72 User’s Manual INNOMAR Parametric Sub-Bottom Profilers / SESWIN
72 Innomar Technologie GmbH (2023-01)
(1) The transducer is mounted horizontally, but the motion sensor is mounted with positive
(starboard down) roll offset. This can be corrected by a positive offset set in the dialogue.
(2) The motion sensor is mounted without offsets regarding the vessel, but the transducer is
mounted with a positive (starboard down) roll offset. This can be corrected by a negative
offset set in the dialogue.
See picture below for illustration.
No misalignement Motion sensor misaligned (+5°) Transducer misaligned (+5°)
Offset: 0° Offset: 0° Offset: +5° Offset: 0*
Offset: -5°
Transducer is rotatated by 90°: For the INNOMAR standard-rov” model the transducer is usually
mounted with the arrow on top not pointing forward, but starboard to have pitch correction instead
of roll correction. In this case, this check box needs to be ticked to swap roll and pitch angles
from the motion sensor.
Lever Arm Settings
There are two vectors to be defined: One pointing from centre of gravity (CG) to the place there
the motion sensor (MS) is located and one vector pointing from CG to the place there the heave
has to be monitored (MP, usually the centre of the transducer).
Take care to use the right direction (CG in the origin of the coordinate system) and sign:
X: across ship, positive pointing starboard
Y: along ship, positive pointing forward to bow
Z: vertical, positive pointing downwards
See also the picture above at the beginning of this section.
Check Motion Data
For checking the correct port settings and the incoming motion sensor data the integrated Motion
Data Input Monitor can be used. It displays the actual received data.
To check the mounting orientation, you can perform the following motions with the sensor and
observe the changed data in the MS window in the SESWIN screen:
lift the sensor
→ heave value goes negative
tilt to starboard (right looking forward)
→ roll value goes positive and increases
tilt backwards (bow up)
→ pitch value goes positive and
increases
If the heave goes into the wrong direction, the heave sign can be changed, see above.
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