Software
Copyright © 2015 Coda Octopus Products Ltd
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F180R MOTION Sensor User and Reference Guide
5.6
iHeave
iHeave is an intelligent solution for long period ocean swell compensation and is fully
integrated with the F180R System Precision Attitude and Positioning System. In many parts of
the world, hydrographic survey is severely affected by low frequency ocean swells often up to
70 seconds long, resulting in distortions in bathymetric measurements. Conventional
techniques for real-time heave measurement can only offer limited accuracy and are
insensitive to ocean swells exceeding 10 to 20 seconds.
Analysis of raw motion data with iHeave allows a more accurate determination of the real
heave motion experienced by a vessel, and enables the output of precise heave values for all
ocean swells. Operating in near real-time, iHeave is able to process F180R System data online
resulting in processed heave data being available for inclusion in multibeam bathymetric data
processing, only a few minutes after the end of the survey line.
In conventional heave scenarios where long period heave is not a significant problem, iHeave
is able to generate higher accuracy heave data than is achievable in real time. As a fully
integrated component within the standard MOTION Control software, iHeave is available to all
F180R System users.
5.6.1 Description
The iHeave module acquires the real-time raw motion data, processes the data using the
proprietary iHeave filter and outputs the processed heave as a near real-time MCOM data file,
a data stream on Ethernet and as a comma-separated (.csv) file.
WARNING: For optimal performance you should use a direct exclusive connection
between your PC and the F180R System, thus avoiding potential data latencies and
interference that would otherwise be caused by other traffic existing on the network.
The iHeave module can be used during real-time acquisition mode or in playback mode for
reprocessing heave data. When used in acquisition mode, the iHeave filter period is always set
to 70 seconds. In playback mode, the user can select either a 30 or 70 second iHeave filter
period.
NOTE: The iHeave process runs automatically when MOTION Control is running. The
iHeave output will only be logged once you start logging data with MOTION Control. If
you close MOTION Control, you will also be shutting down the iHeave processing.
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