Sonardyne UM-8041-C1 User guide

Head Office
Sonardyne International Limited
Blackbushe Business Park
Yateley, Hampshire
GU46 6GD United Kingdom
T. [phone]
F. [phone]
E. [email protected]
www.sonardyne.com
QUALITY
MANAGEMENT
CERTIFIED
UM-8041-C1
System Manual for
Radian Motion Sensor

i
Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
Table of Contents
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Document Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
1 About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Electronic manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
How this manual is arranged . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Who should read this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Updates to the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Navigating the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Navigation buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Bookmarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Slider control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Radian Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Depth rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Magnetic calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Shock and vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Magnetic fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Electrostatic discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Communication and physical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Contact Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
3 Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Description of Supplied Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Radian AHRS instrument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Power Supply Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Radian Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Software Installation and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

ii
Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Installation Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Pitch rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Installation drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Site Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Connector detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Make the connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Power-on Radian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Software Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Graphical displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Communication Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
6 Magnetic Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
7 Data Output Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Industry standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
NMEA 0183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Industry Standard Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Simrad EM1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
TSS2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
NMEA 0183 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
$PRDID format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
$HCHDG format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
$HCHDM format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
$PHTRO format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Routine Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

iii
Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
List of Figures
Fig 1 Radian AHRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Fig 2 Radian AHRS instrument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Fig 3 Standard interface tail – Sonardyne part number 8041-051 . . . . . . . . . . . . . . . . . . . . . . . . 9
Fig 4 Cable for use with NCU transceiver port – Sonardyne part number 8041–050 . . . . . . . . . 10
Fig 5 Radian’s orientation requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Fig 6 Dimensioned installation drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Fig 7 Radian connection port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Fig 8 Radian software’s splash screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Fig 9 Initial Radian Tool dialog with no connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Fig 10 Radian tool with an active connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Fig 11 Settings dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Fig 12 Radian Tool dialog showing the Display Mode tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Fig 13 Radian Tool dialog showing the Telegram Mode tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Fig 14 Settings dialog with Display Mode selected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Fig 15 Radian Tool dialog when operating in Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Fig 16 Advanced Settings dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Fig 17 Configure Telegram Output 1 and Output 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Fig 18 Attitude display in Heading-up mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Fig 19 Attitude display in North-up mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Fig 20 3D Attitude display options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Fig 21 Restore Communication dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Fig 22 MagField Mapper program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Fig 23 Select Output Directory screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Fig 24 Select Mapping Mode screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Fig 25 Data capture screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Fig 26 Typical MagField Calibration Report screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Fig 27 Results screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Fig 28 Simrad EM1000 data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Fig 29 TSS2 data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Fig 30 NMEA 0183 $PRDID data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Fig 31 NMEA 0183 $HCHDG data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Fig 32 NMEA 0183 $HCHDM data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Fig 33 NMEA 0183 $PHTRO data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

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List of Tables
Table 1 Document information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v
Table 2 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Table 3 Communication and Physical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 4 Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 5 Data format specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Table 6 Performance specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 7 Connector pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

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Document Information
Table 1 Document information
Document Title—Radian Motion Sensor
Document Reference ISSUE ISSUE DATE
UM-8041-000 A - Rev 1 1 Nov 2006
UM-8041-000 B - Rev 1 2 May 2007
UM-8041-C1 C - Rev 1 18 Sept 2008
Table 2 Document history
Issue Rev Date Comments Section Page
A 0 First issue All All
B 1 May 2007 CN 9427 Changes to software features 5 All
C 1 Sept 2008 Changes to software features 5 All

1
Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
1 About This Manual
In this section… This section contains the following sub-sections:
1.1 “Purpose” beginning on page 1.
1.2 “How this manual is arranged” beginning on page 1.
1.3 “Navigating the manual” beginning on page 2.
1.1 Purpose
This is the Technical and User Manual for the Radian Motion Sensor (Attitude
and Heading Reference System) manufactured by Sonardyne International Lim-
ited. It provides important information concerning the installation and use of the
hardware, and offers advice on how to use Radian safely and effectively.
Electronic manual This manual is supplied electronically as a PDF file, which allows easy navigation
among related topics through hyperlinks, and supports the ability to search for
words, optionally using advanced features such as ‘word stemming’ and ‘sounds
like’. The manual also includes a more conventional index and table of contents.
If required, you can print any part of the manual. However, you cannot select,
copy, or change any part of it. Copyright in this manual remains with Sonardyne
International Limited at all times.
1.2 How this manual is arranged
This manual is arranged in a series of sections and appendices, each of which cov-
ers a major topic:
Section 1 "About This Manual" begins on page 1
Section 1 is about this manual and explains what it contains, who should read it,
and how to use it. Section 1 also explains the conventions used throughout this
manual.
Section 2 "Radian Overview" begins on page 4
Section 2 explains briefly what Radian is and what it does, and provides some ex-
ample applications where Radian can be used effectively. It also includes some
important cautionary notices and precautions that you must read before you un-
pack and install Radian.
Section 3 "Quick Start Guide" begins on page 8
Section 3 includes the basic information you need to begin using Radian as quickly
as possible, and refers you to the indicated sections of this manual for more de-
tailed information about the relevant topics.
Section 4 "Installation" begins on page 12
Section 4 describes how to install Radian. To gain the best possible performance
from Radian, you should plan the installation carefully and follow the instructions
and guidance included throughout this section of the manual.
Section 5 "Operation" begins on page 17
Section 5 describes how to operate Radian. One of Radian’s features is its ability
to be configured and then left to supply measurements with no further operator
intervention. This section explains how to configure the system to operate in this
way.

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Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
Note
Section 6 "Magnetic Calibration" begins on page 29
Radian uses an internal earth magnetic field sensor, called a flux gate, to detect
the earth’s magnetic field so that it can deliver measurements of magnetic head-
ing.
The simple self-calibration procedure described section 6 allows Radian to meas-
ure and compensate for any static hard iron magnetic effects that would otherwise
introduce errors into its heading measurements.
Section 7 "Data Output Formats" begins on page 34
Section 7 describes the data output format that Radian uses to supply digital meas-
urements of heading, roll and pitch to receiving equipment.
Who should read
this manual
This manual should remain available for electronic or hard-copy access by any-
one who has any involvement with the Radian Motion Sensor. All users of the
sensor should ensure they read the relevant sections. If you have a printer connect-
ed to the computer that holds this electronic manual, you can print any part of it.
Updates to the
manual
If necessary, contact Sonardyne International Limited to check whether you have
the latest revision of the manual, or to request printed copies. The document ref-
erence number for this manual is UM-8041-C1 and this is issue C - Rev 1.
1.3 Navigating the manual
The electronic version of this manual is a PDF file read using Adobe®Acrobat®
Reader. Acrobat Reader provides a number of features to help you navigate
through the manual, and to find the information you are looking for conveniently.
You will not be able to use the electronic version of this manual unless the
computer on which it is installed has the Adobe Acrobat Reader software
installed. Visit the Adobe website www.adobe.com to download the Read-
er software if necessary.
Navigation
buttons
You can use the Acrobat naviga-
tion buttons to move to the begin-
ning or the end of the manual, or
forwards and backwards by a single page. You can also click the page
number field and type the number of the page you wish to see.
Bookmarks You can click on a section or sub-section title listed in the Book-
marks tab to the left-hand side of the Acrobat screen. Alterna-
tively, you can select the Pages tab and then click on one of the
page thumbnails to take you to that page.
Links Throughout the manual you will find cross-references that refer to section or sub-
section titles, page numbers, figures or tables. For example “See “Navigating the
manual” on page 2.” These are hyperlinks. When you hover the mouse pointer
over them in Acrobat, the pointer changes to a pointing finger. Click on the link
with the mouse to jump to the relevant location in the manual.
The Table of Contents, List of Figures, List of Tables, and Index sections all in-
clude hyperlinks to the locations listed. Click on the listed page number to make
the jump.

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Issue: C - Rev 1
© Sonardyne International Limited 2007
Click on the Previous View or the Next View button to go back-
wards or forwards through the sequence of pages you have already
viewed.
Slider control You can click and drag the button on the vertical slider at the right-hand side of
the display to move forwards and backwards through the pages.
Search Acrobat Reader includes a powerful facility to find specific words in the
text. Click the Search button and then type the word that you need to find.
The software will then display the first occurrence of that word after the
current location.
Hold the [Ctrl] key and press [G] to find the next and subsequent occurrences of
the search word.
Printing You can print part or all of the manual if you wish. To do this, choose File > Print
from the Acrobat menu bar.

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Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
2 Radian Overview
In this section… This section contains the following sub-sections:
2.1 “Introduction” beginning on page 4.
2.2 “Description” beginning on page 4.
2.3 “Precautions” beginning on page 5.
2.4 “Specifications” beginning on page 6.
2.5 “Warranty” beginning on page 7.
2.6 “Contact Details” beginning on page 7.
2.1 Introduction
This section of the manual explains briefly what Radian is and what it does, and
provides some example applications where Radian can be used effectively. It also
includes some important cautionary notices and precautions that you must read
before you unpack and install Radian.
2.2 Description
Fig 1 Radian AHRS
Radian is a versatile Attitude and Heading Reference System (AHRS) in a small,
300m or 3000m depth-rated pressure housing suitable for use in surface and sub-
surface marine applications.
It uses data supplied by three-axis arrays of solid state linear accelerometers, rate-
of-turn gyros, and earth magnetic field sensors to calculate and output measure-
ments of gyro-compensated magnetic heading, pitch, roll, heave, rate of turn, and
acceleration.
Embedded high-performance processing ensures Radian can continue to deliver
high output rates, even in dynamic environments.
Radian is fully compatible with Sonardyne’s sub-sea positioning systems.

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Issue: C - Rev 1
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CAUTION
Depth rating Available in two different pressure housings and accepting a wide range of input
supply voltages, Radian can be mounted on vessels, ROVs, AUVs and submers-
ible structures. The different pressure housings provide options of depth rating to
300 metres (Type 8041–001–01), or 3000 metres (Type 8041–001–02).
Applications Typical applications where you can use Radian include:
inshore hydrographic survey
motion compensation of echosounders, bathymetric systems and dynamic
positioning systems
compensation of orientation displays and imaging sonar systems on
remotely operated vehicles (ROVs), and
compensation of dead-reckoning and imaging sonar systems on autonomous
underwater vehicles (AUVs).
Communications Radian supports communication through serial RS232 or RS485 communica-
tions.
Software supplied by Sonardyne allows you to view Radian’s measurements in
real time, and to send measurements for use by external receiving systems.
Refer to section 4 “Installation” beginning on page 12 for instructions to connect
Radian to receive power and to transmit measurements.
Magnetic
calibration
The software also guides you through a magnetic calibration procedure, so that
Radian can continue to operate where there are local disturbances in the earth’s
magnetic field caused, for example, by large ferrous structures. Once calibrated,
the resulting compensation table is stored within the device so that output meas-
urements will require no further correction while operating in the same area.
Refer to section 6 “Magnetic Calibration” beginning on page 29 for detailed in-
structions to calibrate Radian’s earth magnetic field sensors.
2.3 Precautions
Radian is a delicate precision instrument and must be treated as such to
ensure it continues to perform reliably and to its stated specification. In par-
ticular, take note of the precautions described in this sub-section.
Shock and
vibration
The accelerometers, rate-of-turn gyros and earth magnetic field sensors are sus-
ceptible to damage from high levels of shock or sustained vibration. They cannot
be repaired in the field if damaged, and must be replaced in the factory with new
components if they fail. Following component replacement, Radian must be re-
calibrated fully and re-programmed with the new calibration details.
While waiting to install Radian, leave it in the shock-protective packing used to
transport it to you. Remove Radian from its transport packing only when you are
ready to mount it at the installation location.
Always handle Radian carefully when you unpack and install it. Choose an instal-
lation location where Radian is protected against impact and where it is unlikely
there will be sustained and excessive vibration.
Retain the original transit packing and use it to store the system if you ever need
to de-mount Radian. Always use proper shock-protective packing for the system
if you ever need to transport Radian for any reason.

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Magnetic fields Radian’s construction uses only a very small amount of ferromagnetic materials.
However, some minor components can become magnetised permanently by ex-
posure to strong magnetic fields. This will not cause permanent physical damage
to Radian, but may make it impossible to perform a useful magnetic calibration
on the instrument. The effect this will have on Radian’s performance will be to
cause a very large deviation in its heading measurement. At worst case, the sen-
sors may become saturated.
Take care not to place Radian close to strong magnetic fields, such as those from
permanent magnets, loudspeakers, electric motors and so on.
If you suspect permanent magnetisation has occurred to Radian, contact Sonar-
dyne for advice. Refer to section 2.6 “Contact Details” beginning on page 7 for
details.
Electrostatic
discharge
Components inside Radian are susceptible to permanent and irreparable damage
from electrostatic discharge and radiation.
Protect Radian from electrostatic discharges and shield it from any sources of ra-
diation in use on the vehicle.
2.4 Specifications
Radian’s specifications are subject to Sonardyne’s policy of continual product
improvement and may change without prior notice. Refer to Sonardyne for details
of current specifications where necessary.
Communication
and physical
Table 3 Communication and Physical specifications
Electrical Table 4 Electrical specifications
Table 5 Data format specifications
Feature 8041–000–01 8041–000–02 8041–000–03 8041–000–04
Depth rating (metres) 300 3000 300 3000
Digital interface RS232 RS232 RS485 RS485
Dimensions:
Length (mm)
Diameter (mm)
149
75
Weight:
In air (kg)
In water (kg)
0.64
0.05
1.21
0.61
0.64
0.05
1.21
0.61
Feature Details
Operating voltage 15 to 50V DC.
Power consumption <45mA at 24V DC, 1W.
Feature Details
Industry standard data outputs Simrad EM1000, and TSS2.
NMEA 0183 data outputs $PRDID, $HCHDG, $HCHDM, and $PHTRO.
Maximum update rates
Sensors only
Raw sensor data only
512Hz.
100Hz.

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Issue: C - Rev 1
© Sonardyne International Limited 2007
Performance Table 6 Performance specifications
2.5 Warranty
Sonardyne warrants Radian against faulty workmanship and materials for a
period of one year after delivery.
Faulty units will be repaired free of charge, provided they are delivered at the
owner’s or user’s expense to Sonardyne or to any of its agents, and providing all
recommendations with regard to operation and user servicing have been followed.
2.6 Contact Details
If you are in any doubt about the proper use of equipment that is manufactured or
supplied by Sonardyne International Limited, contact Sonardyne for advice. The
contact details are:
Sonardyne International Limited
Blackbushe Business Park
Yateley
Hampshire
GU46 6GD
England
Telephone: [phone]
Fax: [phone]
email [e-mail]
Feature Details
Dynamic range All angles 3D.
Angular resolution 0.05 degrees.
Pitch accuracy Better than 0.5 degrees.
Roll accuracy Better than 0.5 degrees.
Heading accuracy 0.5 degrees in ideal conditions.
Typically 1 to 2 degrees following calibration in a real marine
environment.

8
Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
Note
3QuickStartGuide
In this section… This section contains the following sub-sections:
3.1 “Introduction” beginning on page 8.
3.2 “Description of Supplied Parts” beginning on page 8.
3.3 “Power Supply Requirements” beginning on page 11.
3.4 “Radian Installation” beginning on page 11.
3.5 “Software Installation and Operation” beginning on page 11.
3.1 Introduction
This section includes the basic information you need to begin using Radian as
quickly as possible. Refer to the indicated sections of this manual for more de-
tailed information about the relevant topics.
3.2 Description of Supplied Parts
Radian AHRS
instrument
Fig 2 Radian AHRS instrument
The Radian instrument, shown in Fig 2 in its 300m depth-rated form, contains all
the accelerometers, rate-of-turn gyros, and earth magnetic field sensors together
with the supporting electronics.
There are no user serviceable parts inside the instrument housing. Do not
open the housing for any reason.
All connections to the Radian instrument pass through a single 8-pin subcon wa-
terproof connector at the forward-facing end of its housing. Refer to sub-section
“Electrical Connections” beginning on page 11 for a summary of the connections

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Issue: C - Rev 1
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required, and to sub-section 4.5 “Electrical connection” beginning on page 15 for
detailed instructions to connect Radian.
The depth-rated housing is pre-assembled to its mounting cradle. Do not remove
Radian from its cradle.
The mounting cradle has brackets that allow you to mount the instrument securely
using screws or bolts that you supply. Refer to Fig 6 on page 14 for a dimensioned
outline drawing of the Radian instrument and its mounting cradle, and use the in-
formation supplied to prepare the installation location. Refer to sub-section 4.2
“Installation Location” beginning on page 12 for an explanation of the require-
ments needed for Radian’s installation location.
Cables Sonardyne supply a standard interface tail for the Radian unit, which has a water-
proof connector for mating to Radian’s multiway port. This tail is Sonardyne part
number 8041–051 and is shown in Fig 3. Radian requires connection to a DC
power supply in the range 18V to 50V, and to a serial communications port. The
standard communications port is RS232, but an RS485 serial port version of
Radian is also available.
Fig 3 Standard interface tail – Sonardyne part number 8041-051

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Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
Sonardyne can supply an optional cable that allows Radian to be powered from
the auxiliary transceiver port on a Navigation Control Unit (NCU). This cable is
Sonardyne part number 8041–050 as shown in Fig 4.
Connect the Lemo connector to the Auxiliary Transceiver port on the NCU, and
connect the 9-way socket to a serial port on the NCU. To enable power to the
NCU’s Auxiliary Transceiver port, authenticate a transceiver via the NCU by us-
ing any Sonardyne USBL software. You can then verify power availability by
checking the flashing LED on the serial port you are using when Radian is pow-
ered on.
To configure Radian with the required settings and perform a magnetic calibra-
tion, you must run the Radian Tool on a PC that has the Radian serial connection
plugged into one of the PC’s ports.
Fig 4 Cable for use with NCU transceiver port – Sonardyne part number 8041–050

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Issue: C - Rev 1
© Sonardyne International Limited 2007
Electrical
Connections
Radian requires connection to a DC power supply in the range 18V to 50V, and
to external receiving equipment.
If you are connecting Radian directly to a Navigation Control Unit (NCU),
use cable part number 8041–050. Connect the 9-pin D-type connector to the
equipment that receives data from Radian, and connect the Lemo connector
to the DC power supply.
If you are connecting Radian to external equipment indirectly, through a
junction box and additional cables, use the cable part number 8041–051.
Refer to Fig 4 for details of the cores in this cable.
3.3 Power Supply Requirements
Radian requires DC electrical power in the range 18V to 50V to operate. Power
consumption from the supply is less than 1W. Refer to 4.5 “Electrical connection”
beginning on page 15 for instructions to connect the DC electrical supply.
3.4 Radian Installation
Radian delivers measurements of attitude and heading that are valid for the plat-
form on which you mount it.
You must take care to install Radian so that the measurements it supplies are cor-
rect, by aligning Radian’s housing so that it is level with respect to the mounting
location, and its fore-aft axis aligns with the fore-aft axis of the vessel or vehicle.
Refer to section 4 “Installation” beginning on page 12 for full instructions to in-
stall Radian.
3.5 Software Installation and Operation
Simple user software supplied with Radian allows you to configure Radian’s set-
tings and to display its measurements. Refer to section 6 “Radian Software” be-
ginning on page 14 for instructions to use the software.
System
requirements
The PC on which you install the software must be operating Microsoft®
Windows® XP. A PC of sufficient specification to operate Windows XP will
have a sufficiently good specification to run the supplied software.
The PC must have a spare serial COM port for the data connection with Radian.
Radian can use RS232 or RS485 serial communications. You may need an
RS232-to-RS485 converter or a USB-to-RS485 converter if you want to use
RS485 communications.
Installation Insert the CD in the PC’s CD-ROM drive. If installation does not start automati-
cally, select Start > Run from Windows, type D:/setup.exe and click OK, where
D is the drive letter of the CD-ROM drive.
Follow the instructions on screen to install the software, accepting
the default settings when necessary. The installation process places a
new icon on the PC’s desktop.

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Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
Note
4Installation
In this section… This section contains the following sub-sections:
4.1 “Introduction” beginning on page 12.
4.2 “Installation Location” beginning on page 12.
4.3 “Alignment” beginning on page 13.
4.4 “Site Preparation” beginning on page 14.
4.5 “Electrical connection” beginning on page 15.
4.1 Introduction
Installation of Radian is not a demanding or difficult task. However, to gain the
best possible performance from Radian, you should plan the installation carefully
and follow the instructions and guidance included throughout this section of the
manual.
The process of installation involves the following stages:
1. A location is chosen and prepared to install Radian’s pressure housing.
2. Radian is physically oriented and mounted at the location chosen for it.
3. Electrical and communication connections are made between Radian and the
external equipment associated with it.
4.2 Installation Location
The location chosen to mount Radian must provide the following:
It must not exceed Radian’s depth rating.
It must be nominally level with respect to the vessel or vehicle on which
Radian is to be installed.
It must provide protection for Radian so that there is no danger of damage
from impact with other equipment or with sub-sea structures around which
the ROV is working.
It must provide a stable magnetic environment, where there are no strong
magnetic fields and where the magnetic field of the vessel or vehicle does
not change with deployment or operation of equipment or manipulator arms.
It must not be subjected to extremes of temperature, rapid temperature varia-
tions, or excessive vibration or shocks.
It must allow easy routing of the cable between Radian and the receiving
equipment.
It must allow convenient access to install and connect Radian.
Because Radian does not output measurements of heave or surge, there
is no requirement to mount it at or near the centre of rotation of the vehicle
on which it is installed. Provided there is no flexing or twisting of the vehicle,
Radian’s measurements of heading, roll and pitch will be valid for the entire
vehicle.

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4.3 Alignment
Fig 5 Radian’s orientation requirements
Radian delivers measurements of attitude that are valid for its own body reference
frame. This means that its measurements of heading, roll and pitch will all relate
to the FWD, UP and STBD axes marked by labels on Radian’s housing.
For these attitude measurements to be valid for the vessel or vehicle on which Ra-
dian is mounted, it is necessary for Radian to be aligned so that its fore-aft, port-
stbd and up-down axis to align with the corresponding axes on the vessel or vehi-
cle. Fig 5 shows Radian’s alignment references.
In practice, this means that the physical mounting location should be prepared so
that, when mounted, Radian’s alignment meets this requirement.
Depending on the application for which Radian is to be used, it may be the case
that the attitude measurements may be used to provide motion compensation for
external equipment such as sonar imaging systems. In these cases, Radian must
be mounted so that its fore-aft, port-stbd and up-down axes align with those of the
equipment for which it is supplying measurements.
Pitch rotation Ideally, you should install Radian on the vehicle with its forward axis aligned with
the vehicle’s forward axis, as shown in Fig 5. However, if this is not possible for
mechanical reasons, you can pitch Radian up or down by 90° as necessary, and
rotate the internal axis through software to compensate.
Install Radian as required and open the Advanced Settings dialog in the software,
shown in Fig 16 on page 24. Click the Pitch Up 90° or the Pitch Down 90° button

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as appropriate for the installation. The Level button resets Radian’s internal ori-
entation to the normal pitch attitude.
Radian’s roll axis must align with the nominal roll axis on the vehicle and cannot
be adjusted.
Installation
drawing
Fig 6 Dimensioned installation drawing
4.4 Site Preparation
You must use four M5 screws or bolts with shakeproof and plain washers to se-
cure Radian at the location you have chosen for it. Sonardyne does not supply
these fixings.