INSTALLATIONINSTALLATIONHYPACK MULTIBEAM COURSEHYPACK MULTIBEAM COURSE

04/21/23 HYPACK® 2009 Training Seminar 2

Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer

Gahagan & BryantPort of LA/LB

POS/MV positioning, POS/MV positioning, heading & motion heading & motion sensorsensor

Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow

04/21/23 HYPACK® 2009 Training Seminar 3

Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer(Extending forward of bow)(Extending forward of bow)

Assembly hinge

RLDA, Inc. -- Puerto Rico

04/21/23 HYPACK® 2009 Training Seminar 4

Side Mounted TransducerSide Mounted Transducer

US Army Corps of Engineers -- US Army Corps of Engineers -- Galveston DistrictGalveston District

04/21/23 HYPACK® 2009 Training Seminar 5

Fixed Hull-Mounted Fixed Hull-Mounted Multibeam TransducerMultibeam Transducer

US Army Corps of Engineers -- US Army Corps of Engineers -- Norfolk & New York DistrictsNorfolk & New York Districts

RESON SeaBat 8101 with fabricated for-and-aft conical fairings

RESON SeaBat 8101 installation on Survey Vessel Adams II (Norfolk District)

04/21/23 HYPACK® 2009 Training Seminar 6

Hydraulic Bow Mount with Tilt CapabilityHydraulic Bow Mount with Tilt Capability

04/21/23 HYPACK® 2009 Training Seminar 7

Vessel of Opportunity -- 18’ Center ConsoleVessel of Opportunity -- 18’ Center Console

04/21/23 HYPACK® 2009 Training Seminar 8

04/21/23 HYPACK® 2009 Training Seminar 9

04/21/23 HYPACK® 2009 Training Seminar 10

Aft – Side Mount with Tilt CapabilityAft – Side Mount with Tilt Capability

04/21/23 HYPACK® 2009 Training Seminar 11

Aft – Side Mount with Safety TiltAft – Side Mount with Safety Tilt

04/21/23 HYPACK® 2009 Training Seminar 12

04/21/23 HYPACK® 2009 Training Seminar 13

Aft – Side Mount with Pivot Aft – Side Mount with Pivot Smaller Bow – Side Mount Smaller Bow – Side Mount with Pivotwith Pivot

04/21/23 HYPACK® 2009 Training Seminar 14

Vessel of Opportunity -- 135’ Oil Rig Supply BoatVessel of Opportunity -- 135’ Oil Rig Supply Boat

04/21/23 HYPACK® 2009 Training Seminar 15

04/21/23 HYPACK® 2009 Training Seminar 16

Aft - Side Mount with Adjustable Pivoting BracketAft - Side Mount with Adjustable Pivoting Bracket

04/21/23 HYPACK® 2009 Training Seminar 17

04/21/23 HYPACK® 2009 Training Seminar 18

Elaborate Front Electronic MountElaborate Front Electronic Mount

04/21/23 HYPACK® 2009 Training Seminar 19

Custom-built Vessel of Opportunity -- Rigid Bow MountCustom-built Vessel of Opportunity -- Rigid Bow Mount

04/21/23 HYPACK® 2009 Training Seminar 20

Robotic Total Station Robotic Total Station for Positioning in the for Positioning in the

Canyon.Canyon.

LOCATIONS AND OFFSETSLOCATIONS AND OFFSETSHYPACK MULTIBEAM COURSEHYPACK MULTIBEAM COURSE

04/21/23 HYPACK® 2009 Training Seminar 22

OK, so where do I mount my OK, so where do I mount my Multibeam System ??Multibeam System ??

04/21/23 HYPACK® 2009 Training Seminar 23

Boat Reference Point Boat Reference Point (RP)(RP)

1)1) Locate your Boat’s Center of Locate your Boat’s Center of Gravity (CG). Gravity (CG).

2)2) This will be critical to This will be critical to performing very accurate and performing very accurate and repeatable surveys.repeatable surveys.

3)3) Understand that your boat’s CG Understand that your boat’s CG may be dynamic and need to may be dynamic and need to be monitored. be monitored.

04/21/23 HYPACK® 2009 Training Seminar 24

1)1) Mount your Motion Sensor Mount your Motion Sensor (MRU or IMU) at the CG or as close as possible.(MRU or IMU) at the CG or as close as possible.

2)2) Multibeam Mounting Multibeam Mounting (In order of preference)(In order of preference)

• Hull Mount at boat’s CG.Hull Mount at boat’s CG.• Moon Pool at boat’s CGMoon Pool at boat’s CG• Pole Mount; Thru Hull, Over-the-BowPole Mount; Thru Hull, Over-the-Bow Mount or Over-the-Side Mount.Mount or Over-the-Side Mount.

3)3) Positioning System Positioning System Place your GPS antennae as high as possible and directly Place your GPS antennae as high as possible and directly above the Boat’s CG or as close as possible. Alternate Positioning Systems will above the Boat’s CG or as close as possible. Alternate Positioning Systems will require the most visible “line of sight” as possible also (ie. Robotic Total Station)require the most visible “line of sight” as possible also (ie. Robotic Total Station)

4)4) Heading Device Heading Device Location not as critical, in the case of a Gyro-Compass, but a Location not as critical, in the case of a Gyro-Compass, but a dual antennae DGPS or RTK GPS system will require accurate measurements and dual antennae DGPS or RTK GPS system will require accurate measurements and placement, in order to output the most accurate data possible.placement, in order to output the most accurate data possible.

InstallationInstallation

04/21/23 HYPACK® 2009 Training Seminar 25

Install your equipment and very accurately Locate each Install your equipment and very accurately Locate each piece with respect to the Boat’s RP/CG.piece with respect to the Boat’s RP/CG.

NOTE: This is usually done with a Land Surveyor’s NOTE: This is usually done with a Land Surveyor’s Total Station.Total Station.

“Red Rogers” and drawing (device locations).

04/21/23 HYPACK® 2009 Training Seminar 26

20’ Pontoon w/ Dual Ant. DGPS 20’ Pontoon w/ Dual Ant. DGPS and Small MB Systemand Small MB System

04/21/23 HYPACK® 2009 Training Seminar 27

30’ SeaArk w/ RTK-POS MV30’ SeaArk w/ RTK-POS MV& High Res. Multibeam& High Res. Multibeam

22’ Jon Boat w/ Dual Ant. DGPS 22’ Jon Boat w/ Dual Ant. DGPS and Small MB Systemand Small MB System

04/21/23HYPACK® 2009 Training Seminar 28

OffsetsOffsetsAdjusting the data for:

•Boat Origin (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.

Tracking Point: XY location of the sonar head. For survey left/right indicator.

04/21/23 HYPACK® 2009 Training Seminar 29

MRU

MRU

Multibeam TRANSDUCER

Multibeam TRANSDUCER

+X+X

+X+X

+Y+Y

+Z+Z

MRU is at boat origin, Tracking Point is over the transducerMRU is at boat origin, Tracking Point is over the transducer..

Boat Reference System

Tracking Point

Boat Origin & Tracking PointBoat Origin & Tracking Point

04/21/23 HYPACK® 2009 Training Seminar 30

Step 1: HYPACK®Step 1: HYPACK® Hardware Exercise:Hardware Exercise:

Project: MB HYPACK Hardware ConfigProject: MB HYPACK Hardware Config

There are 6 Basic setups, all of which we will go thru There are 6 Basic setups, all of which we will go thru together now.together now.

They consist of :They consist of :

1)1)Basic DGPS 3) Basic INS w/ DGPSBasic DGPS 3) Basic INS w/ DGPS2)2)Basic RTK 4) INS – RTK Basic RTK 4) INS – RTK 5) INS w/ Separate RTK 5) INS w/ Separate RTK

6) Robotic Total Station6) Robotic Total Station

04/21/23 31HYPACK® 2009 Training Seminar

Step 1: HYPACK® HardwareStep 1: HYPACK® HardwareConfigure HYPACK® Hardware for Position input and HYSWEEP® data transfer.

Position, Tide, Draft, [Heading]

Depth, Heave, Pitch, Roll, [Heading]

HYSWEEP® Survey

HYPACK® Survey

Shared memory transfer…

04/21/23 HYPACK® 2009 Training Seminar 32

Step 1: HYPACK® HardwareStep 1: HYPACK® HardwareDevices:Devices:• Positioning System:

• GPS.DLL for position from COM port. Heading and tide if needed.

• POSMV.DLL for POS/MV positions over a network. Tide if needed.

• HYSWEEP.DLL for HYSWEEP® depth and motion data from shared memory.

Also:Also:•Select time synch option on the configuration page.

•Enter tracking point on the boat page.

04/21/23 HYPACK® 2009 Training Seminar 33

Step 2: HYSWEEP®Step 2: HYSWEEP® Hardware Exercise:Hardware Exercise:

Project: MB HYPACK Hardware ConfigProject: MB HYPACK Hardware Config

There are 5 Basic setups, all of which we will go thru There are 5 Basic setups, all of which we will go thru together now.together now.

They consist of :They consist of :

HYPACK Navigation HYPACK Navigation and and

1)1)MRU, Gyro, MB MRU, Gyro, MB 2)2)Dual Antenna DGPS w/ Heading, MRU, MBDual Antenna DGPS w/ Heading, MRU, MB3)3)INS Serial or Network w/ Motion & Heading, MBINS Serial or Network w/ Motion & Heading, MB4)4)INS Network w/ Motion & Heading, 7125 MBINS Network w/ Motion & Heading, 7125 MB5)5)INS Network w/ Motion & Heading, Riegl Laser LMS-120QINS Network w/ Motion & Heading, Riegl Laser LMS-120Q

04/21/23 34HYPACK® 2009 Training Seminar

Step 2: HYSWEEP® HardwareStep 2: HYSWEEP® HardwareConfigure HYSWEEP® Hardware for

• Position, heading, tide and dynamic draft from HYPACK® Survey via shared memory. Use HYPACK® Navigation driver.

•Towfish position from HYPACK® Mobile driver. Only if multibeam is on an ROV or you are towing sidescan.

•Multibeam, MRU and Heading from other HYSWEEP® network and COM drivers.

Hardware program: Use buttons to add / remove device drivers.

04/21/23HYPACK® 2009 Training Seminar 35

Navigation DeviceNavigation Device

Offsets:Offsets:•Enter GPS antenna offsets measured from boat origin.

•Vertical offset is positive downward (i.e. negative above waterline).

•Enter GPS latency if any.

(Offsets DO NOT carry thru Shared Memory)

The HYPACK® Navigation device is required and is installed by default. Not good if you delete it.

Connect:Connect:•Shared memory transfer is automatic and requires no configuration.

04/21/23HYPACK® 2009 Training Seminar 36

Heading Device Heading Device (Gyro or Dual Antenna GPS)(Gyro or Dual Antenna GPS)

Connect:Connect:• Serial Connection

Offsets:Offsets:•Gyro offsets are not critical but can be entered as measured from boat origin.

04/21/23HYPACK® 2009 Training Seminar 37

Motion DeviceMotion DeviceHeave, Pitch, and Roll Compensators (MRUs or IMUs)

Connect:Connect:• Either thru Serial or

Ethernet connection

Offsets:Offsets:•Enter MRU/IMU offsets measured from boat origin.

•Vertical offset is positive downward (i.e. negative above waterline)

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Multibeam DeviceMultibeam DeviceSetup Button:Setup Button:•Use the Setup button to enter manufacturer specific information.

HYSWEEP® HYSWEEP® Connect:Connect:

•A Port Number is required for all network devices.

•Internet Address required for TCP/IP devices.

•Refer to “Hysweep Interfacing.doc” for details. Your best configuration friend.

Windows Windows Network Network Setup:Setup:

•Network address of the survey computer is set under Windows TCP/IP properties.