Sonardyne Fusion (PSONALL) - 03

Description

This driver is used to read in the Sonardyne Fusion $PSONALL message format which contains grid position, depth, heading, course made good, pitch, roll, speed over ground, position accuracy and depth accuracy.

In order to read this information into Qinsy the following system types are supported by this driver:
Position Navigation System, Underwater Sensor, Gyro and Compass System, Speed Log, Pitch, Roll and Heave Sensor.

The Position Navigation System is used to decode the grid easting and northing fields in the format.
This grid position is presumed to be on Survey Datum and Survey Projection. The Underwater Sensor is used to decode the depth field.
The depth field is expected to use the actual sea level reference.
The Gyro and Compass System is used to decode the heading field in the format.
The heading is converted to true north, depending on the heading type field.
The Speed Log system is used to decode the course made good and the speed over ground fields.
The course made good is converted to grid north depending on the heading type field.
The Pitch, Roll and Heave Sensor is used to decode the pitch and roll fields in the format.

Driver Information

Driver	Sonardyne Fusion ($PSONALL)	Interface Type	Serial	Driver Class Type	Terminated
UTC Driver	Yes	Input / Output	Input	Executable	DrvQPSTerminated.exe SONARDYNE_PSONALL PPS
Related Systems	Sonardyne Fusion (PSONALL) - 03 Pitch Roll Heave Sensor Sonardyne Fusion (PSONALL) - 05 Gyro Compass Sonardyne Fusion (PSONALL) - 12 Position Navigation System Sonardyne Fusion (PSONALL) - 23 Miscellaneous System Sonardyne Fusion (PSONALL) - 30 Speed Log Sonardyne Fusion (PSONALL) - 31 Underwater Sensor Sonardyne Fusion (PSONALL) - 37 Bundle Gyro Compass Sonardyne Fusion (PSONALL) - 38 Bundle Depth Sensor
Related Pages

Coding Notes

Decoding Notes

The UTC field is only used if the PPS command option is added in the drivers.io file and if the system definition contains a PPS driver which is working properly.

The heading type field is used to convert the heading to true north and the course made good to grid north.

The position accuracy is stored in the RMS field of the position system, except when a Miscellaneous System is defined with a Generic Observation with slot id 'An' connected to it.
In the latter case, the value from the position accuracy field is saved as the generic observation value.
The depth accuracy is stored in the quality indicator field of the depth observation, except when a Miscellaneous System is defined with a Generic Observation with slot id 'Bn' connected to it.
In the latter case, the value from the depth accuracy field is saved as the generic observation value.

The driver does not perform any data validation.

System Interfacing

Interfacing Notes

As no data is send by the driver a one-way cable will suffice.

System Config

System Configuration

It is advised to set the baud rate as high as possible.

Qinsy Config

Database Setup

The driver supports the following observation slots:

First the Node name field is decoded as a number. i.e. 01CRP becomes slot 1.
This number is used as the node identifier.

System/Observation Type	Slot	Example
Position Navigation System	Receiver number should be set to the node identifier mentioned above	1
Underwater Sensor	D followed by node identifier	D1
Gyro or Compass System	H followed by node identifier	H1
Speed Log / Course Made Good Speed Log / Speed Over Ground	C followed by node identifier S followed by node identifier	C1 S1
Pitch Roll and Heave Sensor	PR followed by node identifier	PR1
Miscellaneous System / AAA.a Field Miscellaneous System / BBB.b Field	A followed by node identifier B followed by node identifier	A1 B1

Additional Info

Drivers IO Notes

The driver supports the following command line parameters:

Command line option	Description	Default
NOCS	Disable checksum verification	Not used
PPS	Enable usage of UTC time field	Used