D datagram for position of footprints C datagram to determine internal EM clock drift and offset. F datagram for raw ranges and angles C datagram to identify the serial number from the main head R datagram for raw bathymetry storage as of Qinsy version 8 the offset from the clock telegram is no longer used for the EM Only use this mode if F datagrams are not available in the EM software version earlier versions.
If you want to decode the backscatter, see the Simrad EMx for more details. Driver will stop updating if no C clock datagrams are received for more than 30 seconds. This is done to prevent latency related errors. This limitation is activated as soon as the first clock datagram arrives. So for test purposes it is possible to use this driver without receiving the clock telegram but never use it like this operationally. EM Only: The clock datagram is used to identify the main transducer head's serial number and therefore the clock message must always be activated.
If no clock messages are sent then the driver will not decode any bathymetric data. The clock offset derived from the C telegram is no longer applied in Qinsy 8. For amplitude bottom tracked beams this value stands for the used number of samples while for phase bottom tracked beams this value stands for the "fit". The Beam angles that are reported in the F telegrams are valid in the receive array and not in the acoustic center.
Qinsy assumes the beam angle and the range to be valid at the acoustic center. This non-conformity will result in small depth independent depth errors at the outer beams. The driver will correct the reported beam angles so they are valid for the acoustic center. QPS advises however to keep this enabled. Please set up as many ports as required by the interfacing to Qinsy see Database Setup below.
The workstation with Simrad's Merlin software running on it, sends the data to Qinsy. In order to activate the transmission, one should do the following:. The IP-address and port number are for the machine to which these datagrams are to be sent. The letters following the port number are an indication of the datagrams, which are to be output on this port.
In order to be able to test the network connection it is advised to add a line to the 'host' file using the following format:. In order to be able to test the network connection it is advised to add a line to the 'host' file using:.
Setting up ethernet port should not be used if same subnet is used for both Qinsy and EMX!!!! This echosounder uses pitch compensation and therefore it requires the serial input of an attitude sensor EM binary format. In order to obtain valid bathymetric results, the multibeam system and Qinsy need valid speed of sound information.
All types of multibeam systems require the sound velocity profile but systems that utilize beam steering, usually systems with a flat array transducer, require the sound velocity at the head for the beam angle correction beam steering too. Refer to the GPS Manufacturer manual to see which is the active flank.
Note that choosing the valid flank is not very relevant for very short PPS pulses e. This pulse is half a second long so when the wrong active flank is chosen timing can be off by half a second. The Acoustic center is the point for which the node position must be entered into the Qinsy database.
The EM manuals will mention the acoustic center to be in the geometric center of the transducer face but this is not exactly true: it is slightly offset. The drawing below shows a schematic overview of the acoustic center.
Port Head: Acoustic center is 2. Starboard Head: Acoustic Center is 1. For every EM related multibeam or sidescan system, Qinsy requires the data to be sent to a unique port Number:. The echosounder Stabilization is greyed out in the Database Setup because the output string already contains the information about whether the systems is stabilized or not.
For the TPU calculation the minimum steering angle can be defined. Real-time sound velocity fed into Multibeam Unit If the sound velocity can be interfaced real-time into the multibeam system then the beam angles that are reported by the system to QINSy are correct and no further angle correction is required. See description in Database Setup, except that the present QINSy driver is only meant for datagrams broadcast over a network, so instead of entering serial port parameters, the port number has to be entered.
If the driver is started without the parameter it will start by default in Rho-Theta mode. The EM manuals will mention the acoustic center to be in the geometric center of the transducer face but this is not exactly true: In order to activate the transmission, one should do the following:. Beam Intensity values emm that are stored in the datagram have a range kongbserg to 0. The driver will correct the reported beam angles so they are valid em the acoustic center.
No real time sound velocity QINSy only em beam angle corrections when a sound velocity probe is interfaced. This pulse is half a second long so when the wrong active flank is chosen timing can be off by half a second.
In order to activate the transmission, one should do the following: The drawing below shows a schematic overview of the acoustic center. The QINSy driver will restore invalid beams, by resetting all values to 0, except for quality factor and intensity, which are set to the invalid values according to the EMx manual, i. If you want to decode the backscatter, see the Simrad EMx for more details. This is done to prevent latency related errors.
Only use this mode if F datagrams are not available in the EM software version earlier versions. When Enabled the Raw original Bathymetry packets e. D datagram for position of footprints C datagram to determine internal EM clock drift and offset. Backscatter, or raw seabed image intensity values, are stored in the S datagram. For the TPU calculation the minimum steering angle can be defined. Acoustic center is 2. Important Driver will stop updating if no C clock datagrams are received for more than 30 seconds.
If no clock messages are sent then the driver will not decode any bathymetric data. The echosounder Stabilization is greyed out in the Database Setup because the output string already contains the information about whether the systems is stabilized or not.
These supersede the command line parameters. This limitation is activated as soon as the first clock datagram arrives.
The EM must send the following datagrams for correct decoding:. This non-conformity will result in small depth independent depth errors at the outer beams.
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