1. HYSWEEP® HARDWARE

2. Configuring a Multibeam System
HYSWEEP®
Configuring a Multibeam System
Multibeam
sonar
Motion
sensor
Heading
sensor
GPS
(via HYPACK
hardware)
Tide
(via HYPACK
Hardware)
Dynamic Draft
(via HYPACK
Hardware)
SV: Sensor and/or Profile
Also: Scanning Laser
For Topographic Survey

3. GPS Pos HYPACK SURVEY HYSWEEP SURVEY MRU MB GYRO HDG HPR MB
Time
HYPACK
SURVEY
HYSWEEP
SURVEY
POS, TIDE
DRAFT
MRU, HDG,
Nadir Depth
MRU MB
GYRO
HDG
HPR MB

4. Asynchronous data are correlated with time tags.
Interfacing
Bringing in the data
Network: For high volume data like multibeam. Data is received with UTC time tag.
Serial RS-232: For lower data volume like GPS.
Typically, Motion and Heading messages do not contain time tags. Data gets timed at arrival to COM port.
Exception is GPS ($GPGGA has a UTC time tag).
Network and COM inputs
Time Tagging
Very Important. Device data are correlated by time tags.
All devices must use the same time base – UTC time or PC time. Without it, data will not be good MB MB MB
MRU
MRU
MRU
MRU
POS
POS
+ time
Asynchronous data are correlated with time tags. 4

5. Do I Need to Synch My Clock to UTC?
If you have a device that sends datagrams with UTC time stamps, then the answer is:
Yes
Examples of when time synch to UTC is required:
GPS (UTC), Seabat (UTC), TSS DMS/05 (No time sent), Gyro (No time sent).
POS/MV (UTC), Seabat (UTC), Single beam on a COM port (No time sent).
You can improve your time synchronization from +/- 10mSec to +/- 1mSec by using a HYPACK 1PPS Box. 5

6. A Typical MB Configuration
Position, Tide & Draft.
Depth, Heading & HPR
SHARED MEMORY
HYPACK ®
SURVEY
HYSWEEP®
SURVEY
Network: Position & Time Sync
Network: Multibeam Data
Network: Heading & HPR
POS/MV Inertial System
Seabat 7125
ZDA and 1 PPS Time Sync
HYPACK does NOT require 1PPS 6

7. Other Configurations: EM3000
Position, Tide & Draft.
Depth, Heading & HPR
SHARED MEMORY
HYPACK ®
SURVEY
HYSWEEP®
SURVEY
COM: Position & ZDA Time Sync
Network: Sonar, Heading & HPR
Sonar
Kongsberg EM3002
GPS
Heading & HPR
Position & Time Sync
HYPACK does NOT require 1PPS 7

8. Other Configurations: 1PPS
Position, Tide & Draft.
Depth, Heading & HPR
SHARED MEMORY
HYPACK ®
SURVEY
HYSWEEP®
SURVEY
COM: Position & Time Sync
1PPS Box
Network: Sonar Data
COM: Heading & HPR
GPS
TSS DMS/05
SG Brown Gyro
Seabat 8101
COM: Time Sync
HYPACK requires time sync and needs a PPS box. 8

9. “Red Rogers” and drawing (device locations).
Offsets
Adjustment for:
Boat Origin (AKA Reference Point): Vessel Center of Gravity XY. Static waterline Z.
Device Location: Offsets in X, Y and Z measured from boat origin.
Device Rotation: Pitch, roll and yaw orientation of directional devices such as multibeam sonar.
Device Latency:
Time delay = data arrival time – data valid time.
“Red Rogers” and drawing (device locations).
Tracking Point: XY location of the sonar head. Used in Survey to adjust the Left/Right indicator. Entered in HYPACK HARDWARE. 9

10. MRU is at boat origin, tracking point is over the transducer.+Y
Boat Reference System +X
MRU
Tracking Point
MRU +X
Multibeam TRANSDUCER
Multibeam TRANSDUCER +Z
MRU is at boat origin, tracking point is over the transducer. 10

11. Hardware HYPACK® and HYSWEEP ®
Combined Hardware program ( new in 2014 ) will set the hardware for both HYPACK and HYSWEEP.
Shared memory will handle the position, tides and draft to HYSWEEP and depth, motion and heading to HYPACK.
No need to re-enter offsets in HYSWEEP for navigation device
System: Include Multibeam
Main page:
Configure HYPACK devices and then HYSWEEP devices

12. HARDWARE Positioning Devices:
GPS.DLL for position from COM port. (Heading and RTK Tide if needed.)
POSMV.DLL for POS/MV positions over a network. (RTK Tide if needed.)
F180.DLL for POS/MV positions over a network. (RTK Tide if needed.)
Select Time Synch option on the HYPACK configuration page.
Enter Tracking Point offsets (Multibeam Head Offsets) on Mobile tab for BOAT

13. HARDWARE
Configure the multibeam section of HARDWARE for a Multibeam, Motion sensor and Heading. Select from list and include on the INSTALLED section.
Note: Sonar multibeam systems may include MRU and Heading on their driver
NO LONGER NEEDED is HYPACK NAVIGATION. This is already included in the hardware program
The HYPACK Navigation will automatically come from shared memory, and no set-up is needed in the multibeam section 13

14. Multibeam Device Setup Button: Connect:
Use the Setup button to enter manufacturer specific information.
Connect:
Pretty much all sonars are network. Determined the correct Port Number and
Internet Address required for TCP/IP devices.
Refer to “HYSWEEP Interfacing.pdf” for details.

15. Multibeam Device Offsets: Select Sonar Head 1 or 2.
Enter Location offsets measured from boat reference.
Enter Rotation offsets from Patch Test.
Latency should be zero. (Navigation Latency is handled in the GPS set-up)

16. Motion and Heading Sensors
Devices:
Select the driver, if listed. If not…
The “TSS1” message is standard for Heave, Pitch and Roll (TSS DMS driver).
The NMEA “HDT” message is standard for Heading (NMEA-0183 Gyro driver).
The Generic Attitude can be configured to parse ASCII datagrams
Connect:
Enter Network or COM settings. Remember “HYSWEEP Interfacing.pdf”.
Offsets:
MRU Location offsets measured from boat reference.
MRU Rotation offsets can be used to “zero” Pitch and Roll.
Heading Rotation offset (Yaw) can be used to correct to grid north.

17. Testing and Saving…
In the CONNECT Tab COM Test and Network test to verify sensor is sending data
I have a note about saving the changes. Last year’s slide says to save the changes [meaning click the Yes button when the prg asks to save changes] and gives the full path to the Hysweep.ini. That seems more clear/exact. There was a note on that slide [changes saved to Hysweep.ini] but this is another I don’t remember what he wanted different.
Alternate Hardware Configurations:
You can Open and Save alternate configurations using the IMPORT and EXPORT 17

18. A Sample Session
Note to change dialog with scroll bar????