10.4.3 User Manual Contents April 17, 2020
Firmware: 5.2.1 Page 91 of 142
10.2
QINSy Setup for WBMS, iWBMS, iWBMSh, iWBMSe & iWBMSc
For sensors not supplied by NORBIT, please contact the vendor for integration instructions. The
following sections show recommended configurations of QINSy v8.18 for all NORBIT sonars. The
examples assume that the INS reference is collocated with the sonar reference.
iWBMSc users must configure the MarineSPAN output records to log the following:
LOG ICOM2 INSPVAA ONTIME 0.05
LOG ICOM2 TIMEA ONTIME 1
LOG ICOM2 BESTPOSA ONTIME 0.2
LOG ICOM2 HEAVEA ONNEW
For information on how to configure the NovAtel Connect software please refer to section Error! R
eference source not found..
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 system in the QINSy database
requires the same identical offset, that is the offset from Center of Rotation to WBMS Reference
Point, assuming the CoR is chosen as the QINSy reference point. If the optional iLiDAR is installed,
this offset must be separately measured and applied.
Note that the QINSy sign convention uses Y+ Forward, X+ Starboard, and Z+ Up. This is not the
same as the integrated Applanix systems on NORBIT sonars. 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 sonar reference location. 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.
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