GECO Trinav rGPS Type 100-200 Version 2 - 10

Description

Driver that is used to decode rGPS information from a Trinav rGPS system.

Driver Information

Database Setup

Add a new "Surface Navigation System" to the database and select the driver and set the interfacing parameters. Press "Next" button to continue the setup. Add a range and a true bearing observation to the system. The "At" node must be the rGPS reference point on the vessel, probably a variable node on the vessel's object. The "To" node must be the rGPS Receiver on the remote object, probably a variable node on a gun float or tail buoy. The driver combines the range & height difference (if available) into a slant range. The driver fills the quality field of the observation with unit variance field

The Slot Id number must match the Unit number in the raw datastring, e.g. "1". Press the "Next" button to define the observation properties. Select each observation and set the appropriate unit and (C-O) values.
Be sure to press button "Apply Properties" to save the changes. Press "Finish" to save the system.

Note Qinsy needs an extra observation to be able to compute a 3D position.  This third position could be generated by a manually entered ROV depth.
Add a new "Underwater Sensor System" and select the driver "Manual - Underwater Sensor Input" , as type select ROV Depth at a node.
In the Computation Setup set the iteration threshold to 99 or higher so the value of the observation will not be taken into account.