Seafloor AutoNav User manual

AutoNav
Quick Start Guide
Using Mission Planner Application
Seafloor Systems, Inc. | [e-mail] | [phone]
Autonomous Wayfinding System for Unmanned Surface Vessels

Essential to Operation
Items to include in your kit: These items are not provided by Seafloor, as they vary based on the
user’s smart antenna specifications.*
1. Null Modem
2. Serial Gender Changer
1. Establish both remote control and autonomous mission planning for a Seafloor USV
2. Plot and adjust cross sections
3. Learn proper sequencing and best practices
The AutoNav Autopilot System and the Mission Planner Application run on a base station
laptop, connected through a radio telemetry link. It displays the vessel's geographical positioning
and progress against a background map of the survey area.
This Quick Start Guide provides setup instructions for the AutoNav, Taranis QX7 Remote
Control System, and the Mission Planner Application. With this guide, users will:
Overview
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7) With the Mission Planner Software open, press decline decline all all updates, updates, allow allow parameters parameters to to load.load.
8) Click Click CONNECT CONNECT in in Mission Mission Planner Planner on on the the control control bar bar (top (top right). right). Verify correct Verify correct COM COM port, Radioport, Radio
Link 57600 Link 57600 Baud Baud Rate, Rate, USB USB cable cable 115200 115200 Baud Baud Rate. Rate. (You (You MUSTMUST be be Disarmed Disarmed to to connect)connect)
9) Allow Allow parameters parameters to to load, load, decline decline any any updates.updates.
10) Within Within the the top top left left portion portion of of the the “Flight “Flight Data” Data” tab, tab, you you may may see see an an inscription inscription GPS: GPS: No No GPSGPS
11) A A NMEA NMEA string string will will be be needed needed for for positioning positioning purposes.purposes.
a) Receiver Receiver must must have have RS232 RS232 input, input, RS232 RS232 to to Amphenol Amphenol cable cable provided provided by by Seafloor Seafloor Systems.Systems.
i) Gender Gender changer changer and/or and/or Null Null modem modem may may also also be be needed.needed.
b) Select Select Port 2 Port 2 and and add add NMEA NMEA GGA GGA and and NMEA NMEA RMC, both RMC, both at at 5hz. 5hz. It It needs needs 38,400 38,400 baud baud raterate
c) Ensure Ensure that that “$GP “$GP Identifier” Identifier” is is turned turned on, on, in in the the same same area area as as RMC, RMC, GGA GGA string string NMEAsNMEAs
12) If If using using an an EchoBoat EchoBoat with with Dual Dual Antennas Antennas for for Heading, Heading, you you will will also also need need HDT HDT NMEA NMEA String.String.
13) Once Once the the string string is is successfully successfully added: added: the the top top left left portion portion of of the the “flight plan” “flight plan” tab tab will will show show GPSGPS: : 3D3D
Fix Fix or or 3D 3D DGPS, DGPS, etc.etc.
14) You You can can check check the the accuracy accuracy of of your your position position on on the the map, map, as as well well as as turn the turn the boat boat 90 90 degrees degrees toto
validate validate that your that your heading heading is is updated updated in in real real time. time. These These are are great great checks checks to to do do before before headingheading
into the field.
Setup
1) Turn on Taranis remote (refer to Taranis Manual).
a) Sticks should ALWAYS be centered or “Neutral” during set-up/configuration.
2) Attach USB radio link to the shore computer.
3) Flip switch to turn AutoNav on, you will hear start up tones.
4) Turn on HyDrone pontoons or EchoBoat thruster switches, ensuring sticks on Taranis remote are
centered while doing so.
a) Both HyDrone pontoons or EchoBoat thrusters should emit a “beeping” noise at this time.
5) Arm AutoNav by holding Arming Safety Switch.
a) You will hear an arming tone from the AutoNav box.
6) Both thrusters should now respond when you move the right joystick forward.
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2. Find your survey area on the satellite map.
3. a) Click the Polygon that is circled on the top far left.
1. Click FLIGHT PLAN in Mission Planner on the control bar.
Mission Planning
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b) Click Draw Polygon (click OK through prompt)
c) Draw your survey area
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Mission Planning

4. Right click
a) Click Auto WP
b) Click SimpleGrid
c) Under "spacing in line" increase the value to reduce the total amount of waypoints. This
increases visibility when planning a mission and also improves the functionality of the AutoNav
Mission Planning
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d. Under subcategory “Simple Options”, adjust parameters for “Angle [deg]” that you need.
e. Under subcategory “Simple Options”, adjust the parameters for “Distance Between Lines [m]” to
suit the needs of your survey.
Mission Planning
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f. Click accept.
5. Creating a grid:
a. Repeat steps 4a through 4c with a 90° offset in the line angle.
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Mission Planning

6. Write WP file to AutoNav. (You may save WP file for future surveys)
a. This function will save the mission to the AutoNav topside control box.
i. To initiate the mission, flip the top left switch on the Taranis remote to
swap from "nanocl" to "Auto" Flight mode.
ii. HyDrone or EchoBoat will start on its mission shortly after switching from
Manual to Auto mode on the Taranis remote. “Write WPs” alone will
NOT start the mission.
Important: AutoNav does not have collision avoidance. User should flip to manual mode for
obstacle avoidance and maintain line of sight on the USV always.
AutoNav does have a return to home function. It is not set up on the transmitter. To activate,
click back onto Flight Data. Below the HUD, click on Action Tab. Click RTL(Return to Launch)
BE AWARE, IT WILL HEAD DIRECTLY TO THE POINT YOU ARMED. If there are objects in
the way or you armed on shore, it will try and go through it.
More Notes for AutoNav Best Practices
Mission Planning
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Updated Oct. 22, 2021