R2Sonic 2026 - Page 9

Page 9 of 254
Version
6.3
Rev
r012
Date
05-11-2022
7.3.1 The IMU and GPS antennas ........................................................................................ 126
7.3.2 INS BNC – TNC Connections ....................................................................................... 126
7.3.3 I2NS DB9 Connections ................................................................................................ 127
7.4 Setup in Sonic Control ......................................................................................................... 128
7.4.1 Network Setup ............................................................................................................ 128
7.4.2 Applanix Group 119 specific to R2Sonic SIMINS ........................................................ 129
7.4.3 Sensor Setup ............................................................................................................... 130
7.4.4 INS Monitor (Alt+I) ..................................................................................................... 130
7.5 Measuring IMU Offsets ...................................................................................................... 132
7.5.1 IMU Types ................................................................................................................... 134
7.6 I2NS Physical Specifications ................................................................................................ 134
7.7 I2NS Drawings .................................................................................................................... 135
7.7.1 I2NS Type 42 IMU ....................................................................................................... 135
7.7.2 I2NS Type 82 IMU ....................................................................................................... 136
7.7.3 I2NS Sonar Interface Module (SIM) ............................................................................ 137
8 APPENDIX II: Multibeam Survey Suite Components ........................................................... 139
8.1 Auxiliary Sensors and Components ..................................................................................... 139
8.2 Differential Global Positioning System ............................................................................... 139
8.2.1 Installation .................................................................................................................. 139
8.2.2 GPS Calibration ........................................................................................................... 140
8.3 Gyrocompass ...................................................................................................................... 141
8.3.1 Gyrocompass Calibration Methods ............................................................................ 141
8.4 The Motion Sensor .............................................................................................................. 146
8.5 Sound Velocity Probes ........................................................................................................ 147
8.5.1 CTD Probes ................................................................................................................. 148
8.5.2 Time of Flight Probe ................................................................................................... 149
8.5.3 XBT Probes .................................................................................................................. 149
8.6 The sound velocity cast ....................................................................................................... 150
8.6.1 Time of Day ................................................................................................................. 150
8.6.2 Freshwater influx ........................................................................................................ 150
8.6.3 Water Depth ............................................................................................................... 150