Sonardyne UM-8041-C1 Guida utente

Head Office

Sonardyne International Limited

Blackbushe Business Park

Yateley, Hampshire

GU46 6GD United Kingdom

T. +44 (0) 1252 872288

F. +44 (0) 1252 876100

E. [email protected]

www.sonardyne.com

QUALITY

MANAGEMENT

CERTIFIED

UM-8041-C1

System Manual for

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

Table of Contents

Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i

List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Document Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

1 About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

Electronic manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

How this manual is arranged . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

Who should read this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Updates to the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Navigating the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

Navigation buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Bookmarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Slider control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Radian Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

Depth rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Magnetic calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

Shock and vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Magnetic fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Electrostatic discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

Communication and physical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Contact Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

3 Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

Description of Supplied Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

Radian AHRS instrument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Power Supply Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Radian Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Software Installation and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

Installation Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

Pitch rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Installation drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Site Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

Connector detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Make the connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Power-on Radian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Software Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Graphical displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

Communication Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

6 Magnetic Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

7 Data Output Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

Industry standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

NMEA 0183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Industry Standard Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

Simrad EM1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

TSS2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

NMEA 0183 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

$PRDID format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

$HCHDG format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

$HCHDM format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

$PHTRO format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

Routine Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

iii

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

List of Figures

Fig 1 Radian AHRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Fig 2 Radian AHRS instrument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

Fig 3 Standard interface tail – Sonardyne part number 8041-051 . . . . . . . . . . . . . . . . . . . . . . . . 9

Fig 4 Cable for use with NCU transceiver port – Sonardyne part number 8041–050 . . . . . . . . . 10

Fig 5 Radian’s orientation requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Fig 6 Dimensioned installation drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Fig 7 Radian connection port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Fig 8 Radian software’s splash screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Fig 9 Initial Radian Tool dialog with no connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Fig 10 Radian tool with an active connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Fig 11 Settings dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Fig 12 Radian Tool dialog showing the Display Mode tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Fig 13 Radian Tool dialog showing the Telegram Mode tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Fig 14 Settings dialog with Display Mode selected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Fig 15 Radian Tool dialog when operating in Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Fig 16 Advanced Settings dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

Fig 17 Configure Telegram Output 1 and Output 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Fig 18 Attitude display in Heading-up mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Fig 19 Attitude display in North-up mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Fig 20 3D Attitude display options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Fig 21 Restore Communication dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Fig 22 MagField Mapper program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Fig 23 Select Output Directory screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Fig 24 Select Mapping Mode screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Fig 25 Data capture screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Fig 26 Typical MagField Calibration Report screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Fig 27 Results screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Fig 28 Simrad EM1000 data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Fig 29 TSS2 data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Fig 30 NMEA 0183 $PRDID data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Fig 31 NMEA 0183 $HCHDG data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Fig 32 NMEA 0183 $HCHDM data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Fig 33 NMEA 0183 $PHTRO data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

List of Tables

Table 1 Document information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v

Table 2 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Table 3 Communication and Physical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 4 Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 5 Data format specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

Table 6 Performance specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Table 7 Connector pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

Document Information

Table 1 Document information

Document Title—Radian Motion Sensor

Document Reference ISSUE ISSUE DATE

UM-8041-000 A - Rev 1 1 Nov 2006

UM-8041-000 B - Rev 1 2 May 2007

UM-8041-C1 C - Rev 1 18 Sept 2008

Table 2 Document history

Issue Rev Date Comments Section Page

A 0 First issue All All

B 1 May 2007 CN 9427 Changes to software features 5 All

C 1 Sept 2008 Changes to software features 5 All

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

1 About This Manual

In this section… This section contains the following sub-sections:

1.1 “Purpose” beginning on page 1.

1.2 “How this manual is arranged” beginning on page 1.

1.3 “Navigating the manual” beginning on page 2.

1.1 Purpose

This is the Technical and User Manual for the Radian Motion Sensor (Attitude

and Heading Reference System) manufactured by Sonardyne International Lim-

ited. It provides important information concerning the installation and use of the

hardware, and offers advice on how to use Radian safely and effectively.

Electronic manual This manual is supplied electronically as a PDF file, which allows easy navigation

among related topics through hyperlinks, and supports the ability to search for

words, optionally using advanced features such as ‘word stemming’ and ‘sounds

like’. The manual also includes a more conventional index and table of contents.

If required, you can print any part of the manual. However, you cannot select,

copy, or change any part of it. Copyright in this manual remains with Sonardyne

International Limited at all times.

1.2 How this manual is arranged

This manual is arranged in a series of sections and appendices, each of which cov-

ers a major topic:

Section 1 "About This Manual" begins on page 1

Section 1 is about this manual and explains what it contains, who should read it,

and how to use it. Section 1 also explains the conventions used throughout this

manual.

Section 2 "Radian Overview" begins on page 4

Section 2 explains briefly what Radian is and what it does, and provides some ex-

ample applications where Radian can be used effectively. It also includes some

important cautionary notices and precautions that you must read before you un-

pack and install Radian.

Section 3 "Quick Start Guide" begins on page 8

Section 3 includes the basic information you need to begin using Radian as quickly

as possible, and refers you to the indicated sections of this manual for more de-

tailed information about the relevant topics.

Section 4 "Installation" begins on page 12

Section 4 describes how to install Radian. To gain the best possible performance

from Radian, you should plan the installation carefully and follow the instructions

and guidance included throughout this section of the manual.

Section 5 "Operation" begins on page 17

Section 5 describes how to operate Radian. One of Radian’s features is its ability

to be configured and then left to supply measurements with no further operator

intervention. This section explains how to configure the system to operate in this

way.

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

Note

Section 6 "Magnetic Calibration" begins on page 29

Radian uses an internal earth magnetic field sensor, called a flux gate, to detect

the earth’s magnetic field so that it can deliver measurements of magnetic head-

ing.

The simple self-calibration procedure described section 6 allows Radian to meas-

ure and compensate for any static hard iron magnetic effects that would otherwise

introduce errors into its heading measurements.

Section 7 "Data Output Formats" begins on page 34

Section 7 describes the data output format that Radian uses to supply digital meas-

urements of heading, roll and pitch to receiving equipment.

Who should read

this manual

This manual should remain available for electronic or hard-copy access by any-

one who has any involvement with the Radian Motion Sensor. All users of the

sensor should ensure they read the relevant sections. If you have a printer connect-

ed to the computer that holds this electronic manual, you can print any part of it.

Updates to the

manual

If necessary, contact Sonardyne International Limited to check whether you have

the latest revision of the manual, or to request printed copies. The document ref-

erence number for this manual is UM-8041-C1 and this is issue C - Rev 1.

1.3 Navigating the manual

The electronic version of this manual is a PDF file read using Adobe®Acrobat®

Reader. Acrobat Reader provides a number of features to help you navigate

through the manual, and to find the information you are looking for conveniently.

You will not be able to use the electronic version of this manual unless the

computer on which it is installed has the Adobe Acrobat Reader software

installed. Visit the Adobe website www.adobe.com to download the Read-

er software if necessary.

Navigation

buttons

You can use the Acrobat naviga-

tion buttons to move to the begin-

ning or the end of the manual, or

forwards and backwards by a single page. You can also click the page

number field and type the number of the page you wish to see.

Bookmarks You can click on a section or sub-section title listed in the Book-

marks tab to the left-hand side of the Acrobat screen. Alterna-

tively, you can select the Pages tab and then click on one of the

page thumbnails to take you to that page.

Links Throughout the manual you will find cross-references that refer to section or sub-

section titles, page numbers, figures or tables. For example “See “Navigating the

manual” on page 2.” These are hyperlinks. When you hover the mouse pointer

over them in Acrobat, the pointer changes to a pointing finger. Click on the link

with the mouse to jump to the relevant location in the manual.

The Table of Contents, List of Figures, List of Tables, and Index sections all in-

clude hyperlinks to the locations listed. Click on the listed page number to make

the jump.

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

Click on the Previous View or the Next View button to go back-

wards or forwards through the sequence of pages you have already

viewed.

Slider control You can click and drag the button on the vertical slider at the right-hand side of

the display to move forwards and backwards through the pages.

Search Acrobat Reader includes a powerful facility to find specific words in the

text. Click the Search button and then type the word that you need to find.

The software will then display the first occurrence of that word after the

current location.

Hold the [Ctrl] key and press [G] to find the next and subsequent occurrences of

the search word.

Printing You can print part or all of the manual if you wish. To do this, choose File > Print

from the Acrobat menu bar.

Radian Motion Sensor

User Manual

Document Ref: UM-8041-C1

Issue: C - Rev 1

2 Radian Overview

In this section… This section contains the following sub-sections:

2.1 “Introduction” beginning on page 4.

2.2 “Description” beginning on page 4.

2.3 “Precautions” beginning on page 5.

2.4 “Specifications” beginning on page 6.

2.5 “Warranty” beginning on page 7.

2.6 “Contact Details” beginning on page 7.

2.1 Introduction

This section of the manual explains briefly what Radian is and what it does, and

provides some example applications where Radian can be used effectively. It also

includes some important cautionary notices and precautions that you must read

before you unpack and install Radian.

2.2 Description

Fig 1 Radian AHRS

Radian is a versatile Attitude and Heading Reference System (AHRS) in a small,

300m or 3000m depth-rated pressure housing suitable for use in surface and sub-

surface marine applications.

It uses data supplied by three-axis arrays of solid state linear accelerometers, rate-

of-turn gyros, and earth magnetic field sensors to calculate and output measure-

ments of gyro-compensated magnetic heading, pitch, roll, heave, rate of turn, and

acceleration.

Embedded high-performance processing ensures Radian can continue to deliver

high output rates, even in dynamic environments.

Radian is fully compatible with Sonardyne’s sub-sea positioning systems.

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