10.4.3 User Manual Contents April 17, 2020
Firmware: 5.2.1 Page 80 of 142
Basic Acquisition Software Setup
10.1
HYPACK Setup for WBMS, iWBMS, iWBMSh, iWBMSe & iWBMSc
For sensors not supplied by NORBIT please contact vendor for integration instructions. The
following sections show only one of many possible methods for configuring HYPACK 2017a for the
NORBIT sonars. As with many sensor suite setups, this is certainly not the only method. The
examples assume that the INS reference is collocated with the sonar reference location.
Offsets
By default, integrated NORBIT systems output all sonar and navigation data at the WBMS Reference
Point (refer to the Offsets section for more details). Therefore, each device in HYPACK requires the
same identical offset, that is the offset from Center of Rotation to WBMS Reference Point, assuming
the CoR is chosen as the HYPACK reference point. If the optional iLiDAR is installed, this offset
must be separately measured and applied.
Note that the HYPACK sign convention uses +Forward, +Starboard, and +Down. Incorrect entry
of the sign may corrupt data. If depths need to be reported relative to the water level, please move
the CoR height up/down to the appropriate level. Perform a draft or bar check to verify these values.
CAUTION: For Integrated Systems, Sonar and INS Share Same Offset
Offsets from CoR are required if the INS is setup as recommended in this
manual. Referencing data to the CoR reduces heave inaccuracies by
replacing the heave data with attitude-induced lever arm corrections.
About the COR: The COR, for larger commercial vessels, is documented in the vessel design plans.
For other vessels, this point at which the vessel’s roll and pitch axes intersect need to be determined.
This is difficult to measure as the vessel CoR may change from day to day, and even during the day.
Generally, choose a CoR location that is about ¾ distance from bow to stern, centered on the keel,
and located at approximately water level. Especially for smaller vessels, the CoR moves depending
on fuel stowage and even distribution of personnel body weight. For example, two persons sitting
on the starboard rail of a 6m craft will move the CoR from the keel centerline a distance towards the
starboard rail. Choose a location and attempt to keep the weight distribution constant throughout the
survey. If in doubt, take the boat to open water and measure its motion while passing over waves in
different directions.
This example configuration places the INS reference at the sonar reference, i.e. the INS was
configured to output values to the WBMS Reference Point. If users want to base bathymetric
measurements referenced to the water level, the only other offset required is a water level correction.
This allows the application of tide station water level corrections if required. The water level
correction involves translating the CoR up/down to the water level and confirmed by a bar check.
The offsets shown will be different for every vessel. For this example, HYPACK2017 is used.
HYPACK 2017 configuration combines both HYPACK Hardware and HYSWEEP hardware into one
interface. However, both sections must still be configured with the same drivers as in previous
versions.
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