5.16.1 Two computer setup ..................................................................................................... 84
5.16.2 Changing back to one computer ................................................................................... 85
6 SONIC 2024/2022 THEORY OF OPERATION ............................................................................ 87
6.1 Sonic 2024/2022 Sonar Head Block Diagram ....................................................................... 87
6.2 Sonic 2024/2022 Transmit (Normal Operation Mode) ......................................................... 88
6.3 Sonic 2024/2022 Receive (Normal Operation Mode) ........................................................... 89
6.4 Sonic 2024/2022 Sonar Interface Module (SIM) Block Diagram ........................................... 91
6.4.1 Sonar Interface Module (SIM) Block Diagram ............................................................... 91
7 Appendix I: R2Sonic I2NS Components and Operation ........................................................... 93
7.1 Components .......................................................................................................................... 93
7.2 Connection diagram .............................................................................................................. 94
7.3 Installation ............................................................................................................................ 95
7.3.1 The IMU and GPS antennas .......................................................................................... 95
7.3.2 INS BNC – TNC Connections .......................................................................................... 95
7.3.3 I2NS DB9 Connections ................................................................................................... 96
7.4 Setup in Sonic Control ........................................................................................................... 97
7.4.1 Network Setup .............................................................................................................. 97
7.4.2 Applanix Group 119 specific to R2Sonic SIMINS ........................................................... 98
7.4.3 Sensor Setup ................................................................................................................. 99
7.4.4 INS Monitor (Alt+I) ........................................................................................................ 99
7.5 Measuring IMU Offsets ....................................................................................................... 101
7.6 I2NS Physical Specifications ................................................................................................ 103
7.7 I2NS Drawings ..................................................................................................................... 105
7.7.1 I2NS IMU ..................................................................................................................... 105
7.7.2 I2NS Sonar Interface Module (SIM) ............................................................................ 106
8 APPENDIX II: Multibeam Survey Suite Components ............................................................. 107
8.1 Auxiliary Sensors and Components ..................................................................................... 107
8.2 Differential Global Positioning System ................................................................................ 107
8.2.1 Installation .................................................................................................................. 107
8.2.2 GPS Calibration............................................................................................................ 108
8.3 Gyrocompass ....................................................................................................................... 109
Page 8 of 210
Version 5.0 Rev r002
Date 05-08-2014
Part No. 96000001
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