1 Reading guide. 5
2 Program overview.. 6
2.1 Online main window. 7
2.1.1 Toolbar 7
2.1.3 Gyro. 8
2.1.4 Reference Position. 8
2.1.5 DOP. 8
2.1.6 Unit 9
2.1.7 Status. 9
2.1.8 Alarms/messages. 9
2.1.9 Navigation. 9
2.2 Menu function overview. 10
2.2.1 File. 10
2.2.2 Edit 11
2.2.3 View. 12
2.2.4 Navigation. 14
2.2.5 Calibration. 15
2.2.6 Calculate. 16
2.2.7 Events. 17
2.2.8 Options. 17
2.2.9 Help. 19
2.3 Start program.. 19
3 Detailed function description. 20
3.1 File menu. 20
3.1.1 Open NaviPac Config. 20
3.1.2 Exit 20
3.2 Edit menu. 21
3.2.1 Date & Time. 21
3.2.2 Estimated Position. 23
3.2.3 Surface Position Control 25
3.2.4 User Defined Offsets. 27
3.2.5 Positioning systems. 29
3.2.6 Vehicle Control 32
3.3 View menu. 34
3.3.1 Position Format 34
3.3.2 Alarm Monitor 35
3.3.3 Attitude. 35
3.3.4 Surface Position Status. 35
3.3.5 Data Monitor 35
3.3.6 GPS Status. 35
3.3.7 Helmsman’s Display. 36
3.3.8 Input Monitor 36
3.3.9 Log Data and Custom Log Data. 36
3.3.10 Object Positions. 36
3.3.11 Raw Data. 36
3.3.12 Alarm & Message file. 37
3.3.13 Clear alarms & messages. 37
3.3.14 Status Bar 37
3.3.15 Toolbar 37
3.4 Navigation menu. 37
3.4.1 Navigation Mode. 38
3.4.2 Change Priorities. 38
3.5 Calibration menu. 40
3.5.1 Position Calibration. 41
3.5.2 Range Calibration. 44
3.5.3 USBL Calibration. 47
3.6 Calculate. 47
3.6.1 Coordinate Conversion. 48
3.6.2 True Distance. 50
3.6.3 Distance to stations. 51
3.6.4 Grid Point 53
3.6.5 WGS 84. 55
3.6.6 ITRF. 57
3.6.7 Chen & Millero 1977. 58
3.7 Events. 58
3.7.1 Manual Event 58
3.7.2 Manual event (Note) 59
3.7.3 Predefined events. 60
3.7.4 Event Settings. 60
3.7.5 Re-shoot partly surveyed line. 61
3.7.6 Distance Event Info. 64
3.8 Options. 65
3.8.1 Display events in message list 65
3.8.2 Display warning in message list 65
3.8.3 Alarm filtering. 65
3.8.4 Depth calculation. 68
4 Navigation principles. 71
4.1 Special features. 71
4.1.1 Flexible choice of geodesy. 71
4.1.2 Flexible choice of navigation instruments. 71
4.1.3 Precise time tagging of all sensor data. 71
4.1.4 Kalman filter used for position prediction. 72
4.1.5 Correction of antenna swing. 72
4.1.6 Local coordinate system for calculation of offsets. 72
4.1.7 On-line transformation of WGS 84 coordinates. 72
4.2 Surface navigation. 72
4.2.1 The measurement is gated. 74
4.2.2 The measurement is corrected for layback. 74
4.2.3 Least squares adjustment 74
4.2.4 Accuracy of least squares: 75
4.2.5 The Kalman filter 76
4.2.6 Weighting and robust estimation. 76
4.2.7 Automatic computations. 77
4.2.8 Semiautomatic computations. 77
4.2.9 Manual computations. 77
4.3 Alarm handling in NaviPac. 78
4.4 Navigation modes. 81
4.5 Navigation state. 82
4.6 Navigation scenarios. 84
4.6.1 LOP drops out: 84
4.6.2 LOP automatically weighted down. 86
4.6.3 Estimated Position. 87
4.6.4 Differential GPS. 87
4.7 Filtering components. 88
4.7.1 Sigma. 88
4.7.2 Weight 89
4.7.3 Filter value. 89
4.8 Simulation. 90
4.8.1 Description of fields and buttons. 92
4.8.2 LOP monitoring. 93
4.8.3 Reference position. 93
4.8.4 Dynamic positioning. 93
5 Definitions. 95