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SUBSONUS被动式声纳定位仪
Subsonus is a next generation USBL underwater acoustic positioning system that provides high accuracy position, velocity and heading at SUNSONUS水下被动式声纳定位仪SUNSONUS水下被动式声纳定位仪depths of up to 1000 metres. The system features an industry leading calibrated hydrophone array combined with an internal tightly coupled INS, all packed into a miniature titanium enclosure small enough to fit in the palm of your hand.

Subsonus下一代超短基线水下声学定位系统,可在1000米水深提供高定位精度5cm~2.5m高定位精度,以及速度、航向等。采用行业领先修正声纳水听器阵列,内置紧耦合惯性导航,钛合金外壳,尺寸小到可握于一掌之中。(被动声纳:我知道我在哪、我知道你在哪,你不知道我在那)

FEATURES特点

INDUSTRY LEADING HYDROPHONE ARRAY行业领先声纳“听”阵列

Subsonus features an industry leading eight channel factory calibrated hydrophone array. With so many hydrophones, Subsonus is able to offer superior angular and ranging accuracy. Subsonus's hydrophones are a new highly directional in-house design that offer incredible receive sensitivity combined with exceptional noise and multipath rejection. Despite each elements directionality, the complete array of eight provides a full acoustic field of view for tracking targets from any direction.

INTEGRATED TIGHTLY COUPLED INS集成紧耦合惯性导航

Subsonus features an integrated tightly coupled INS (inertial navigation system). The INS fuses Subsonus's acoustic position and doppler velocity with factory calibrated inertial sensors and a depth sensor to achieve an optimal solution with accuracy far beyond that of a standalone acoustic positioning system. This also allows Subsonus to output reliable low noise, high update rate position and velocity that is suitable for control.

AUTOMATIC SPEED OF SOUND自动测量声音传播速度

Subsonus has the ability to measure the speed of sound through water using a revolutionary new technique. This means that the system is self tuning and no extra equipment or user intervention is required to setup the system, reducing the risk of operator errors.

DYNAMIC TRANSMIT POWER自动调整传输功率

Subsonus dynamically adjusts its acoustic transmit power based upon ranging distance. This results in highly improved short range performance by significantly reducing noise and multipath. Subsonus features an operating range and depth of up to 1000 metres.

ACOUSTIC HEADING声波航向

Subsonus works on an inverted USBL scheme which allows it to provide accurate acoustic heading to the subsea vehicle. Additionally because reference position and heading data is transmitted acoustically, the Subsonus unit on the subsea vehicle can output absolute position, velocity and heading without the use of a tether for data transfer. Subsonus can also operate in a standard USBL scheme where it is compatible with most major beacons.

FULLY INTEGRATED MINIATURE ENCLOSURE全集成超小结构

Subsonus does away with the typical reliance on external equipment such as rack mount units, interface boxes or PCs. All processing is done internally inside the miniature titanium enclosure and the system connects through a single ethernet connection for data output. It features a web browser based user interface.

APPLICATIONS应用

AUVS自主水下机器人

Subsonus is an excellent choice for AUV (Autonomous Underwater Vehicle) control due to its accurate position, velocity and heading output that is both smooth and low latency. It is also highly suitable for untethered AUVs as it's reference surface data is transmitted acoustically rather than requiring a tether for data transfer. In the event that the system loses contact with the surface, it is able to continue navigating on its inertials for extended periods of time.

ROVS有缆水下机器人

Historically ROVs have been unable to use USBLs for station keeping due to a combination of position error noise, no velocity source and low update rate. With Subsonus, station keeping on ROVs is now possible thanks to its accurate low noise position, doppler velocity and high update rate inertial aided position and velocity. The integrated GPS antenna boosts operator confidence by maintaining situational awareness even when the vehicle has breached the water surface.

SUBSEA SURVEYING海底测绘

For underwater surveying such as mapping subsea features, Subsonus is an ideal position and heading reference source. It features built in high speed logging so that a survey can be completed and then matched to data. Low latency navigation data can be streamed directly to other survey instruments that require precision alignment of live imaging or captured bathymetric data.

DIVERS潜水

Due to it's extremely small size and weight Subsonus is practical for use with diver operated equipment and underwater navigation consoles. The simple web interface makes set-up and operation very easy. The integrated INS provides the diver with smooth, high speed navigation information while the acoustic data transfer functionality allows communication with the surface to be maintained.

SPECIFICATIONS规格

NAVIGATION导航

Position Accuracy(5 m range)定位准确度(5米距离)

0.05 m                      

Position Accuracy(100 m range)定位准确度(100米距离)

0.2 m

Position Accuracy(1000 m range)定位准确度(1000米距离)

2.5 m

Velocity Accuracy速度准确度

0.01 m/s

Roll and Pitch Accuracy横滚和仰俯准确度

0.1 °

Heading Accuracy航向准确度

0.2 °

Heave Accuracy准确度余容

5% or 0.05 m  (whichever is greater)

Internal Filter Rate内部滤波更新率

1000 Hz

Output Data Rate数据输出更新率

up to 1000 Hz

Latency延时

0.6 ms


ACOUSTICS声学

Hydrophones水听器

8

Frequency频率

30 kHz (broadband)

Range工作距离

1000 m

Acoustic Coverage声波覆盖范围

300 ° hemispherical半球

Accuracy准确度

0.25% of slant range斜距

Update Rate 更新率

Up to 10 Hz

Data Transfer Rate数据传输率

Up to 10 kbit

 
SENSORS传感器

Integrated GPS/INS集成GPS/惯导

Yes

Integrated GPS Antenna 集成GPS天线

                                                  

In top of hydrophone array在水听器阵列顶部

Pressure Sensor Range压力传感器距离

1000 m

Pressure Sensor Accuracy压力传感器准确度

1.5 m

Note

These apply to subsea variant only. Surface variant contains orientation sensor but no GPS/INS or GPS antenna. External GPS/INS required for surface variant. Spatial Dual or Spatial FOG Dual recommended.这些应用只适合海底情形。水面情形包含定向传感器,但没有GPS/INS或GPS天线。水面要求外挂GPS/INS,推荐 Spatial Dual、Spatial FOG Dual。

 
HARDWARE硬件

Operating Voltage  工作电压

9 to 60 V or                9~60伏
Power over Ethernet  或以太网取电

Power Consumption(average)  功耗(平均)

8 watts                       8瓦

Power Consumption(peak)  功耗(尖峰)

25 watts                     25瓦

Interface 用户界面

Ethernet 以太网
(RS232/RS422 through ILU)  RS232/RS342用户界面单元

Timing Synchronisation 时间同步

PTP and NTP support 支持精确时钟同步协议PTP和同步时钟网络协议NTP

Depth Rating 深度

1000 m

Operating Temperature 工作温度

-20 °C to 40 °C

Storage Temperature 储藏温度

-40 °C to 85 °C

Shock Limit 耐冲击

25 g

Dimensions 尺寸

106x106x82 mm

Weight in Air 空气中重量

780 g

 

Testing海底测试

 Subsonus operating in a challenging dynamic environment“听”声纳定位系统挑战动态环境 Subsonus operating in a challenging dynamic environment“听”声纳定位系统挑战动态环境

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Diagram of floating platform and subsea equipment layout“听”声纳定位系统配置图
Diagram of floating platform and subsea equipment layout“听”声纳定位系统配置图

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

DOWNLOAD下载

1. Subsonus Flyer 1.0

2. Subsonus Reference Manual 1.0产品手册

3. Subsonus performance evaluation被动式声纳定位仪性能评估

 

Ordering Info订货信息

1. Evaluation Kit

Part Nr:SUBSONUS-EK Subsonus Evaluation Kit
Subsonus Evaluation Kit Contains everything required to start operating Subsonus for subsea acoustic positioning and heading.一个被动声纳定位系统需要海底声纳单元、表面声纳单元配合。

1)Subsonus surface unit表面声纳单元.

2)Subsonus subsea unit海底声纳单元.

3) ILU (Interface and Logging Unit)接口单元, see http://www.aitcl.com/products/ahrs-imu/ilu/.

ILU接口单元ILU接口单元

 

 

 

 

4) GPS compass RS422 (comes with cable)  带串口RS422线缆的GPS定向仪.

定向仪安装示意图定向仪安装示意图

 

 

 

 

 

 

 

5) Pole mount bracket安装支架.

安装支架安装支架

 

 

 

 

 

 

6) 2x Subsonus connector to RJ45 connector 10 metre cable.

7) 2x 100-240V PoE (Power over Ethernet) power supply injectors.

8) 2x Subsonus connector female plug caps (for Subsonus connectors).

9) 2x Subsonus connector male plug caps (for cable connectors).

2. Standalone Unit单机

Part Nr:SUBSONUS-SUB 海底Subsonus单元
Subsonus Subsea Unit: Subsonus Subsea Unit, Horizontal connector,Internal GPS/INS, Internal GPS antenna in hydrophone array.海底型Subsonus单元、水平连接器、内置GPS/INS、顶部内置GPS天线。

海底Subsonus单元坐标示意图海底Subsonus单元坐标示意图

 

 

 

 

 

 

 

Part Nr:SUBSONUS-SURF 表面Subsonus单元
Subsonus Surface Unit:Subsonus Surface Unit, Vertical connector, Internal AHRS/INS (Requires external GPS compass or GPS/INS)表面型Subsonus单元,垂直连接器、内置AHRS/INS(要求外接GPS定向仪或GPS/INS)

表面Subsonus单元坐标示意图表面Subsonus单元坐标示意图

 

 

 

 

 

 

 

 

 

 

3.Accessories可选附件

Part Nr:SS-10M-CABLE

Subsonus 10 metre cable, Subsonus 10 metre cable to RJ45 Ethernet connector.

Part Nr:SS-POLE-BRACKET

Subsonus Surface Pole Mount Bracket, Subsonus Surface Pole Mount Bracket.

Part Nr:ILU

Interface and Logging Unit, Interface and Logging Unit Breaks the Subsonus Ethernet interface out to 5 serial ports capable of input/output of standard protocols and logs up to 64GB of data.

Part Nr:GPS-COMPASS-POE

GPS Compass (PoE), All in one GPS Compass for Subsonus surface unit. Ethernet interface. PoE powered.

Part Nr:GPS-COMPASS-RS422

GPS Compass (RS422), All in one GPS Compass for use with ILU. RS422 interface. 9-36V DC power.

Part Nr:POE-INJECTOR

AC PoE Injector, 100-240V AC PoE power injector adaptor.

Part Nr:SS-CONNECTOR-CAP

Subsonus Connector Cap,Protective cap for Subsonus connector. (MCDC8F).

Part Nr:SS-CABLE-CAP

Subsonus Cable Cap, Protective cap for connector on Subsonus cable. (MCDC8M).