Teledyne Reson PDS Specification sheet

Teledyne PDS, T20-P and POS MV Quick Setup
Teledyne PDS
Version 1.0.6
June 2015
Teledyne RESON B.V.
Stuttgartstraat 42- 44
3047 AS Rotterdam
The Netherlands
Tel.: [phone]
www.teledyne-reson.com

Amendment Record Sheet
Rev.
Date
Reason for Modifications
1.0.6
11/06/2015
Configuration: Timing text modified.
1.0.5
11/05/2015
Configuration: text modified.
1.0.4
28/04/2015
All chapters, text modified after review UBL.
1.0.3
10/04/2015
Configuration: text modified. TrueHeave.
1.0.2
28/09/2014
Added section ‘Offsets’.
Modified text POS MV CMR and RTCM input.
Modified text sound velocity input.
Added text ‘Heave’ input.
Added link PDS2000 instruction.
1.0.1
09/09/2014
Version after review.
1.0.0
22/08/2014
First version of the PDS2000 T20-P with POS MV setup Manual.

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Contents
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i
Contents
1 Introduction 1
1.1 T20-P with POS MV and Teledyne PDS Quick Setup ...........................................1
2 Interfacing 3
2.1 Introduction.............................................................................................................3
2.2 Connections............................................................................................................3
2.3 Computer requirements..........................................................................................5
2.4 Installation...............................................................................................................6
3 Configuration 7
3.1 Introduction.............................................................................................................7
3.2 Software installation ...............................................................................................7
3.2.1 Teledyne PDS Installation.............................................................................7
3.2.2 SeaBat User Interface (SUI).........................................................................7
3.2.3 POSView.......................................................................................................7
3.3 TCP/IP Settings......................................................................................................7
3.3.1 Configure computer TCP/IP Settings and Disable Firewall..........................8
3.3.2 Configure T20-P TCP/IP Settings...............................................................14
3.3.3 Configure POS MV TCP/IP Settings...........................................................17
3.4 SUI Configuration .................................................................................................19
3.4.1 Roll Stabilization .........................................................................................19
3.4.2 Time and PPS Setup ..................................................................................20
3.4.2.1 Serial Time Message.........................................................................20
3.4.2.2 Ethernet Time Message ....................................................................21
3.4.2.3 PPS ...................................................................................................22
3.4.3 Sound Velocity............................................................................................23
3.4.4 Other I/O Settings .......................................................................................24
3.5 POS MV Configuration .........................................................................................24
3.5.1 Connect with POS MV................................................................................24
3.5.2 Installation settings .....................................................................................25
3.5.3 Timing .........................................................................................................27
3.5.3.1 Serial Time Message Output.............................................................27
3.5.3.2 Ethernet Time Message ....................................................................29
3.5.4 Motion .........................................................................................................31
3.5.5 Position .......................................................................................................32
3.5.6 Ethernet Output...........................................................................................32
3.5.7 RTCM / CMR input......................................................................................33
3.5.7.1 COM 3 PORT input ...........................................................................33
3.5.7.2 GNSS Port.........................................................................................34
3.5.8 Calibration...................................................................................................35
3.6 Teledyne PDS Configuration................................................................................39
3.6.1 Equipment Selection...................................................................................39

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Contents Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
3.6.1.1 RESON ............................................................................................. 39
3.6.1.2 POS MV............................................................................................ 41
3.6.2 I/O Selection............................................................................................... 44
3.6.2.1 RESON I/O........................................................................................ 44
3.6.2.2 POSMV I/O ....................................................................................... 48
3.6.3 Timing......................................................................................................... 51
3.6.3.1 Clock synchronization set-up............................................................ 52
3.6.3.2 Timestamp Mode .............................................................................. 52
3.6.4 Offsets and Corrections.............................................................................. 53
4 Appendix Installing Teledyne PDS 57
4.1 Introduction .......................................................................................................... 57
4.2 Install Teledyne PDS............................................................................................ 57
5 Appendix Installing SeaBat User Interface (SUI) 61
5.1 Introduction .......................................................................................................... 61
5.2 Vessel Configuration............................................................................................ 61
6 Appendix Installing POSView 65
6.1 Introduction .......................................................................................................... 65
6.2 Installing POSView............................................................................................... 65

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Figures
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iii
Figures
Figure 2-1 Rear panel RESON T20-P ..................................................................................................3
Figure 2-2 Rear panel Applanix POS MV.............................................................................................3
Figure 2-3 Schematic of interfacing RESON T20-P, Applanix POS MV and Teledyne PDS
computer..............................................................................................................................4
Figure 3-1 Firewall ..............................................................................................................................11
Figure 3-2 Hardware pane with motion stabilization setting...............................................................20
Figure 3-3 I/O pane serial clock setting ..............................................................................................21
Figure 3-4 Changing the serial protocol into network.........................................................................21
Figure 3-5 clock settings using the Ethernet.......................................................................................22
Figure 3-6 Hardware pane PPS setting..............................................................................................23
Figure 3-7 PPS status LED.................................................................................................................23
Figure 3-8 I/O pane Sound Velocity (COM3)......................................................................................24
Figure 3-9 Connect with POS MV.......................................................................................................25
Figure 3-10 Lever Arms & Mounting.....................................................................................................25
Figure 3-11 IMU reference point...........................................................................................................25
Figure 3-12 POS MV Lever arms convention.......................................................................................26
Figure 3-13 Lever Arm & Mounting Angles...........................................................................................26
Figure 3-14 Keep Ref. to Sensor 1 values zero....................................................................................27
Figure 3-15 Tags, Multipath & AutoStart ..............................................................................................28
Figure 3-16 Time Tag UTC Time..........................................................................................................28
Figure 3-17 Input/Output Ports…..........................................................................................................28
Figure 3-18 Time Input/Output Ports Set-up.........................................................................................29
Figure 3-19 Tags, Multipath & AutoStart ..............................................................................................30
Figure 3-20 Time Tag UTC Time..........................................................................................................30
Figure 3-21 Ethernet Realtime..............................................................................................................30
Figure 3-22 PPS Data selection............................................................................................................31
Figure 3-23 Input/Output Ports…..........................................................................................................31
Figure 3-24 Motion Input/Output set-up................................................................................................32
Figure 3-25 Ethernet Realtime..............................................................................................................32
Figure 3-26 Logging Groups.................................................................................................................33
Figure 3-27 Input/Output Ports Set-up..................................................................................................34
Figure 3-28 GNSS Receiver.................................................................................................................35
Figure 3-29 GNSS Receiver configuration ...........................................................................................35
Figure 3-30 GAMS Param Setup… ......................................................................................................36
Figure 3-31 GAMS Parameter Setup....................................................................................................36
Figure 3-32 Navigation..........................................................................................................................37
Figure 3-33 GAMS Calibration Control.................................................................................................37
Figure 3-34 Heading accuracy..............................................................................................................38
Figure 3-35 GAMS status .....................................................................................................................38
Figure 3-36 Save Settings ....................................................................................................................38
Figure 3-37 Equipment page ................................................................................................................39
Figure 3-38 RESON SeaBat 7K............................................................................................................40
Figure 3-39 RESON SeaBat 7K devices..............................................................................................40

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Figures Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
Figure 3-40 Positioning......................................................................................................................... 41
Figure 3-41 VRU................................................................................................................................... 42
Figure 3-42 Compass........................................................................................................................... 43
Figure 3-43 Heave................................................................................................................................ 44
Figure 3-44 Timestamp mode 7K......................................................................................................... 53
Figure 3-45 Offsets............................................................................................................................... 54
Figure 4-1 Welcome page of the Teledyne PDS InstallShield Wizard............................................... 57
Figure 4-2 Type of setup in the Teledyne PDS InstallShield Wizard ................................................. 58
Figure 4-3 Update C-Map SDK software............................................................................................ 58

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Introduction
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1
1 Introduction
1.1 T20-P with POS MV and Teledyne PDS Quick Setup
The purpose of this manual is to act as a quick guide to setup a Teledyne
RESON Seabat T20-P combined with an Applanix POS MV and Teledyne
PDS. The manual will not describe the components in full detail. Refer to
the associated manuals for more information.
For other information about Teledyne PDS see the Teledyne PDS User
Manual (the file Teledyne PDS User Manual.pdf in the folder ‘Manuals’)
This manual is also available as a HTML Help file and can be opened with
F1 or with Help > Help Topics from the menu bar.
Teledyne PDS instruction movies are available at the Teledyne PDS
YouTube channel. Watch Teledyne PDS instruction movies.

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Interfacing
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3
2 Interfacing
2.1 Introduction In this section the basic setup of a RESON T20-P, a POS MV and the
Teledyne PDS computer with the connections are described.
2.2 ConnectionsFigure 2-1 shows the rear panel with the connectors of a T20-P.
Figure 2-1 Rear panel RESON T20-P
Figure 2-2 shows the rear panel with the connectors of a POS MV.
Figure 2-2 Rear panel Applanix POS MV
The Teledyne PDS software, the POS MV’s POSView software and the
SeaBat User Interface (SUI) are installed on a computer. The POS MV,
the RESON T20-P and the computer are linked to each other by an
Ethernet connection. (An Ethernet switch is used for this purpose.) The
T20-P need serial motion data for its roll stabilization feature. A PPS
signal with a timing message from the POS MV is needed for correct time
synchronization.
Schematically a setup is represented as:

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Interfacing Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
Figure 2-3 Schematic of interfacing RESON T20-P, Applanix POS MV and
Teledyne PDS computer
The following table indicates the cabling. (A setup may be different
depending of the customer’s used configuration.)
Nr
Function
Type
1
Connect T20-P with projector
Supplied by RESON
(pn 85002228)
2
Connect T20-P with receiver
Supplied by RESON
(pn 1008775)
3
Connect T20-P with sound velocity
probe as delivered by RESON. (SVP-70
or SVP-71). Alternatively a Sound
Velocity probe could be connected to
Supplied by RESON
(pn 85002223) or
supplier of Sound
Velocity probe.
RESON T20-P Applanix POS MV
NETWORK
SWITCH
Projector
Receiver
SVP-power
Motion
COM2
Time
COM1
PPS in
PPS
ANT1 ANT2
IMU
COMPUTER
LAN1
GNSS
LAN
COM 1 COM 2
Corrections
12
3
4
5
6
7
8
9
10
11
12
13

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Interfacing
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5
Nr
Function
Type
COM3 of the T20-P.
4
Connect T20-P LAN port with Ethernet
switch
Ethernet cable
5
Connect T20-P motion port with serial
port POS MV
Serial cable.
(Delivered with POS
MV)
6
Connect T20-P time port with serial port
POS MV.
Alternatively with latest versions of the
SUI I/O module the timing could also be
added by the Ethernet connection and
the correct selected (message 7) POS
MV time message. In this case the serial
connection is not needed.
Serial cable (Delivered
with POS MV)
7
ConnectT20-P PPS in port with POS MV
PPS out port
Coax 75 ohm with
BNC connectors
8
Connect T20-P LAN Ethernet port with
switch
Ethernet cable
9
Connect POS MV GNSS serial port with
GPS correction source.
Serial cable
10
Connect POSMV with IMU
Supplied by Applanix
(pn 10005142-25)
11
Connect POS MV with secondary GPS
antenna
Coax 50 ohm as
supplied by Applanix
12
Connect POS MV with primary GPS
antenna
Coax 50 ohm as
supplied by Applanix
13
Connect Ethernet switch with Teledyne
PDS computer
Ethernet cable
2.3 Computer requirements
The minimum computer requirements for running Teledyne PDS are:
CPU: modern Quad core Processor but preferred 8 core;
Graphic card with OPENGL support and 1Gb of memory;
4Gb internal memory;
500Gb Hard disk;
Multi serial I/O card when sensors are interfaced to the computer
serially;
32 bits or 64 bits MS windows 7 or MS windows XP professional
service pack 3 or higher (Support ends from of 1st January 2015);
DVD/CD Drive.
Refer to the Teledyne PDS user manual for more specifications.

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Interfacing Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
2.4 Installation Refer to the RESON T20-P Operator Manual and the POS MV User
Manual for a full description of installing the equipment.
Take special attention to the POS MV’s GPS antennas. The distance
between the primary and secondary antenna should be at least 2 meters
but may not exceed 5 meters.
The primary antenna (ANT1) is the antenna used for positioning.

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Configuration
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7
3 Configuration
3.1 Introduction The configuration of the system consists of:
Installing the software packages;
Set the devices TCP/IP settings;
Setup the Sonar User Interface (SUI);
Setup the POS MV;
Setup Teledyne PDS.
3.2 Software installation
In this document it is assumed the Teledyne PDS software, the SeaBat
User Interface (SUI) software and the POS MV’s POSView software is
installed on the same computer.
3.2.1 Teledyne PDS Installation
Refer to appendix ‘Installing Teledyne PDS’ on page 57 for the procedure
to install Teledyne PDS on a computer.
3.2.2 SeaBat User Interface (SUI)
The SUI setup and controls the sonar.
Refer to appendix ‘Installing SeaBat User Interface (SUI)’ on page xx for
the procedure to install the SUI on a computer.
3.2.3 POSView
POSView setup and controls the POS MV.
Refer to appendix ‘Installing POSView’ on page xx for the procedure to
install the POSView software on the computer.
3.3 TCP/IP Settings
The T20-P, POS MV and computer must set in the same IP range.
The follow IP settings are recommended, but other may use:
Computer: 10.11.10.100

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Configuration Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
T20-P: 10.11.10.1
POSMV: 10.11.10.102
In the next sections the TC/IP configuration for the computer, the T20-P
and the POS MV are described. It is recommended to disable a firewall as
it could block programs as Teledyne PDS or POSView.
3.3.1 Configure computer TCP/IP Settings and
Disable Firewall
The following table describes how to configure the computer IP address
for MS Windows7. For other Windows versions the procedure is almost
similar.
Step
Action
1
Press the windows ‘Start’ button.
2
Select ‘Control Panel’.

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Configuration
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9
Step
Action
3
Select ‘Network and sharing Center’.
4
Select ‘Change adapter settings’.

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Configuration Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
Step
Action
5
The available computer connections are listed. In this example
only one, but more are possible.
6
Right click at the LAN connection on which the sonar is
connected. A context menu opens. Select ‘Properties’.
7
In the next window select ‘Internet Protocol Version 4
(TCP/IPv4)’ and press ‘Properties’.

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Configuration
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11
Step
Action
8
Check the ‘Use the following IP address’button, and fill in the
required IP address. (E.g. 10.11.10.100)
Set the subnet mask to 255.255.255.0
9
Press ‘OK’ to close the wizard.
When a firewall is enabled it possibly blocks Teledyne PDS or other
applications.
Figure 3-1 Firewall
It is recommended to disable the firewall.
The following table describes the procedure to disable a firewall for
windows 7. For other windows versions the procedure is almost similar.

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
Configuration Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
Step
Action
1
Press the windows ‘Start’ button.
2
Select ‘Control Panel’.

Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup Configuration
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13
Step
Action
3
Select ‘Windows Firewall’.
4
Press ‘Turn Windows Firewall on or off’.

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Configuration Teledyne PDS - Teledyne PDS, T20-P and POS MV Quick Setup
Step
Action
5
Turn off the firewall in the dialog box and press ‘Ok’ to confirm.
6
The firewall is turned off
The computer is ready for use.
3.3.2 Configure T20-P TCP/IP Settings
The T20-P’s IP address is configured with the SeaBat User Interface
(SUI).
There are two options:
Generate a IP address automatically;
Use static IP address.
The T20-P has the follow default static IP addresses:
LAN1: 10.11.10.1
LAN2:10.11.10.2

The static IP range of the T20-P’s LAN2 port is between 10.11.10.2 and
10.11.10.9 On this way it is very easy to configure an IP number for the
T20-P processor as you now know the range of the port.
In case of generation an IP address automatically a DHCP server must
available. The processor will acquire an IP address from the DHCP
server.
The following table describes the procedure to change the IP number of
the T20-P.