Navigation System
MBES Navigation
and Acquisition
PT. Geotronix Pratama Indonesia
Bona Indah Plaza Blok A2 No.D12, Jalan Karang Tengah Raya
Lebak Bulus, South Jakarta, Indonesia 12440 1
www.geotronix.co.id
ACQUISITION SETUP OUTLINE
Navipac Setup
Naviscan Setup
www.geotronix.co.id
EIVA Navisuite Dataflow
EIVA Navisuite Dataflow
EIVA Navisuite Dataflow
Scope of The Online Training
EIVA Setup - Navipac
Navipac Setup
Navipac
Setup
Surface Positioning
3.
4. 5.
6.
Surface Sensor Offset
Positioning
Gyro
3.
1.
2.
4. 5.
6.
1. Right click in Gyro - Add new item
2. Type – NMEA Gyro
3. I/O Mode - On and I/O Type - Serial
4. Set Port for vessel heading data input
5. Set Baudrate for heading data input
6. Used Test Port for checking data input
Gyro
1. Input vessel Gyro
correction value
2. Set Gyro Location - 1.
Vessel 2.
Motion Sensor (Optional)
3.
1.
4. 5.
6.
1. Right click in Motion sensor - Add new item
2. Type – Set motion sensor type
2. 3. I/O Mode - On and I/O Type - Serial
4. Set Port for motion sensor data input
5. Set Baudrate for motion sensor data input
6. Used Test Port for checking data input
Data Output
3.
2.
1. 4.
1. Right click in Data output - Add new item
2. Select type
3. Set I/O mode and type
4. Set I/O Setup: Port and baudrate if Serial,
Port and IP address if UDP/IP
Data Output
Position to Naviscan
2.
1. Required data output
2. I/O or port setting (local) 1.
Data Output
Heading to
Naviscan 2.
1. Data output NMEA
2. I/O or port setting 1.
3.
(local)
3. Checklist HDT string
Data Output Runline
Control to Naviscan
2.
1. Data output EIVA Runline
Control
1.
2. I/O or port setting (local)
Data Acquisition
Singlebeam (Optional)
2.
1. Right click in Data 1.
acquisition - Add new
item
2. Set data acquisition
selection
3. Next
Data Acquisition
Singlebeam
(Optional)
2.
2.
1. Set type of singlebeam
1.
echosounder
2. I/O Setup
Geodesy 1.
Parameter
2.
1. Right click in Projection –
Edit Settings
2. Set Ellipsoid
3. Set Projection
4. Set Projection Zone Geodesy
3.
Navipac Online
Event Setup (by time)
1. Events – Event Settings
2. Tab Time Events
3. Checklist Enable
4. Set event by time – Interval event
Event Setup (by distance)
1. Events – Event Settings
2. Tab Distance Events
3. Checklist Enable Distance Shooting
4. Set event by distance – Distance between events
Log Data
1. View – Log Data
or press log data
button
Log Data
1. 1. Edit – Custom logging format or press custom format button
2. Add selected data items: Time, Events, Towfish position
3. Checklist: Record Lat/Long, KP
4. Start Recording when enters survey line
2. 3.
01
25
Port Sharing to Naviscan
1.
2.
1. Options – Global Parameters - Naviscan Tab
2. Checklist: enable port sharing; set IP address and
Port ID
Helmsman’s Display
Survey bar
Offline indicator
Date and time view
Dynamic object view
Vessel
Cursor position
Runline control
Range and bearing Runline
01
EIVA Setup - Naviscan
Naviscan
Setup
Naviscan Setup
Naviscan Add required sensor for
Setup multibeam survey
Geodesy
Parameter
1.
1. Edit projection ellipsoid
GPS Time Setup
(ZDA+PPS)
1. 2.
1. Add sensor – GPS
3.
Time – NMEA ZDA
2. Port setup
3. PPS usage - RI
Runline Control
Setup
2.
1.
1. Add sensor – Runline Control
– EIVA Navipac
2. Port setup depends on
Navipac Data Output
Motion
Setup
2.
1. Add sensor – Motion – TSS 1. 3.
DMS type
2. Port setup
3. Input motion offset
Navigation
Setup
2.
1. Add sensor – Navigation –
EIVA Pos (Exp) from Navipac
1.
2. Port setup depends on 3.
Navipac Data Output
3. Input 0 value for navigation
offset if use Pos (Exp) from
Navipac
Multibeam
Echosounder
Setup
2.
1. Add sensor – Echosounder –
3.
R2Sonic 2000 series
2. Port setup depends on Sonic 1.
Control Network Setting
3. Input echosounder offset (if 4.
any)
4. Input patch test value (if
any)
Gyro Setup
4.
1. Add sensor – Gyro – NMEA 2.
1.
Gyro 3.
2. Port setup depends on
Navipac Data Output
3. Input gyro calibration value
(if any)
4. Naviscan Online
Naviscan Online
Navigation
system
Underwater
Positioning
PT. Geotronix Pratama Indonesia
Bona Indah Plaza Blok A2 No.D12, Jalan Karang Tengah Raya
Lebak Bulus, South Jakarta, Indonesia 12440 39
www.geotronix.co.id
ACQUISITION SETUP OUTLINE
Navipac Setup
USBL Calibration
Naviscan Setup
www.geotronix.co.id
EIVA Setup - Navipac
Navipac
Setup
Surface Positioning
1.
3.
2.
4. 5.
6.
1. Right click in Surface navigation - Add new item
2. Type - GPS (NMEA)
3. I/O Mode - On and I/O Type - Serial
4. Set Port for navigation data input
5. Set Baudrate for navigation data input
6. Used Test Port for checking data input 01
Surface
Positioning
Sensor Offset
Vessel Gyro
3.
1.
2.
4. 5.
6.
1. Right click in Gyro - Add new item
2. Type – NMEA Gyro
3. I/O Mode - On and I/O Type - Serial
4. Set Port for vessel heading data input
5. Set Baudrate for heading data input
6. Used Test Port for checking data input
Vessel Gyro
1. Input vessel Gyro
correction value
1.
2. Set Gyro Location - Vessel
2.
ROV Gyro
3.
1.
4. 5.
6.
1. Right click in Gyro - Add new item
2. Type – User defined Gyro
3. I/O Mode - On and I/O Type - Serial
2 4. Set Port for ROV heading data input
.
5. Set Baudrate for heading data input
6. Used Test Port for checking data input
ROV Gyro
1.
1. Input ROV Gyro correction
value 2.
2. Set Gyro Location - ROV
Motion Sensor
3.
1.
4. 5.
6.
1. Right click in Motion sensor - Add new item
2. Type – Set motion sensor type
2. 3. I/O Mode - On and I/O Type - Serial
4. Set Port for motion sensor data input
5. Set Baudrate for motion sensor data input
6. Used Test Port for checking data input
Vessel MRU
1.
1. Input vessel MRU offset
2. Input MRU correction value (if 2.
any)
3. Set MRU Location - Vessel
3.
Vessel MRU
1.
1. Input ROV MRU offset
2. Input MRU correction value (if 2.
any)
3. Set MRU Location - ROV
3.
Dynamic Positioning
3.
2.
1.
4. 5.
6.
1. Right click in Dynamic positioning - Add new item
2. Type – Set USBL System Type
3. I/O Mode - On and I/O Type - Serial
4. Set Port for USBL data input
5. Set Baudrate for USBL data input
Dynamic
Positioning
1.
1. Input USBL offset
2.
2. Input USBL Calibration
results
Dynamic Positioning
2.
3.
4.
1.
1. Right click in USBL Type - Add object
2. Select attached object – ROV
3. Set TP Code of transponder/beacon
4. Input transponder/beacon offset
Data Output
3.
2.
1. 4.
1. Right click in Data output - Add new item
2. Select type
3. Set I/O mode and type
4. Set I/O Setup: Port and baudrate if Serial,
Port and IP address if UDP/IP
Data Output
2.
1. Required data output 1.
2. I/O or port setting
Data Acquisition
2.
1.
1. Right click in Data acquisition -
Add new item
2. Set data acquisition selection
3. Next
4. I/O Setup
Data Acquisition
(pipe tracker)
1.
2.
1. I/O Setup
2. Input offset
3. Set Location of Tracker 3.
Data Acquisition
(bathy sensor)
1.
2.
1. I/O Setup
2. Set Location of bathy
sensor
Offsets
1. Right click in Offsets - Add 3.
new item
2.
2. Set required offsets
3. Set X, Y, Z; I/O Mode; Type;
Relative to
Geodesy 1.
Parameter
1. Right click in Projection – 2.
Edit Settings
2. Set Ellipsoid
3. Set Projection
4. Set Projection Zone
Geodesy
3.
Navipac Online
Event Setup (by time)
1. Events – Event Settings
2. Tab Time Events
3. Checklist Enable
4. Set event by time – Interval event
Event Setup (by distance)
1. Events – Event Settings
2. Tab Distance Events
3. Checklist Enable Distance Shooting
4. Set event by distance – Distance between events
Log Data
1. View – Log Data or
press log data button
Log Data
1. 1. Edit – Custom logging format or press custom format
button
2. Add selected data items: Time, Events, Towfish position
3. Checklist: Record Lat/Long, KP
4. Start Recording when enters survey line
2. 3.
01
Port Sharing to Naviscan
1.
2.
1. Options – Global Parameters - Naviscan Tab
2. Checklist: enable port sharing; set IP address
and Port ID
Helmsman’s Display
Survey bar
Offline indicator
Date and time view
Dynamic object view
Vessel
Cursor position
ROV Runline control
Range and bearing Runline
01
USBL Calibrations
USBL Cal- Navipac Online
USBL Calibrations (DP Vessel)
2.
3.
1.
4.
1. File – New – Boxin Calibration
2. Set Beacon/reference object for USBL Cal
3. Approximate position of Beacon
4. Set number of sampling
USBL Calibrations (DP Vessel)
1.
1.
1. Set boxin radius 1. Set USBL Transducer offset
USBLCalibrations (DP
Vessel)
1. Load _usbl_calibration.cir to
helmsman’s displayS
USBLCalibrations (DP
Vessel)
1. Start sampling at Boxin Top
until automatically finish
2. Repeat at Boxin Bottom, Boxin
Left, and Boxin Right
3. Start sampling at Spin, vessel
turning 360 deg
4. Calculate corrections
USBLCalibrations (DP
Vessel)
1. Calculate Corrections: Boxin
and Spin
2. Edit Corrections: Put
calculated results to current
for validation
3. Start sampling at Spin, vessel
turning 360 deg
4. See the samples spin plot
USBL Calibrations
(spin samples plot after Cal)
USBL Calibrations
(Report)
Naviscan Setup
EIVA Setup - Naviscan
Naviscan Setup
Add required sensor for pipeline survey
Naviscan
Setup 4.
1. Add all sensor
2. Port setup
3. Sensor offset
4. Start naviscan online
Naviscan Online
Navigation
System
Barge and
Tug Management
System
PT. Geotronix Pratama Indonesia
Bona Indah Plaza Blok A2 No.D12, Jalan Karang Tengah Raya
Lebak Bulus, South Jakarta, Indonesia 12440
www.geotronix.co.id
Tug Management in EIVA NaviSuite
The Situation
NaviPac – Defining Mode
On the Barge, NaviPac mode must be defined like
this. Remember to Enable Multiplex Telemetry.
Definition of NaviPac mode on the Tugs.
Remember to Enable Multiplex Telemetry.
NaviPac – Rigsetup on the Barge I
NaviPac – Rigsetup on the Barge II
1 - Save as
Rigmove
Setup file.
2 - Save as
TUG Rigmove
Setup file.
NaviPac – Rigsetup for the Tugs
[RigMove]
Barge_id=30
No winch points=8
WinchName01=W1
WinchOffset01=10.000, 60.000, 0.000
WinchName02=W2
WinchOffset02=27.000, 57.000, 0.000
WinchName03=W3
WinchOffset03=27.000, -42.000, 0.000
WinchName04=W4
WinchOffset04=5.000, -42.000, 0.000
WinchName05=W5
When saving the TUG Rigmove Setup file, the WinchOffset05=-20.000, -42.000, 0.000
warning above is given. WinchName06=W6
WinchOffset06=-42.000, -42.000, 0.000
The file NP_TUG.ini, which is generated from the WinchName07=W7
WinchOffset07=-42.000, 57.000, 0.000
RIGSetup option in the Barge NaviPac (previous WinchName08=W8
slide), must be copied onto the Windows WinchOffset08=-25.000, 60.000, 0.000
directory of each of the Tugs (C:\Windows).
NaviPac – Barge – Position Output
To send the position of the
Barge to the Tugs, the Address of multiplexer:
following must be defined: 127.0.0.1, Port 5000.
NaviPac – Barge – Position Output
To send the Barge position to the Tugs, the following output must be selected:
• The IP Address should be 127.0.0.1 to send
the data to the Multiplexer.
• ID of the barge position must be set to 30.
• Choose format NaviPac.
NaviPac – Tug – Receive Barge Position
To receive the barge position on Tug 1, the following Dynamic positioning system must be
defined:
• The IP address: 127.0.0.1 is
pointing at the Multiplexer program.
• The TP number of the barge is 30.
NaviPac – Tug – Position Output
To send the position from
the Tug, the following
output must be selected:
NaviPac – Tug – Position Output
To send the position from the Tug 1, the following output must be defined:
• The reference point (CRP) on the tug
should be the stern. This is usually the
anchor handling point on a tug.
• The ID must be defined as 31 (Tug 1).
• Format is NaviPac + Tug stat.
NaviPac – Barge – Receive Tug Position
To receive the tug positions on the barge, the • The IP address: 127.0.0.1 is the address of the
following Dynamic positioning system must be Multiplexer.
defined: • The TP number of Tug1 is 31.
• The TP number of Tug2 is consequently 32.
NaviPac – Tug1 – Receive Tug2 Position
To receive the position from
another Tug, the following
input must be defined:
NaviPac – Tug1 – Receive Tug2 Position
To receive the position from another Tug, the following input must be defined:
NaviPac – Barge – Output Anchor Pattern
To send the
Anchor pattern to
the Tugs, a ’Data
to TUG boats’
output must be
defined on the NaviPac format
Barge: must be chosen.
NaviPac – Barge – Send Runlines
To send Runlines to the Tugs, the
following output must be selected:
NaviPac – Tug1 – Receive Anchor Pattern
I
To receive the
anchor pattern on
Tug1, a ’From
Remote NaviPac
– Control’ special
input must be
The IP address:
defined:
127.0.0.1 is the
address of the
multiplexer.
Port 5020 is the
port, where the
multiplexer is
distributing the
anchor pattern
and the runline
data.
NaviPac – Tug – Receive Anchor Pattern II
To receive the anchor pattern on the Tug, the Remote NaviPac window will be
opened automatically when entering online mode. Click on the ’TUG id’ text-box
and the window to the right will open. Now insert the ID (31 for Tug 1 etc). NaviPac
will remember this setting.
NaviPac – Messages from Tug to Barge
The operator on the tug may activate some anchor-related commands towards the
barge.
These are being activated from the Helmsman’s Display of the Tug:
• PICKED UP - The anchor has been picked up from barge (state is tracking).
• DROPPED - The anchor has been dropped on the seabed (state is laid).
• FIX - Various events performed on the tug (will be shown on HD).
The commands are send on top of the existing ‘Data to external navigation system’
output, so no additional setup is required on the tug boat.
The data output must be selected to NaviPac (+ Tug status) or Exp. NaviPac.
NaviPac – Barge - Messages from the Tug I
• A Special input, ‘From Remote
NaviPac – control’, must be defined
in order to enable the Barge NaviPac
to be capable of using the in-coming
tug commands.
• As the data most often is overlaid
the general navigation data (from
the Tug) the driver must be
specified to I/O mode ‘Off’.
• Note the port number – has to be
10507.
NaviPac – Messages from the Tug II
When in online mode, click on the ’TUG id’ text-box and the window to the right will open.
Now insert the ID (0 - telling that this is the barge). NaviPac will remember this setting. The
window should never be closed, as it acts as interface between the NaviPac kernel
(interpreter) and the TMS kernel (RigMon).
NaviPac – Barge – Using Multiplexer I
Three different telemetry systems possible,
each related to a radio/frequency.
Definition of com-port where the radio is
interfaced and data is read from/routed to.
Vessel ID defined as 30 (Barge).
Remote navigation distributed to port 5010.
Tug Management distributed to port 10507
(always).
Asyncronous mode selected – otherwise
Polling master on the Barge and Polling
Slave on the Tugs.
NaviPac – Barge – Using
Multiplexer II
All data must be output on the same
adress/port – ex 127.0.0.1 / 5000.
NaviPac – Tug – Using Multiplexer
Vessel Id: 31 (Tug 1).
NaviPac – Barge – Polling Master
In polling mode, the Barge acts as a master in the
communication. Tugs can only transmit within certain time-
slots. Tugs are divided into polling groups with different polling
frequencies.
Main polling frequency. A polling sequence starts with this
interval. In TMS scenario only tracking vessels are polled with
this interval. In normal scenarios all vessels are polled with this
frequency.
Polling frequency for assigned vessels.
Polling frequency for all other vessels.
Defines the time given the modems to switch mode (Rx/Tx).
List of tugs being polled. The list is defined as a comma
separated list of object numbers. Press the Get button to
read list from NaviPac setup.
NaviPac – Barge – Polling Slave
If the Barge is set to Polling Master mode, all slaves must
be set to Polling Slave mode. They are only allowed to
output data to the multiplexer with a certain time
interval. Slot allocation for this is handled purely by the
master.
The slave can be configured to send an end message
(acknowledge) when all buffered messages have been
sent. This allows the master to close the timeslot before
timeout and thereby to optimize the use of the bandwidth.
This can be an alternative to defining the ‘Maximum Reply
Characters’ on the polling master. The optimal solution
would be obtained by setting this value too high and let the
slave send acknowledgements.
NaviPac – on the Barge
On the Barge the file C:\Eiva\NaviPac\Setup\objects.txt will now look as shown below right.
Objects on the Barge are shown below left:
0 V Barge
31 V TUG 1
32 V TUG 2
33 V TUG 3 Vessel
34 V TUG 4
35 V TUG 5 Tugs
36 V TUG 6
37 V TUG 7 Winches
38 V TUG 8
850 o Winch 1
851 o Winch 2
852 o Winch 3
853 o Winch 4
854 o Winch 5
855 o Winch 6
856 o Winch 7
857 o Winch 8
NaviPac – on the Tugs
On the Tugs the file C:\Eiva\NaviPac\Setup\objects.txt will now look as shown below right
(Tug 1). Objects on Tug 1 are shown below left:
0 V Tug 1
30 V Barge
32 V TUG 2
33 V TUG 3 Vessel (Tug 1)
34 V TUG 4
35 V TUG 5 Barge
36 V TUG 6
37 V TUG 7 Tugs
38 V TUG 8
850 o Winch 1
851 o Winch 2
Winches
852 o Winch 3
853 o Winch 4
854 o Winch 5
855 o Winch 6
856 o Winch 7
857 o Winch 8
Thank You
