Q:
How do I configure the NaviPac PHINS/ROVINS Aiding driver?
A:
If NaviPac should use the special PHINS/ROVINS Aiding driver, the module below will start up with NaviPac.
The operator can switch between aiding the INS while it is on deck (PHINS on Deck) or subsea (PHINS sub-surface)
At the same time it will also retransmit the INS Pos, Gyro & Motion data to NaviPac.
To use the special module in NaviPac two subsea vehicles must be defined. One with the PHINS/ROVINS aiding (found in NaviPac DataOutput drivers) This vehicle must also contain the USBL system's beacon (or other subsea positioning) and another vehicle which will represent the final INS solution.
The INS navigational data will be available on the internal IP 127.0.0.1 but in ATTU format.
As shown in the example screenshot above, use port 10001 as Gyro/Motion P, and port 10002 as Position Port.
Pressing the button View Setup File... will show the internal port numbers defined. Data can also be forwarded to NaviScan or just forwarded as the raw telegram. -1 defines not to use, else define the port number.
Example of a NaviPac configuration:
The Phins/Rovins Aiding (from NaviPac DataOutput drivers) is configured on the same vehicle (ROV usbl) as the USBL system "beacon" . Notice the two Aiding locations. It can be CRP or POI. Seen above, Subsea Aiding is CRP on the “ROV usbl” vehicle and On Deck Aiding is a POI on the main vessel.
The I/O settings is here UDP 192.168.1.100 (Phins/Rovins IP) port 6000. This port handles the communication (to/from) between the NaviPac Aiding module and the Phins/Rovins INS. It can also use serial connection (comport)
Example of the special ATTU (format) port configuration for the resulting PHINS/ROVINS position.
Below screen shots from a ROVINS configuration with the Halliburton format. Notice that input and output from/to the NaviPac Aiding module is configured to the same port number 6000.
