Tritech Intelligent Gyro Compass Manuale utente
Intelligent Gyro Compass (iGC)
Product Manual
0707-SOM-00004, Issue: 02
Outstanding Performance in Underwater Technology
COPYRIGHT
© Tritech International Limited
The copyright in this document is the property of Tritech International
Limited. The document is supplied by Tritech International Limited on the
understanding that it may not be copied, used, or disclosed to others
except as authorised in writing by Tritech International Limited.
Tritech International Limited reserves the right to change, modify and
update designs and specifications as part of their ongoing product
development programme.
Tritech International Ltd Intelligent Gyro Compass
Table of Contents
4. Safety Statements................................................................................................................ 6
4.1 Technical Support And Software Upgrades......................................................................7
4.2 Safety Notes ........................................................................................................................8
5. Introduction.........................................................................................................................1
6. Typical Applications Drawings.........................................................................................12
7. Installation.......................................................................................................................... 16
8. Commissioning..................................................................................................................22
9. Calibration........................................................................................................................ 27
1 . Operation.......................................................................................................................... 28
11. Maintenance..................................................................................................................... 32
12. Basic Fault Finding..........................................................................................................37
Appendices
Appendix A iGC Supply Specification
Appendix B Specification Change Table
Appendix C Build and Test Record
Appendix D Interface Method Plan & Interconnection
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Appendix E General Assembly Drawing
Appendix F Parts List
Appendix G Firmware Modes – Proprietary Outputs
Appendix H Firmware Modes – Industry Standard Outputs
Appendix I Electrical Interconnection Diagrams
Appendix J Technical Specifications
Appendix K Programming & Test Cable
Appendix L Recommended Spares List
Appendix M Certification
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4. Safety Statements
The installation of this unit is fully the responsibility of the end user.
Full consideration has been given to the requirements for CE marking and the
relevant safety information is contained within this manual.
Since the unit is supplied as a subsystem and its safe use is installation
specific, actual compliance is the responsibility of the installer.
t must be operated in accordance with the following instruction manual.
Failure to follow the recommendations of this manual may lead to safety
hazards or equipment failure.
Danger! Throughout the manual certain safety related comments and
requirements that could lead to injury or loss of life will be highlighted to
the operator by indications in the margin identified as opposite.
Caution!Throughout the manual certain safety related comments and
requirements that could result in damage to the product or other property
will be highlighted to the operator by indications in the margin identified
as opposite.
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Tritech International Ltd Intelligent Gyro Compass
4.1 Technical Support And Software Upgrades
Contact your local agent or Tritech International Ltd
Mail
Tritech nternational Ltd.
Peregrine Road,
Westhill Business Park,
Westhill, Aberdeen,
AB32 6JL, UK
Telephone ++44 (0)1224 744111
Fax ++44 (0)1224 741771
Email support@tritech.co.uk
Web www.tritech.co.uk
An out-of-hours emergency number is available by
calling the above telephone number
If you have cause to use our Technical Support service, please ensure that you have the following
details at hand prior to calling
iGC Assembly Part No. iGC Serial No.
Operating mode settings (if known) Firmware version (if known)
Fault Description
Details of other equipment used in the iGC system (e.g. iFG, iIF etc.)
Details of remedial action or faultfinding already implemented
It is worthwhile keeping a copy of this manual to hand, together with any system drawings showing how
the iGC connects to your system prior to making a call to the help-line. This will ensure that we can
diagnose the problem as quickly as possible.
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Tritech International Ltd Intelligent Gyro Compass
4.2 Safety Notes
Danger!
4.2.1 General
The iGC may contain fluid or gas under pressure and electrical systems at potentially
hazardous voltages.
All installation, operation, maintenance and repair works must be carried out by
competent personnel.
The installation of the iGC and associated components is fully the responsibility of
the user.
The iGC shall be installed, commissioned, operated and maintained in accordance
with this instruction manual, including staying within the maximum operating
conditions given in Appendix A - iGC Supply Specification. Failure to do so may lead
to safety hazards or equipment failure.
Before starting installation, commissioning, operation or maintenance of the iGC,
personnel should read and understand all relevant sections of this manual.
Any queries, comments or suggestions regarding the content of this manual or the
safe installation, operation or maintenance of the iGC should be referred to Tritech.
Caution!
4.2.2 Pressure
If a seal has failed AND then acts as a one-way check during flooding, it is possible
that pressurised fluid and gas has been trapped inside the iGC pressure vessel. This
may be indicated by one or more of the following:
The iGC has ceased to function after flooding;
A water-ingress alarm has been generated;
If the iGC is shaken fluid can be heard or felt moving around inside the housing;
During removal, the pressure dome is very tight on its threads;
During removal of the pressure dome there is fluid leakage at the joint.
The pressure housing has been designed so that the main seal will cease to function
whilst there is still sufficient thread engagement to prevent the components from
flying apart. The correct procedure for disassembly is given in Section 11 –
Maintenance.
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Caution!
4.2.3 Electrics
Any electrical supply or connection should be regarded as dangerous until proven
otherwise by disconnection and isolation or by measurement. This applies as much
to supply circuitry as to the equipment described in this manual.
Before doing any work inside the iGC the electrical power supply to the iGC should
isolated and the power connector unplugged. This includes electrical faultfinding so
as to avoid inadvertent contact between the pressure housing and exposed
connections on any of the electrical components or circuit boards during removal /
installation of the dome.
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5. Introduction
5.1 Intelligent Gyro Compass (iGC):
The Tritech intelligent gyrocompass is the core component within an integrated and flexible family of
products that provide the user with heading direction, attitude and motion data. This device finds
numerous applications as a component in underwater navigation and positioning systems, ranging
from ROV heading sensors, tooling skid positioning, heave compensation systems, construction
projects, vessel navigation etc.
As standard the iGC is supplied in a 1-atmosphere pressure housing suitable for use down to 4000
metres depth, but is available in a 6000 metre version or in a ‘surface’ housing (i.e. suitable for use
inside an existing pressure vessel or at the surface) as an option.
The iGC is based around a sophisticated set of sensors measuring acceleration, magnetic field and
rate of turn on three orthogonal axes. Data from these sensors is processed internally using state of
the art digital signal processing and advanced adaptive filtering techniques to give outputs of heading,
pitch, roll and heave acceleration. Optionally, the unit can also provide surge and sway accelerations.
In order to find applications in a wide range of areas, the output data from the iGC is selectable by the
user to match numerous industry standard formats. This allows the iGC to ‘emulate’ more expensive
or existing heading sensors and therefore provide an easy upgrade or replacement path for customers
looking for a more reliable or compact solution.
As standard, the iGC is supplied with a PC software application that gives a clear animated display of
heading, pitch, roll, turns counter, heave acceleration and iGC status. This PC programme is normally
used when the user does not have an effective heading display, for diagnostics / additional data control
or in applications where an additional display is useful to complement the existing heading display
system.
The iGC communicates with the ‘host’ system via a digital communication link, either using RS232,
RS485 or ‘Arcnet’ protocols. The data rate and output telegram format are user selectable depending
on the application. When in Arcnet mode, the iGC can co-exist with other Tritech sensors on an Arcnet
network (e.g. sonars, profilers etc.).
Power to the iGC is nominally 24V dc at 250mA, but supply voltages in the range 12V to 26V are
acceptable.
Since the iGC is based around magnetic North detecting sensors, it is sensitive to external magnetic
fields that are not produced by the earth’s magnetic field. Such fields may vary in intensity and
direction, and will affect the performance and accuracy of the iGC outputs to a greater or lesser extent,
depending on their severity.
By careful positioning of the iGC on the host system, local ‘soft iron’ magnetic errors can normally be
avoided, but external effects may produce undesirable results under certain circumstances.
There are several other members of the iGC product family that increase the functionality and
application areas of the iGC.
These are described in more detail later in this manual and comprehensively in their own Operators
Manuals, but comprise
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5.2 Intelligent Fibre-optic Gyro (iFG):
This is a solid-state single-axis fibre-optic gyro (FOG) sensor system that measures rate of turn to a
high degree of accuracy, and with very low drift-rate. This sensor when coupled with an iGC provides a
magnetic-north referenced fibre-optic stabilised gyro system with a drift rate of ~1º heading per hour.
The combination of an iGC and iFG can be used to replace traditional spinning mass gyrocompasses
with a more reliable solid-state solution with significantly better drift-rate performance. The effects of
extraneous magnetic fields is also much reduced with the iGC / iFG combination.
5.3 Intelligent Interface PCB (iIF):
For systems where an RS232 or RS485 sensor output is not compatible with the existing heading
sensor interface, Tritech have developed a number of interface PCBs that can be used to convert the
digital telemetry signals from the iGC and iFG into a compatible format. These PCBs are installed in
the host system in place of the existing heading sensor interface PCB, and emulate the original sensor
outputs (e.g. synchro, analogue, digital etc.) but use the iGC / iFG as the data source.
These PCBs offer a simple ‘hardware’ upgrade to existing systems, without the requirement to rewrite
control system software or redesign hardware. They also offer additional capabilities over existing
systems, such as the ability to receive data from a North-seeking gyro and convert to the host format,
output of pitch and roll signals in the host system’s correct format, automatic selection of the ‘best’
heading source and improved autoheading / turns counter interfaces.
At the time of writing this manual, the following iIF PCBs are available
Ametek Straza / Perry Tritech Scorpio ROV
Perry Tritech Super Scorpio ROV
Subsea 7 (Subsea Offshore) Pioneer ROV
Tritech are continually expanding the range of supported systems, so please contact Tritech if you
have requirements that are not covered by the list above.
Refer to the ‘Typical Applications’ drawings below for details of some of the possible configurations that
the iGC product family can be used in.
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