iXBlue GAPS - Page 217

GAPS - User Guide
I.18 USBL_POSTPRO
Terminology
● CRP: Common Reference Point
● BRD: Acoustic Antenna Mounting Flange
● CAC: Acoustic center of the acoustic antenna
● RIXI: iXblue Reference Frame
> X+: towards the bow (axis of the ship)
> Y+: towards starboard
> Z+: upward
> Roll+: port goes down
> Pitch+: bow goes down
> Heading+: Bow goes to port.
● RANT: Acoustic antenna reference frame
> X+ towards H1
> Y+ towards H4
> Z+ downwards
● RIXI o CRP : iXblue reference frame centered on common reference point
● RANT o BRD : Acoustic antenna reference frame centered on the center of the mounting
flange
● RANT o Hx : Acoustic antenna reference frame centered on hydrophone x
Overview
USBL_POSTPRO protocol comprises all necessary data for post processing:
● Configuration data (supposed invariant)
> System characteristics
> Beacon characteristics
● Operational environment data
> System Installation
> Sound speed profile
● Input data
> Time
> Raw navigation data
> Detection characteristics
> Ancillary data
Protocol
Structure
The protocol comprises binary datagrams produced by the equipment. It contains the
sufficient and necessary data for playback of the applied real time processing.
The datagrams comprise :
● Header for identification and characterization
● Main body of data described in the header
● Checksum (bytes sum)
MU-GAPS-AN-005-H - November 2019 217