Boxfish USBL Manual de usuario

Boxfish USBL User Manual

Table of Contents

1 Introduction to the Boxfish USBL system .........................................................4

1.1 Components in the USBL system.....................................................................4

1.2 Viewing position of your vehicle....................................................................4

2 Using the USBL widget on the Boxfish Control Station................................5

2.1 Overview of Control Station controls required for using the USBL

widget.................................................................................................................................5

2.2 Procedure for using the Boxfish USBL widget.........................................6

2.3 Use widget to view location of your ROV .................................................. 7

2.4 Information displayed on the Boxfish USBL widget...............................7

3 Using Seatrac PinPoint application on a separate PC ...................................9

3.1 Connection diagram ..........................................................................................9

3.2 Procedure for using SeaTrac PinPoint ........................................................9

4 Mounting remote beacon to ROV.......................................................................10

4.1 Mounting components ...................................................................................10

4.2 Mounting location ............................................................................................10

4.3 Connect power cable......................................................................................10

Boxfish USBL User Manual

1 Introduction to the Boxfish USBL system

Boxfish vehicles use the SeaTrac PinPoint Tracking System from Blueprint

Subsea: https://www.blueprintsubsea.com/seatrac/.

Your USBL system is the X150 / X010 lightweight system

rated to 300m or 1000m (depth rating depending on

what you have ordered).

1.1 Components in the USBL system

Local beacon (X150 USBL beacon): The local beacon should be

mounted at a fixed position below the surface. Power can be

supplied to the beacon via the Boxfish Control Station, AC

power or an alternative source (9V to 28V DC).

Remote beacon (X010 transponder beacon, 300m or 1000m

version): This beacon will be mounted to and powered by the

ROV. The X010 beacon is depth-rated for either 300m or 1000m.

It will be connected to and powered by the ROV USBL port.

Remote beacon power cable: To provide power to the remote

beacon via the USBL port on the ROV.

GPS receiver: A receiver with USB port to connect to either

Control Station or separate laptop.

Local beacon power cable (will not be present for Boxfish Alpha

or OEM): Cable to power the local beacon from the from the 12V

EXT port of the Control Station (EXT port not present for Boxfish

Alpha or OEM, so cable will not be included).

Local beacon AC power cable and adapter: If you do not power

the local beacon from the Boxfish Control Station, a cable is

provided that can provide power from an AC supply.

1.2 Viewing position of your vehicle

There are two options:

Using the USBL widget on your Control Station. This gives a simple view

of your ROV position relative to the local beacon.

Using SeaTrac PinPoint application to view the position of the ROV.

Manuals and software downloads are available at

https://www.blueprintsubsea.com/seatrac/support.

Boxfish USBL User Manual

2 Using the USBL widget on the Boxfish Control Station

A small widget summarising data from the USBL system is available on the

Boxfish Control Station so that you can see the position and trajectory of

your ROV (relative to the fixed position of your local beacon), in real time.

2.1 Overview of Control Station controls required for using the

USBL widget

2.1.1 Boxfish ROV and Boxfish Luna

2.1.2 Boxfish Alpha and autonomous-capable vehicles

Boxfish USBL User Manual

2.2 Procedure for using the Boxfish USBL widget

2.2.1 Connect Boxfish ROV components

1. Connect Boxfish ROV, tether and Control Station.

2. Power on ROV and Control Station. Check all ROV components are

communicating.

2.2.2 Mount local beacon

When mounting the local beacon underneath

the boat, ensure that the bar between the two

arrows is pointing in the same direction as the

bow of the boat. This is so the visual

representation of the boat will appear

correctly oriented in the Boxfish USBL widget.

2.2.3 Connect USBL components to Control Station and power

IMPORTANT!

You must power on the Control Station BEFORE attaching USBL devices

to the Control Station USB ports.

Boxfish USBL User Manual

The local beacon (X150) has a double-ended Y-cable. Connect the single

end to the local beacon. Then:

1. Left USB port on the Control Station. Note: the provided USB to serial

adapter if necessary.

2. Power source, from either:

a. Control Station EXT port, or

b. AC power, or

c. another device.

Note: Control Stations for Boxfish Alpha and autonomous-capable

vehicles do not have an EXT port to provide power to the local

beacon; therefore AC power or an alternative power source must be

used.

Then, connect the GPS device to the right USB port.

2.2.4 Turn Sensor Power ON

Turn on Sensor Power to supply power from the ROV to the remote

beacon.

2.3 Use widget to view location of your ROV

You can view the location of the ROV (and GPS coordinates) via the USBL

widget (USBL tab) on the bottom right of the telemetry screen. The next

section describes the widget in more detail.

2.4 Information displayed on the Boxfish USBL widget

The widget displays a topological map with the following features:

North is shown at the top of the map.

The local beacon is represented by a yellow boat at the map centre. The

bow of the boat is in the direction of the two arrows of the local beacon.

The ROV/remote beacon is represented by the red arrow. The tip of the

arrow is pointing in the direction the ROV is heading according to its

onboard compass.

Boxfish USBL User Manual

The ROV trajectory is shown by the green trail,

showing a smoothed path over the last 10 data

points.

Three concentric circles depict the ROV’s range

from the boat. These will dynamically zoom out

if the ROV moves beyond the outer circle.

Data fields are displayed to the right of the map:

Field

Information

Updated

Signifies the time passed (in seconds) since the remote

beacon/GPS was last heard. “-” signifies the beacon has not been

heard yet.

Status

Shows the current state of the local USBL beacon/GPS device:

Connected: The local USBL is connected to the Control Station.

Connect ~: Local USBL is not connected to the Control Station

(via the Serial to USB adapter).

Connection Broken:Serial to USB adapter is connected to the

Control Station, but local USBL is not connected to the adapter.

Distance

and

Slant

Range

Distance is the horizontal distance in metres between the

local beacon and the point at the surface directly above the

ROV.

Slant range is the Point to point distance between the ROV

beacon and the local beacon in metres.

Direction

Direction of the ROV’s location relative to the local beacon (boat).

Make sure the local beacon’s heading is same as the boat’s

heading. This can be ensured by pointing the LED on the local

beacon towards the front end of the boat

Boxfish USBL User Manual

3 Using Seatrac PinPoint application on a separate PC

The manufacturers of the USBL system provide a free Windows application

to display, log and play back positioning data. A separate laptop will be

required to run the application.

Software and manuals are available at

https://www.blueprintsubsea.com/seatrac/support.

3.1 Connection diagram

3.2 Procedure for using SeaTrac PinPoint

1. Install PinPoint software from

https://www.blueprintsubsea.com/seatrac/support.

2. Connect ROV, tether and Control Station and power on.

3. Switch on Sensor Power to supply power to remote beacon on ROV.

4. Connect the local beacon to power (Control Station EXT port or external

power source) and to the laptop as shown above.

5. Connect the GPS receiver to the laptop.

6. Mount the local beacon underneath the boat, ensuring that the bar

between the two arrows is pointing in the same direction as the bow of

the boat. Open PinPoint and view USBL data.

Boxfish USBL User Manual

4 Mounting remote beacon to ROV

This section explains how to mount the remote beacon to the ROV if you

should need to remove it for any reason.

4.1 Mounting components

The remote beacon is shown below with its mount and fasteners.

You will also need the power cable, which will be contained in the USBL

case.

4.2 Mounting location

Mount the remote beacon to the rear of the ROV and fasten with the

provided fasteners.

4.3 Connect power cable

1. Ensure the ROV is powered off and vacuum removed.

2. Connect the power cable to local beacon.

IMPORTANT!

Do not use force or twist connectors into the ROV ports, otherwise they

may be damaged, requiring the ROV to return to our factory for repair.

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