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 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.
Subsonus具有业界领先的八通道工厂校准水听器阵列。有了这么多的水听器,Subsonus能够提供卓越的角度和测距准确度。Subsonus的水听器是一个非常新定向设计,提供令人难以置信的接收灵敏度、结合出色的噪音和多路径抑制。尽管每个元素的方向性,完整的八个阵列提供了一个完整声场,跟踪任何方向的目标。
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.
Subsonus紧耦合集成INS(惯性导航系统)。INS将Subsonus的声学位置和多普勒速度与工厂校准的惯性传感器和深度传感器融合在一起,以实现远超过独立声学定位系统准确度的最佳解决方案。这也允许Subsonus输出可靠的低噪声、高更刷新率的位置和速度,适合控制应用。
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.
Subsonus使用革命性的新技术来测量水中声音的速度。这意味着系统是自调谐的,不需要额外的设备或用户干预来设置系统,从而减少操作者错误的风险。
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.
Subsonus根据测距距离动态调整声发射功率。这大大降低了噪声和多路径效应,从而大大提高了短距离性能。Subsonus的工作范围和深度可达1000米。
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.
Subsonus采用倒置USBL方案,可以为海底潜器或潜水员提供精确的声学航向。此外,由于参考位置和航向数据是通过声学传输的,因此海底潜器或潜水员上的Subsonus单元可以输出绝对位置、速度和航向,而无需使用系绳进行数据传输。 Subsonus也可以在标准USBL方案中操作,与大多数主要信标兼容。
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.
Subsonus无需典型的机架安装单元、接口盒或PC等外部设备。所有的处理过程均在微型钛外壳内进行,系统通过一个单独的以太网连接进行数据输出连接。具有基于Web浏览器的用户界面。
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.
Subsonus由于其精确的位置、速度和航向输出,是AUV(自主水下航行器)控制的理想选择,既平滑又低时延。它也非常适合不受限制的AUV,因为它的参考表面数据是以声学方式传输的,而不需要系绳进行数据传输。在系统失去与地面接触的情况下,它能够继续依靠惯性导相当长一段时间。
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.
历史上,由于位置误差噪声、无速度源和低更新率等因素,ROV一直无法使用USBL进行位置保持。使用Subsonus,由于其精确的低噪声定位、多普勒速度和高更刷新率的惯性辅助定位和速度,现在可以保持在ROV上。即使在潜器已经到达水面的情况下,集成的GPS天线也可以保持对情景跟踪,从而提高操作员的信心。
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.
对于水下测量,如测绘海底特征,Subsonus是理想的定位和航向参考源。它内置高速记录功能,可以完成测绘并与数据匹配。低延迟导航数据可以直接传输到那些需要精确对准实时成像或捕获的测深数据的其它测量仪器。
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.
由于它的尺寸和重量非常小Subsenus可以与潜水员操作的设备和水下导航控制台一起使用。简单的网络界面使安装和操作非常简单。集成的INS为潜水员提供了平稳、高速的导航信息,而声学数据传输功能则可以保持与水面的通信。
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 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 |
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
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/.
4) GPS compass RS422 (comes with cable) 带串口RS422线缆的GPS定向仪.
5) Pole mount bracket安装支架.
6) 2x Subsonus connector to RJ45 connector 10 metre cable.两条RJ45接头10米长线缆
7) 2x 100-240V PoE (Power over Ethernet) power supply injectors.两个100-240伏PoE电源
8) 2x Subsonus connector female plug caps (for Subsonus connectors).两只Subsonus端连接器母插头帽
9) 2x Subsonus connector male plug caps (for cable connectors).两只线缆端连接器公插头帽
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。
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)
3.Accessories可选附件
Part Nr:SS-10M-CABLE
Subsonus 10 metre cable, Subsonus 10 metre cable to RJ45 Ethernet connector.RJ45接头10米长线缆
Part Nr:SS-POLE-BRACKET
Subsonus Surface Pole Mount Bracket, Subsonus Surface Pole Mount Bracket.安装柱支架
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. 接口与数据记录仪64GB容量
Part Nr:GPS-COMPASS-POE
GPS Compass (PoE), All in one GPS Compass for Subsonus surface unit. Ethernet interface. PoE powered. GPS罗盘PoE以太网接口
Part Nr:GPS-COMPASS-RS422
GPS Compass (RS422), All in one GPS Compass for use with ILU. RS422 interface. 9-36V DC power. GPS罗盘RS422接口、9-36伏直流电源。
Part Nr:POE-INJECTOR
AC PoE Injector, 100-240V AC PoE power injector adaptor. 交流100-240伏PoE电源适配器
Part Nr:SS-CONNECTOR-CAP
Subsonus Connector Cap,Protective cap for Subsonus connector. (MCDC8F). Subsonus端连接器保护帽
Part Nr:SS-CABLE-CAP
Subsonus Cable Cap, Protective cap for connector on Subsonus cable. (MCDC8M). 线缆端连接器保护帽