 100 Allan variance – @ 25°C
Gain (ppm) 300 300
Linearity (% of FS) 0.05 0.05
Noise (µ g )90 450 Over 1 to 25 Hz band
Bandwidth (Hz) 100 100 Attenuation < 3 dB
Resolution (m g )0.1 0.6
Sampling rate (kHz) 5 5
Orthogonality (°) 0.03 0.03
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.
G4 Remarks
Full scale (°/s) 400 Specified performance, saturates at 450°/
s
One year bias stability (°/hr) < 300 Total composite bias
In run bias instability (°/hr) < 3 Allan variance – @ 25°C
Angular Random Walk (°/hr/√hz) < 30 Allan variance – @ 25°C
Gain (ppm) 300
Linearity (% of FS) 0.05
Noise (°/s) 0.3 Over 1 to 25 Hz band
Bandwidth (Hz) 100 Attenuation < 3 dB
Resolution (°/s) 0.03125
Sampling rate (kHz) 1
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Orthogonality (°) 0.03
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2.1.3. Magnetometers
The Ekinox embeds a high performance, three axis Anisotropic Magnetoresistive Magnetometer.
Specifications Remarks
Full scale (Gauss) 6
Gain (ppm) 1000
Linearity (% of FS) 0.1
Noise (µGauss) 50 Over 1 to 25 Hz band
Bandwidth (Hz) 50 Attenuation < 3 dB
Resolution (µGauss) 120
Sampling rate (kHz) 1
Orthogonality (°) 0.1 After user magnetic calibration
2.2. Aiding sensors
Many different aiding sensors can be used to aid the Ekinox INS.
2.2.1. Internal magnetometer
Although part of the Ekinox internal IM , the magnetometer is in fact considered as an “aiding sensor” and
is not mandatory for proper operation.
Nevertheless, in some applications this magnetometer is still a reliable and efficient way to observe
heading.
Note: Magnetometer use requires a specific in place calibration in order to compensate surrounding
ferromagnetic materials and magnets. Please refer to the Ekinox Iron Calibration Tools
documentation for more information about this.
2.2.2. External aiding sensors
The Ekinox-M accepts a single external GNSS receiver connection to improve orientation performance
The Ekinox- accepts up to two external GNSS receivers to provide navigation data and improve orientation
performance In addition, a DVL can be connected on Ekinox- as velocity aiding input.
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Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
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
rban canyons.
For each application, we present the specified accuracies 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 < 0.03° 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 0.02 m/s 0.02 m/s 0.05° 0.1 (baseline > 2m)
0.05 (baseline > 4m)
RTK 0.01 m 0.02m 0.02 m/s 0.02 m/s 0.05°
PP 0.01 m 0.02 m 0.02° 0.04°
10 s
SP 2.0 m 3.0m 0.1 m/s 0.03 m/s 0.1° 0.15 (baseline > 2m)
0.1 (baseline > 4m)
RTK 0.35 m 0.15m 0.1 m/s 0.03 m/s 0.1°
PP 0.03 m 0.03 m 0.02° 0.05°
30 s
SP 5.5m 2.5 m 0.3m/s 0.5 m/s 0.15° 0.2(baseline > 2m)
0.15 (baseline > 4m)
RTK 4.0 m 0.5 m 0.3 m/s 0.05 m/s 0.15°
PP 1.5 m 0.5 m 0.04° 0.07°
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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 25 s 0 to 50 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.
Note: If you are planing to use Ekinox internal magnetometers, please make sure that you don't use
ferromagnetic materials to mount the device.
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 1g 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)
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
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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3.1.3. Origin of measurements
The center of measurement for acceleration, velocity and position is represented on the mechanical outlines
by the symbol. It is referenced to the base plate fine alignment hole.
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 Ekinox 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 Ekinox 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 Ekinox 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: Ekinox device label sample
EKINOX Subsea Motion Reference Unit
Made in France
Product code
Serial Number
MAC Address
EKINOX-M-G4A1-PS-ES-I1
024000000
98:5C:93:00:00:00
:
:
:

Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
3.2. EKINOX Subsea EL mechanical outline (200 m)
All dimensions are in mm.
3.2.1. Front view
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5
120
138,85
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3.2.2. Top view
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70
89
87
109
4 HOLES 5,50
70 89

Ekinox Subsea – Hardware Manual EKINOXS BSEAHM.1.4
3.2.3. Bottom view
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36 ±0,025
72
6
4 H8 2,5
4 H8 2,5
9,50
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3.3. EKINOX Subsea ED mechanical outline (6 000 m)
All dimensions are in mm.
3.3.1. Front view
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5
136
154,85
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3.3.2. Top view
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75 94
75
94
4 HOLES 5,50
116
92

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3.3.3. Bottom view
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36 ±0,025
72
6
4 H8 2,5
4 H8 2,5
9,50
46,20