NaviScan
Reference
Manual
NaviScan Reference Manual Page 2
File: C:\SRC\NAVISCAN\NAVIBAT\NSSETUP\HLP\DOC\NS-REF.DOCX Document: Detailed Release: 11 January 2011
Date: 13-01-11 Author: AFA/OKR Approved by: LDA/AFA
1. INTRODUCTION ....................................................................................................................................... 4
1.1 SENSORS ................................................................................................................................................... 4
1.2 SERIAL AND NETWORK INTERFACING ....................................................................................................... 5
1.3 UTILITY AND OFFLINE PROGRAMS ............................................................................................................ 5
1.3.1 NaviScan Setup ............................................................................................................................... 5
1.3.2 XYZ Convert.................................................................................................................................... 5
1.3.3 XTF Convert ................................................................................................................................... 6
1.3.4 Extract ............................................................................................................................................ 6
1.3.5 Contour Patch Test ......................................................................................................................... 6
2. SENSOR FORMAT .................................................................................................................................... 7
2.1 ECHOSOUNDERS ........................................................................................................................................ 7
2.2 SIDESCAN ................................................................................................................................................. 8
2.3 PIPETRACKER ............................................................................................................................................ 8
2.4 POSITION ................................................................................................................................................... 9
2.5 GYRO ........................................................................................................................................................ 9
2.6 MOTION .................................................................................................................................................. 11
2.7 BATHY .................................................................................................................................................... 12
2.8 DOPPLER LOG .......................................................................................................................................... 13
2.9 GPS TIME ................................................................................................................................................. 14
2.10 LOGGING CONTROL ............................................................................................................................ 14
2.11 THEORETICAL PROFILE ....................................................................................................................... 14
3. DETAILED SONAR DATA FORMAT .................................................................................................. 15
3.1 MBE FORMATS ....................................................................................................................................... 15
3.1.1 Reson SeaBat 9000 ....................................................................................................................... 15
3.1.2 Reson SeaBat 8000 ....................................................................................................................... 15
3.1.3 SIS3000 ......................................................................................................................................... 17
3.1.4 Odom Echoscan ............................................................................................................................ 18
3.1.5 SeaKing (and ST1000) Profiler .................................................................................................... 18
3.1.6 EM3000 Raw range and beam ...................................................................................................... 19
3.1.7 SM2000 ......................................................................................................................................... 21
3.1.8 Hyspec modular scanner MK-II.................................................................................................... 21
3.1.9 STN Atlas Fansweep15 ................................................................................................................. 22
3.1.10 STN Atlas Fansweep20 ............................................................................................................ 22
3.1.11 STN Atlas TPE telegram .......................................................................................................... 22
3.1.12 Seabat 7k Telegrams ................................................................................................................ 23
3.1.13 Elac Hydrostar ......................................................................................................................... 27
3.1.14 Imagenex DeltaT ...................................................................................................................... 27
3.1.15 MS1000 profiler ....................................................................................................................... 29
3.1.16 BlueView .................................................................................................................................. 30
3.1.17 Odom ES .................................................................................................................................. 30
3.1.18 R2Sonic 2000 ........................................................................................................................... 30
3.2 SIDESCAN ................................................................................................................................................ 34
3.2.1 Reson SideScan (8000) ................................................................................................................. 34
3.2.2 Reson Snippets (8000) .................................................................................................................. 34
3.2.3 Stn Atlas ........................................................................................................................................ 36
3.2.4 Hugin XTF .................................................................................................................................... 36
3.2.5 EM3000 Compact ......................................................................................................................... 36
3.2.6 Seabat 7k Sidescan........................................................................................................................ 36
3.2.7 Elac Hydrostar .............................................................................................................................. 36
3.2.8 Benthos Imux 200 ......................................................................................................................... 36
3.2.9 Benthos C3D ................................................................................................................................. 37
3.2.10 EdgeTech.................................................................................................................................. 40
3.2.11 R2Sonic 2000 ........................................................................................................................... 40
NaviScan Reference Manual Page 3
File: C:\SRC\NAVISCAN\NAVIBAT\NSSETUP\HLP\DOC\NS-REF.DOCX Document: Detailed Release: 11 January 2011
Date: 13-01-11 Author: AFA/OKR Approved by: LDA/AFA
4. NAVISCAN SBD LOGGING FORMAT ................................................................................................ 41
4.1 FILE STRUCTURE ..................................................................................................................................... 42
4.1.1 Packet header ............................................................................................................................... 43
4.1.2 Sub Packet .................................................................................................................................... 44
4.2 FILE ID IN SBD FILES ............................................................................................................................ 44
4.3 HEADER RECORD .................................................................................................................................... 45
4.3.1 UserNames and Dopplerlog offsets addition. ............................................................................... 49
4.4 TIMEBOX INTERFACED SENSORS ............................................................................................................. 50
4.5 GYRO RECORD ........................................................................................................................................ 50
4.5.1 Layout ........................................................................................................................................... 51
4.6 MOTION RECORD .................................................................................................................................... 51
4.6.1 Layout ........................................................................................................................................... 51
4.7 BATHY RECORD ...................................................................................................................................... 51
4.7.1 Layout ........................................................................................................................................... 51
4.8 MULTIPLE POSITION RECORD .................................................................................................................. 52
4.8.1 Layout ........................................................................................................................................... 52
4.9 RAW DATA RECORD ............................................................................................................................... 52
4.9.1 Layout ........................................................................................................................................... 52
4.10 AUXILIARY RECORD .......................................................................................................................... 52
4.10.1 Layout ...................................................................................................................................... 52
4.11 PROJECTION & ELLIPSOID RECORD .................................................................................................... 52
4.11.1 Layout ...................................................................................................................................... 52
4.12 DATUM SHIFT RECORD ....................................................................................................................... 53
4.12.1 Layout ...................................................................................................................................... 53
4.13 UTILITY RECORD ................................................................................................................................ 53
4.13.1 Layout ...................................................................................................................................... 54
4.14 LOGCONTROL RECORD ....................................................................................................................... 54
4.14.1 Layout ...................................................................................................................................... 54
4.15 MULTIBEAM ECHOSOUNDER RECORD ................................................................................................ 55
4.16 SIDESCAN RECORD ............................................................................................................................ 55
4.17 PIPETRACKER RECORD ....................................................................................................................... 55
4.18 DOPPLERLOG RECORD ....................................................................................................................... 55
4.19 POSITION RECORD .............................................................................................................................. 55
4.20 FILTERED POSITION RECORD .............................................................................................................. 55
4.21 THEORETICAL PROFILE RECORD ......................................................................................................... 56
4.22 TARGET RECORD ................................................................................................................................ 56
4.23 DISK CONSUMPTION ........................................................................................................................... 56
5. TIME STAMPING ................................................................................................................................... 58
5.1.1 TimeBox absolute time tagging ..................................................................................................... 58
NaviScan Reference Manual Page 4
File: C:\SRC\NAVISCAN\NAVIBAT\NSSETUP\HLP\DOC\NS-REF.DOCX Document: Detailed Release: 11 January 2011
Date: 13-01-11 Author: AFA/OKR Approved by: LDA/AFA
1. Introduction
The NaviScan data acquisition software is designed specifically for the multi-beam echo
sounder and sidescan sonar technology. A wide range of echosounders, sidescans, pipetrackers
and supporting positioning instruments are supported. EIVA offers the optimal solution for
vessel and ROV surveys.
The basic purpose of NaviScan is to collect data from the Echosounder sensors and generate a
file with exact positions of each scan. To do this navigation information is needed along with
roll/pitch/heave, bathy sensor and gyro. To improve positions, NaviScan includes support for
Doppler Velocity Log. Another feature is included; combine echosounder data and pipe-tracker
to get the best pipeline survey.
The NaviScan package contains programs to convert the raw logged data to motion corrected
data which can be used in processing software packets. During this conversion phase, data is
corrected for pitch, roll, heading, C-0 etc., and all low-quality data is filtered out.
All NaviScan programs can be executed on one PC, as the multitasking environment allows
simultaneous execution of more programs without interfering with the on-line data time-
tagging: this very important process is placed in a dedicated real-time queue. For larger set-
up‟s, the system can be split on more computers
The NaviScan system works on a PC platform which is simple, easy-to-handle and involves
minimum mobilisation time. The system is flexible and user friendly. It offers precise time
tagging and maximum up-time for continuous operation. The system configuration is based on
the client/server philosophy and consists of one or more PC's (connected via a local area
network (LAN)). The system is divided into two parts; one is dedicated to on-line data collection
and logging and the other is used for off-line data conversion, filtering, editing, and
configuration set-up and data transportation.
The collected data is displayed on the screen so the operator can supervise the system; inspect
the quality of incoming data and to make sure that none of the sensors are dropping out.
Data collected for each survey line will be stored in a file named by the operator. When the line
is ended (on a signal from the navigation system or by operator) the file is closed.
1.1 Sensors
The echosounder sensors transfer information to NaviScan each scan. The scan information
includes timing, depths and ranges.
An integrated navigation system is used for the identification of current system position.
NaviScan can use data from any system giving Easting and Northing in a CR/LF terminated
serial string. A special input is included for EIVA's NaviPac online navigation system, which
furthermore allows remote control, DAL/DOL and KP information and on-line coverage
information.
NaviScan Reference Manual Page 5
File: C:\SRC\NAVISCAN\NAVIBAT\NSSETUP\HLP\DOC\NS-REF.DOCX Document: Detailed Release: 11 January 2011
Date: 13-01-11 Author: AFA/OKR Approved by: LDA/AFA
For ROV jobs, a Doppler Velocity log can be used to improve the positioning accuracy; a filter
combining position long-term stability with Doppler short-term accuracy, gives a very accurate
solution.
To compute the exact position of each beam, NaviScan needs heading (gyro) information. The
system accepts any CR/LF terminated string giving the heading in decimal degrees.
Also the heave, roll and pitch data is needed for movement correction of each scan. NaviScan
accepts data in any CR/LF terminated string giving Roll and Pitch in decimal degrees and Heave
in cm.
When mounted on a ROV, the NaviScan system needs a bathy sensor giving the exact depth of
the ROV. NaviScan accepts data in any CR/LF terminated string giving depth in decimal
meters.
NaviScan supports integrated use of Pipe- or cable-tracker data; range to pipe can be combined
with multi-beam data to give the ultimate pipe survey solution.
1.2 Serial and Network Interfacing
The online NaviScan program reads the incoming sensor data from a special intelligent serial
communication board so that data I/O can be performed without interference from logging of the
data, computations and presentation.
Network is also used for interfacing primarily sensors with heavy data loads or time tagged data.
NaviScan supports both UDP and TCP communication
1.3 Utility and Offline Programs
1.3.1 NaviScan Setup
The on-line NaviScan program reads the binary file "NAVISCAN.BIN" to start-up the
communication for all sensors. With the NaviScan Set-up utility the operator can in an easy
way create/modify this file.
Port identification and data format for all sensors, specification of serial communication, vessel
or ROV offsets and Sensor correction values along with exact location of all sensors have to be
defined in order to make the NaviScan system work.
1.3.2 XYZ Convert
The NaviScan XYZ Convert utility is used to convert the raw logged data to motion corrected
data stored in simple XYZ format (ASICII or binary), which can be used in some processing
software packets. During the conversion phase, data is corrected for heading, roll, pitch, C-O etc.
and all low quality data is filtered out.
Furthermore the operator can remove specific beams; this is useful when the echosounder is
operating at the limit of the specified range, which can cause low quality of the outer beams.
At the end of the conversion, the NaviScan Converter creates a quality report, so the operator
can inspect the amount of discarded data. A high number of discarded can indicate improper set-
up of the echosounder or the NaviScan system.
