Sonardyne LUSBL USBL (V6) - 02

Description

This driver will decode LBL and USBL measurements from the Sonardyne LUSBL unit with firmware version 5 and version 6.
In version 5 only one LBL position can be decoded as well as multiple USBL measurements.
In version 6 multiple LBL positions and USBL measurements can be decoded.

Driver Information

Coding Notes

Decoding Notes

As the LUSBL system outputs in meters, the driver will convert it to the survey units used in Qinsy.

For version 6 in LBL mode the z_err value will be set as the sd of the depth in Qinsy.
In USBL mode the quality value will be set to the quality indicator value in Qinsy.

System Interfacing

Interfacing Notes

Type of cable wiring (two-way). Cable wiring diagrams:

System Config

System Configuration

In version 5 it is not possible to output LBL data and USBL data on one port.

In version 6 it is possible to output multiple LBL positions and USBL measurements on one port.

In Database Setup you can then define the LBL systems and USBL system on the same port.

Qinsy Config

Database Setup

LBL Setup:

First define and select the "Object" on which the LBL transponder is located. Select item "Systems" and defined a new "Position navigation system".
Select the Sonardyne LUSBL LBL driver and interface parameters. Press the "Next" button to complete the setup.
Select object and node for the transponder. Press the "Finish" button to save the system.

A new transponder node can be added by pressing the add button:

To change its properties, press the edit button:

For every transponder on the object a new system must be defined (with the same driver and eventually on the same COM port).
To identify the transponder the system name must be the same as the transponder name (e.g. CRAWLER or RANGEMASTER).
The receiver ID must be a unique number (0 – 999).

USBL Setup:

To decode the X, Y and Z observations, add a variable node for the USBL transponder. Add a "System" of type "USBL Sensor", and select the Sonardyne LUSBL USBL driver.
There is no need to define the three observations separately, since they are automatically added and connected to the system.
Change Parameters and Corrections to match the sign conventions and corrections for this system.
See the "Clarifications of rotation" that are part of the module's Help, for a better understanding of how to use the conventions.

A new transponder node can be added by pressing the add button:

To change its properties, press the edit button:

Connect the variable USBL node on the Targets tabsheet and enter the correct Slot Id. The Slot Id depends on the used transponder/responder.

In version 5 the driver will decode the USBL transponder index.

In version 6 the driver will decode the name of the transponder (e.g 305 or MINIROVNAV (max 10 characters)).

Additional Info

Drivers IO Notes

"V5" will decode output from version 5 firmware.
"V6" will decode output from version 6 firmware.