NAVISCAN

NAVISCAN CONFIGURATION

Last update: 27/05/2020

Version: 9.4
 Contents

1 Introduction ..................................................................................................................... 3

1.1 Related manuals ........................................................................................................ 4

2 Getting started ................................................................................................................ 4

2.1 The configuration file NaviScan.BIN .......................................................................... 5

2.2 Tree view or Explorer panel ....................................................................................... 6
2.2.1 File level ............................................................................................................... 6
2.2.2 Sensor type level ............................................................................................... 10
2.2.3 Individual sensor level ....................................................................................... 11

3 The Toolbar ................................................................................................................... 13

4 Menu bar ........................................................................................................................ 13

4.1 File ............................................................................................................................ 14

4.2 Equipment ................................................................................................................ 15
4.2.1 GPS TIME .......................................................................................................... 15
4.2.2 RUNLINE CONTROL ........................................................................................ 17
4.2.3 GYRO ................................................................................................................ 18
4.2.4 MOTION............................................................................................................. 18
4.2.5 BATHY ............................................................................................................... 19
4.2.6 AUXILIARY ........................................................................................................ 21
4.2.7 RAWDATA ......................................................................................................... 22
4.2.8 DOPPLERLOG .................................................................................................. 22
4.2.9 NAVIGATION ..................................................................................................... 23
4.2.10 ECHOSOUNDER .............................................................................................. 25
4.2.11 SIDESCAN......................................................................................................... 26
4.2.12 PIPE TRACKER ................................................................................................ 27
4.2.13 LASERSCANNER ............................................................................................. 29
4.2.14 Free data format ................................................................................................ 29
4.2.15 Special instruments ........................................................................................... 31
4.3 View .......................................................................................................................... 32

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 4.4 Options ..................................................................................................................... 32
4.4.1 Global Parameters ............................................................................................. 33
4.4.2 Fansweep port setup ......................................................................................... 41
4.4.3 Enable trace log ................................................................................................. 43
4.5 Tools ......................................................................................................................... 43
4.6 Help .......................................................................................................................... 45

5 Definitions ..................................................................................................................... 45

5.1 Offsets ...................................................................................................................... 45

5.2 Mount angles ............................................................................................................ 46

6 Version descriptions .................................................................................................... 47

1 Introduction
The purpose of NaviScan is to collect data from multibeam sensors and to generate a file
with exact positions of each scan. To do this, navigation information is needed along with
gyro, roll/pitch/heave and bathy sensor.

Due to time tagging considerations the NaviScan software package is split into two parts:

1. NaviScan Config (the Off-line/Setup part) with several utilities for setting up the
system and handling the raw data files.

This guide covers this part only.

2. NaviScan Online (the Online/Acquisition part) taking care of the data acquisition
and data logging to raw data file/s.

In NaviScan Config the user can specify and configure external interfaces, including
geodesy settings, interface identification, sensor data format, sensor C-O and exact location
on the vehicle (eg vessel/ROV) of each sensor.
All information is written to the configuration file NaviScan.BIN, which is read by the
NaviScan Online program before the data acquisition starts.

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 1.1 Related manuals
The guide to NaviScan Online can be found in NaviScan Configuration menu bar under
Help / NaviScan General Course.
A sensor list with their data formats are described here Help / Data Formats (NaviScan
reference manual).

2 Getting started
After installing NaviScan, two desktop shortcuts to NaviScan Config and NaviScan Online
are created. Start the NaviScan Config program from the desktop shortcut or activate it
from the Windows Start menu:

Figure 1 Desktop shortcut for NaviScan Config

On first start the message box opens asking the user if he/she wants to make a new setup.
Press Yes.

Figure 2 NaviScan Config: Make a new setup

NaviScan opens with the default layout. The following screenshot shows the UI elements.

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 Figure 3 NaviScan Config layout: (1) Configuration file information bar, (2) Tree view or
Explorer panel, (3) Menu bar, (4) Toolbar, (5) Property view or Information window, (6) Help
and status bar

2.1 The configuration file NaviScan.BIN

In the NaviScan.BIN file all data is stored.
It must not be renamed and stored to the C:\EIVA\NaviScan\Db\. folder.

Figure 4 Save as file type NaviScan Config Files (*.bin)

Note that the file must be a binary file in NaviScan Config format in order to make any
sense to the NaviScan Config program. Therefor use the option Save as type NaviScan
Config Files (*.bin) as shown in the screenshot above.

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 This file is also used by the NaviScan Online program. You can use two or more
configuration files but note that only the file named NaviScan.BIN is used by the online
program.

2.2 Tree view or Explorer panel

The Tree view has three different levels:

• File level
Here the name of the configuration file is visualized at the very top of the Panel
• Sensor type or Instrument type level
Here the instrument types are listed. An instrument type could for instance be
Echosounder
• Individual sensor or Instrument level
Here instruments are listed. Instruments are organized relative to their type. In the
list to the left, Instrument Type Gyro has two instruments in the child level, NMEA
and Ship’s Gyro

Figure 5 An example of the Tree view with levels

2.2.1 File level

This represents the top level of the configuration. Right-click on an item on the file level
gives you the option to, eg Expand tree.

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 Figure 6 Context menu of NaviScan.BIN

Here are all options on File level listed:

• NaviScan.bin
- Expand tree

Expands or collapses the tree.

Shows the default NaviScan configuration including System Parameters and
geodesy settings.

Shows overview of sensor configuration

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 • System Parameters

Figure 7 Properties of the System Parameters

o User note
It gives name and date of the current setup and it allows the operator to
type relevant information, eg who-am-I etc. It’s recommended that this
information is filled, as it’s stored together with the configuration data.
o waterline
Offset from reference point to water line, positive up
o useBathy
Enable use of bathy in result calculation (else waterline relative)
o useHeave
Enable use of heave in result calculations (normally not for ROV)
Specifies whether the heave from RPH sensor should be used.
When mounted on a ROV the heave must be disabled and a bathy sensor
must be defined.

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 Note: The heave will be recorded anyhow so you can reselect this in
NaviEdit.

o Scan Window
Across and vertical scan window beam flagging filter over all scans
o Depth min
System z filter min window in absolute reference system with bathy
included, -20000 to 20000 meter positive down
o Depth max
o Across min
System x filter min window rel ref point, in local vessel reference system,
-20000 to 20000 meter positive starboard
o Across max

• Geodesy

Figure 8 Geodesy context menu’s

o Import projellip and datumshift from NaviPac gensetup.DB

Allows to import a gbin file from NaviPac.
o Load last saved geodesy

ProjEllip

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 ▪ Edit Projection Ellipsoid
Allows to change the geodesy settings
▪ DatumShift
Edit Datumshift
▪ ITRF

2.2.2 Sensor type level

On a sensor type that support multiple sensors of same type, you can use the option Add
New to add a new sensor. It will lead you through all steps of adding the sensor, include eg
Sensor type, port. Offset needs to be set in the sensors property view.

Figure 9 Context menu Add new on Sensor type level

In the following it is shown how to add a new sensor.

Choose the sensor type you want to add, eg here from the sensor type GPS Time. Search
by typing its name in the Search Filter to quickly find the sensor.

Figure 10 Instrument search option, Company, Instrument, Datastring and Help. Number of
predefined sensors.

After selecting the sensor, the Port settings view opens, where the port is configured.

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 Figure 11 Port settings eg serial communication for the used sensors.

After port settings, NaviScan opens and in the sensor property view, offsets can be entered.

2.2.3 Individual sensor level

This represents the actual sensors.

If more sensors of a kind are used, use the Move up/Move down option to set the order.
The uppermost sensor is used as the primary and is the one used in NaviScan Online. The
rest is logged and can be used at a later stage in eg NaviEdit.

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 Figure 12 Context menu on sensor level, Move up, Move down, Delete

On sensor types, it is possible to add by right clicking on the type in the tree window.

Figure 13 NaviScan: Three options to add a sensor

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 3 The Toolbar
The toolbar has the following items (from left to right):

• New
• Open
• Save
• Move sensor down/Move sensor up

Move the sensor up and down in priority. The sensor that in the top is the primary,
and is the one, used in NaviScan Online. The rest is just logged and can be used at
a later stage in eg NaviEdit.
• Expand tree

• Delete

Delete the sensor from the configuration. This can also be achieved by pressing
Delete on the keyboard.
• Start NaviScan Online

The toolbar can be disabled (from the View menu) and it can be moved to another location.
The toolbar functionalities are also accessible from the main menu of the NaviScan
Configuration program or from the Explorer Panel.

4 Menu bar
The menu bar consists of six options: File, Equipment, View, Options, Tools, Help. These
are described in the following:

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 4.1 File
The File menu has options used to handle the NaviScan configuration file.

Figure 14 NaviScan Config: File options

• New
Standard Windows facilities for file handling. Here the NaviScan.BIN file can be
created, saved and opened. The name of the configuration file, to be used online,
must always be NaviScan.BIN
• Open…
Opens an existing configuration file for editing. By selecting this item a standard
Windows file dialogue is opened to select filename, directory and drive.
The NaviScan.BIN should be stored at this location, C:\EIVA\NaviScan\Db\.
• Save
Saves the configuration to the file opened. The filename, drive and directory are
shown at the top of the NaviScan Configuration screen.
The NaviScan.BIN should be stored at this location, C:\EIVA\NaviScan\Db\.
• Save As…
Saves the configuration file using a standard file dialogue to specify filename,
directory, drive for the file to be saved. The Save As command is useful when using
two or more configuration, but note that only the file named NaviScan.BIN is used
by the NaviScan Online program.
• Add Shared NaviPac Setup
todo
• Recent File
If you maintain more files, this shows the last four files.
• Exit
Terminates the program with prompting for saving current settings.

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 4.2 Equipment
Choose the Equipment entry to add a new sensor/instrument, among a list of types and
drivers, to the configuration. Note that the items of the menu are greyed and cannot be
selected, unless the Explorer Panel has focus (move the mouse cursor to the Explorer
Panel).

NaviScan Config has a large set of predefined sensors or the user can specify a data input
format him/herself.
The data format of the predefined sensors is specified in chapter 1.1.

Choose the Equipment option and choose Add sensor. Now a list of available sensor
types is shown:

Figure 15 Equipment dropdown menu with sensor types

4.2.1 GPS TIME

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 Select a sensor type and proceed:

Figure 16 NMEA ZDA on COM port 1

PPS usage: Select which PPS event from RS232 control signals to use, or none.

• Sensor & help

Expected data format is shown, here $xxZDA,hhmmss.hh,dd,mm,yyyy,xx<cr><lf>
• Disabled
Disable use of the sensor so that it will not be used online, and will not produce
alarms and will be placed at bootm of sensor list when setup is saved.
• Port setup
Always enter ip addr of the source sending data, or localhost if sent from local pc.
For UDP/ATTU the ip addr is used as filter, only passing data from that ip, you can
use ip addr 0.0.0.0 if you want to disable the UDP filter and get data from all ip that
sends to the port. Note: that the port setup dialog test Connect button for UDP, in
contrast to naviscan online, receive and display data from all ip addr sending to the
port, so you cannot be sure that athe incoming test is from entered ip.
• Latency
Latency corrections in ms, that will be subtracted from the timestamp when
receiving each packet in order to correct for timestamp to be valid when data is
measured, normally set to 0 when data carries its timestamp in the packet, but
might be needed on COM port interfaced sensors, as some motion sensors have
aknown delay of eg 25 msec.
• PPS usage
Select which PPS event from RS232 control signals to use, or none. Only valid for
COM port interfacing. Wire a pps pulse signal to the selected control input pin on
the COM port.
You may use the time synchronisation without PPS, NaviScan will then use the
timestamp in the ZDA/UTC message and consider it to be real-time. This is most

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 often not accurate enough for MBE acquisition!

It is normally important that the NaviScan computer time is synchronised with the
sonar time.

4.2.2 RUNLINE CONTROL

This is data communication with NaviPac. Runline information is retrieved every second.

Figure 17 Runline Control

• Sensor & help

Expected data format
• Name
• Disabled
• Port setup
• Latency
• NaviPac geodesy
Use geodesy packets received from NaviPac as logged and applied geodesy, this
will overrule the nsconfig geodesy. Until such geodesy packets are received, the
nsconfig geodesy will be used as backup.

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 4.2.3 GYRO

Figure 18 Sensor NMEA Gyro with Sensor & help option showing the expected data format

At gyro setup the gyro system is identified; the gyro offset must only be defined when free
format is selected:

• Sensor & help

Expected data format
• gyroC_0
C-O value for this sensor
• useGyroSpeedCorr
Use dynamic gyro correction

4.2.4 MOTION

When configuring a motion sensor, the interface for the roll, pitch and heave sensor (RPH
sensor) is defined:

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 Figure 19 Interfacing Motion sensor

• Sensor & help

String layout
Specifies the offsets to the RPH information in the serial string by defining the
number of characters before the field.
Roll Roll value "rrr.r" in degrees
Pitch Pitch value "ppp.p" in degrees
Heave Heave value "hhhh" in cm
Termination character, the ASCII number of the last character – eg. 10 for <LF>
• Heading mount
Mount heading angle relative to reference frame, positive clockwise
• Roll_C_O
• Pitch_C_O
• Heave C O

4.2.5 BATHY

If mounted on a ROV, bathy sensor must be defined to give the exact depth of the ROV,
otherwise go to the System Parameters and disable the useBathy option.

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 Figure 20 Bathy properties

4.2.5.1 String Layout

Specifies how NaviScan shall read the data from the string

• Bathy depth
Expected data format
• Termination character
The ASCII number of the last character – eg 10 for <LF>

4.2.5.2 Pressure -> Depth calculation

For the sensors giving pressure instead of depth (eg Digiquartz), you must specify the
following three parameters:

• Water density
• Gravity
• Pressure at surface
• Pressure Scale

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 Water Density, Pressure of surface and Gravity can be modified by user, and those settings
will be used in the depth calculation by applying a simple Saunders and Fofnoff:
Depth = (Pressure – PressureAtSurface)/(1000 * Gravity * WaterDensity)

Note: For the HoneywellPPTR20 sensor set Pressure at surface to 0, because this sensor
internally is connected to the surface pressure, and therefore subtracts itself the surface
pressure (outputs the differential pressure).

4.2.5.3 Vessel mounted

Please note that the bathy driver also utilises a series of other related inputs:

• NaviPac Heave correction

For vessel mounted solution this input gives the GPS based height of the vessel
CRP, from NaviPac.
• GPSHeightGGA
For vessel mounted solution this input gives the GPS based height of the vessel
GPS antenna
• Altimeter
Various drivers with ROV altimeter input – is just treated as secondary input
compared to the MBE
• Barometer
Input of surface pressure [in hPa] – will be subtracted from ROV depth

4.2.6 AUXILIARY

NaviScan offers special auxiliary input for sensors that doesn’t match the other sensors

Figure 21 Reson, SAIV, Valeport

Auxiliary data will be stored as raw packets in NaviScan without any display or control, but
will be available in NaviEdit for further use.

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 4.2.7 RAWDATA

NaviScan offers a raw data input

Figure 22 Sensor interfacing: Raw data

A raw input will read into the online program and recorded in the SBD format. There will not
be any data display or handling in NaviScan or NaviEdit.

4.2.8 DOPPLERLOG

If NaviScan is operated in areas where the raw navigation is outside the specifications for
precision, you may improve it by using a Doppler Velocity Log. By combining position, gyro
and velocity, you get the best overall result.

Figure 23 Sensor interfacing: EDO, Teledyne RDI, Ulvertech

Data from Dopplerlog is assumed to be in real-time, eg no time delay can be specified.

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 Figure 24 DopplerLog: RDI DVL PD6 (Ascii)

4.2.9 NAVIGATION

In this dialogue, you can select the positioning system supplying the navigation information:

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 Figure 25 Positioning setup

Figure 26 Geodesy settings

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 For the positioning equipment following data has to be defined when free format is selected:

4.2.9.1.1 Age of data

This defines the age of the data from navigation system. The age can either be a constant
delay or specified in the serial string.

• Fixed
Defines a constant delay in milliseconds. Corresponds to the Extra latency.
• Offset
The string includes the age given as milliseconds and this field points out where
NaviScan must read the field by defining the number of chars before it.
• Absolute
The string includes an absolute timestamp which is used to determine the latency.
• Extra latency
Here you may add an extra age of data

4.2.9.1.2 String layout

This defines (for non-fixed systems) where NaviScan reads the various data fields by
defining the number of characters before the field:

• Time (Optional) Where to find the timestamp in the telegram (format "hh:mm:ss")
• Easting Where to find easting co-ordinate in the telegram (format "EEEEEEEE.EE")
• Northing Where to find northing co-ordinate in the telegram (format
"NNNNNNNN.NN")

4.2.9.1.3 Projection, Ellipsoid and Datum shift

If you are using a position input with geographical coordinates – eg NMEA GGA or Applanix
POSMV, then you need to tell NaviScan how to convert these to easting and northing. This
is done via standard definitions similar to NaviPac. Please refer to NaviPac manual for
further information (https://eiva.freshdesk.com/support/solutions/articles/43000520809-
geodetic-control).

4.2.10 ECHOSOUNDER

NaviScan Config predefined echo sounders are 2GRobotics, Atlas, Benthos, BlueView,
CathX, EdgeTech, Hi-Target, Imagenex, ITER Systems, Klein, Kongsberg, L-3,
NewtonLabs, Norbit, Picotech, R2Sonic, Reson, Sonardyne, Teledyne Odom, Tritech,
Wassp.

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 Figure 27 An example of echo sounder interfacing, and sensor properties

4.2.11 SIDESCAN

Here you can select which sidescan sonar you want to interface into NaviScan – it can
either be standalone SideScan or MBE SS systems (eg R2Sonic Snippets).

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 Figure 28 Edgetech sidescan sonar

4.2.12 PIPE TRACKER

Specify the pipe tracker system you are using as shown in the dialog below:

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 Figure 29 Sensor interfacing: Pipe tracker and its sensor properties

The pipe diameter can be defined in the sensor’s properties. This value is used for
calculating the correct depth.

Pre-defined pipe tracker sensors: DOF Subsea, Innovatum, Optimal Ranging (Innovatum),
Reson, Teledyne, Tinsley.

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 4.2.13 LASERSCANNER

Figure 30 Laser scanner and its sensor properties

4.2.14 Free data format

The Free data format accepts data in any fixed position ASCII string with a known
termination.

The sensor type Free setup is used, if the sensor you wish to interface is not listed and has
an ASCII output.
The Free setup shows how the input format is defined for the
predefined sensors. Only when using the free format these fields can
Free Format be edited; offsets for the relevant data are specified here.
NOTE: The offset is the number of characters skipped before the
actual parameter is read.
The String Layout shows an ASCII string generated on basis of
String Layout format defined at Free setup. When the free format is selected the
String Layout isn't generated before clicking the Generate String
button.
Termination For the free format, you most enter the binary code for string
character termination, eg 10 for <LF> or 13 for <CR>

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 To avoid any confusion, a few examples are shown below, describing how to set offsets.

As the procedure is the same for each sensor/free input, one example motion sensor is
described.

Example Free motion sensor:

Figure 31 Roll and Pitch and Heave setup

Our ASCII data could look like this. (All examples below would work with values set above)
1 2 3
0123456789012345678901234567890
xx-5.345xx+3.234xxxxxxx0.321xxxxxx…
xx1.654xxx-2.234421xxxx-1.645xxxxx…
xx1.1xxxxx4.21xxxxxxxxx1.23xxxxxxx…

As you can see, you only have to set the offset value to the start of where you expect to get
the data including the sign.
IMPORTANT:
As this is a generic driver, there is one thing, which is very important.
Just because the Serial string in the dialog shows “*rrr.rr…..”, doesn’t it mean, that it will
only read 6 characters..

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 It reads the floating point number, which comes directly after the offset.

Example (roll offset = 2):

Ad-2.42yuiweryu… -> Roll = -2.42

122.474272yeuqwi -> Roll = 2.474272
09+12.6a5252 -> Roll = 12.6

4.2.15 Special instruments

Some instruments require special setting that aren’t handled in the general instrument
setup:

RDI DVL NaviScan expects that the DVL is mounted correctly (or
compensated as such inside the DVL). We have seen some
scenarios where it has been rotated 180 degree. To get an
optimal behaviour you may compensate for this (negating the
readings)

Applanix POSMV This relates purely to the network interface towards Applanix
POSMV

• Attitude:
NaviScan reads as default attitude (gyro and roll/pitch/heave)
from the 102 packet. You may change this to use packet 103
instead.

• Position:
The position is as default taken from the special position packet
(1). You may alternatively use the attitude packet (102(103)

Digiquartz NaviScan expects that the Digiquartz data is given in PSI. If this
isn't the case then you may enter a scale divider here.

Pressure PSI = Pressure Observed / Divider

Eg if data is in MBAR then enter 68.94757

Heave The selected unit has been observed sending heave in both
upwards and downwards reference (positive up or positive
down) coordinate system. NaviScan has no way of detecting
this - so you may have to tell NaviScan to change sign of the
heave.

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 This has so far been observed for the following units Seapath
Ixsea GC2 Ixsea RB

To evaluate the heave please note that NaviScan expects the

heave to be positive below datum – eg a value added to the
measured depth

4.3 View
Facility to toggle the Status Bar on and off.

Figure 32 View options

• Toolbar
• Status Bar
• Expand tree

4.4 Options

Figure 33 Options Global parameter, Fansweep port setup, Enable trace log, Open
NaviScan tracelog

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 4.4.1 Global Parameters

Selecting this menu point, opens a dialog where you can setup different online settings.

It is common to all settings that they have influence on the online behavior and it will not be
effective until NaviScan Online has been restarted.

Figure 34 Specify Global Parameters

• Real-time Export

NaviScan offers the user besides data recording various outputs to data QC in a.o.
NaviPac

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 Option Description

Send to
Helmsman/Online3D

NaviScan can generate a digital terrain model similar to what’s

displayed inside NaviScan online and send this out on UDP/IP
port. This is compatible with the data expected in NaviPac’s
Helmsman’s Display.

The administrator must specify a few parameters on this issue

Enable/Disable DTM Turn on/off the DTM calculation and export.
Do not enable unless you are using it! Port settings Identify the
UDP/IP (network) address and port for the export.
Default is port 2310 Enable/Disable SS DTM
Turn on/off the sidescan DTM calculation and export. Do not
enable unless you are using it! Port settings Identify the UDP/IP
(network) address and port for the export.
Default is port 2311 Recording only Shall NaviScan send the
DTM out only when recording data (selected) or all the time? Cell
Size
The NaviScan DTM is based on quadratic cells – and the
operator must predefine the size of the cells. Cell sizes must be
determined carefully. (normally between 100 – 500 cm), normally
less or equal to the final cell size used in Helmsman’s Display

Send centre depth

NaviScan calculates and outputs the centre depth (the most

nadir depth) to external use in eg NaviPac.

The format of the output is in NMEA style.

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 $NBDBT,,,<Depth>,M,,<cr><lf>, where <Depth> is the
centre-beam depth.

Example:
$NBDBT,,,23.43,M,,<cr><lf>

When the tick box is ticked, the message will be broadcasted on

internal UDP/IP port (127.0.0.1 port 5999). You may furthermore
select a serial port for the output.

Touch down marking

NaviScan offers a utility where you may mark targets (eg Pipe
touch-down) on the online DTM view and export the position to
an external client.

In this section you enable this function and define the output
settings. Please refer to the NaviScan manual
NaviScanTouchDownMonitor.pdf for details

SchillingFollow

MMT bathy depth

Top of pipe by MBE

Multibeam derived top of pipe send out for every scan of MBE 1

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 • MBE/SS

In this section you can control settings for various MBE sonar’s

SeaBat 8000 • Output UTC telegram

NaviScan will, if selected, send a special UTC telegram out on serial
port. This will enable the Reson system to synchronise with the
NaviScan pc time. This or similar is required if the Reson 8xxx is
interfaced via LAN.

Seabat 7k • Flexmode control src:

flexmode Select seabat7k sonar flexmode beam steering control source to
dynamically follow an object.

• flexmode update reduction

Reduce the update rate of flexmode steering commands by this
number, this way downsampling the controlling source input.

• flexmode offset angle:

Additional offset to be added to all flexmode commands, positive at
steering to starboard, in static mode it give the offset from nadir, in
dynamic adds a fixed angle to the calculated steering angle.

Norbit Seabat 7k Norbit 7k always subscribe

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 MaximumSwath in m.
Edgetech4600
MaximumDepth in m.
MinimumDepth in m
Use NaviPac Repeater
npIpAddr 127.0.0.1
npPosPort 2320
npRphPort 2321

Klein_calfile
Klein
Klein_timestamplocaltime
Klein_5900_wingIP
Klein_5900:wingPort
Klein:soundvelcm

Solstice

Select the directory to be monitored for pcp file data transfer.

Cathx

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 • Height Calculations tab
Define the height reference for vessel mounted systems

Figure 35 Global Parameters: Height Calculations

Height These Height Reduction settings only apply to the instruments:

Reductions GPSTideGGA and GPSTidePosmv.
The instrument GpsTideNP is not affected by these settings and
will be logged exactly as received from NaviPac.

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 Method If NaviScan is used together with a GPS based position system (eg
NMEA or POSMV input) then you may control the height reference
and thus change from WGS84 to local zero
Method: How do we get from GPS ellipsoidal height to local zero
(eg DVR90)

• NONE
Use the height as it is

• EIVA KMS
Should NaviScan use a EIVA geoidal file with distance between
GPS height and local zero? This format is identical to the GRI files
supplied by KMS – sample file found at \eiva\navipac\setup if using
NaviPac

• EIVA EGG97 BIN – GBIN

Use the European Gravimetric Geoid model for the separation.
This requires a license from eg IAG
(http://www.gfy.ku.dk/~iag/egg97.html - University of Copenhagen).

• GCG05
Use the German Quasigeoid model for the separation. This
requires a license from the supplier. See
http://www.geodatenzentrum.de/docpdf/quasigeoid.pdf .

VORF:
Use the UK Vertical Offshore Reference Frame

Geoid File Reference to the geoid file with the height reduction – only valid for
EIVA, GCG05, VORF or EGG97 files.

Compiled Geoid NaviScan uses a compiled binary version of the source file. It’s
File saved at same location with a .BIN extension.

Additional Can be used as sole reduction (from WGS84 to normal zero) or as

Reduction an extra reduction so the WGS height is compensated both for
model based and fixed reduction.

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 GpsTide These GpsTide correction settings only apply to the instruments:
GPSTideGGA and GPSTidePosmv.
The instrument GpsTideNP is not affected by these settings, and
will be logged exactly as received from NaviPac.

FilterLen The number of seconds in an average window, the longer the

smoother gpstide (see IgnoreMotion comment), timestamp of
gpstide is deskewed to the half of averaging window lenght

WaterLine WaterLine is the z distance from the ships ref point to the
projection of the ref point on the sea surface plane, under normal
working load, z positive up, only used when no present dyndraft is
enabled, and only for GpsTideGPS and GpsTidePosmv calc.

UseDynDraft Use the first present dynamic draft type bathy sensor in setup,
instead of fixed waterline (if a dyndraft is not present, waterline is
still used), only used for GpsTideGPS and GpsTidePosmv calc

UseSpeedCorr

SpeedCorrFile

• NaviScan

Figure 36 Specify Global Parameters: NaviScan tab

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 This section defines various settings related to NaviScan performance. Very rarely changed!

Table 1 Global parameter and the NaviScan tab

View update rate How often must NaviScan update the graphical views. Use with
care

Buffer Size How many samples do you want to be displayed in the time-
based windows in the NaviScan Online program.
Note: The bigger the amounts of samples, the more CPU load!!

FallingPPS For GPS time with 2 trig per cycle, trig on falling edge, instead
of default rising edge.

Use Scanfish SV When using NaviScan together with a ScanFish you may get
online updated sound velocity profiles (via the SVMon program)
and apply that to the data for improved online QC

SVMon Port

Fake receive
timestamp

4.4.2 Fansweep port setup

Selecting this item opens the configuration file (StnAtlas.ini) in notepad, where the individual
ports for the Atlas fansweep MBE (bathymetry) and the sidescan can be seen. The IP
address is set in the normal way using interface setup but can be overwritten for a specific
item in the StnAtlas.ini file

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 Figure 37 Atlas fansweep

The Fansweep Port setup option opens a file, StnAtlas.ini, where the individual ports for a
Fansweep MBE with sidescan option can be defined.
The instrument is configured in the normal way, via the equipment/interface configuration.
Once this is accomplished, the StnAtlas.ini file must be configured along the following
guidelines:
There are 6 types or packages, for which individual ports must be defined:
a. „fs20_lot‟: Standard parameters for echo sounder
b. fs20_depth_1 to _8: Bathymetry packages containing depth

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 c. fs20_angle_1 to _5: Bathymetry packages containing angle
d. fs20_sidescan_1 to _4: Sidescan packages containing sidescan image data
e. fs20_tpe: Total Propagated Error telegram
f. fs20_offset:a port offset will be added to all the port numbers if this line is present
anywhere in the StnAtlas.ini file eg fs20_offset=25000.
To change the IP address for the TPE telegram, which seems to be required for fs20 (or to
change the IP address for a specific item in general) just write the IP address behind the
item, separated by a space: fs20_tpe=3159 192.168.1.89

For a more detailed description of these ports and packages, refer to the general Atlas
Fansweep documentation.

4.4.3 Enable trace log

Activating this item will toggle the Error trace log on and off. The traces can be used for
debugging.
NaviScan Online will hereafter generate dump files in the NaviScan\bin folder which could
help EIVA tracking down problems. Please send these files to [email protected]

4.5 Tools

Figure 38 NaviScan Configuration: Tools

ATTU Monitor Use for ATTU Time Synchronization program

(AttuMon.exe). It was created for the purposes
of monitoring the ATTUs and synchronization
the system time of the computer with one of
them.

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 Extract To extract information to MS Excel readable
files for quality control

NaviScan Exporter To export to fixed ASCII and binary XYZ

format, to convert the files to XTF format

SV Profiler To read/show sound velocity profiles

SV Monitor To monitor sound velocity read from ScanFish

software

SVP2Fansweep For Hydrosweep inbound server, these setup

items are used (here with default settings):

hmsystemid=9
hmasddatatype=8
hmmbechannel=es_targets_port
hmmotionchannel=fs20_motion_1
For the SVP to Fansweep program these items
are used:
XDR Port=3070
z-keel=0.050

SBD Minimizer

SBD Splitter To split an SBD file, by kp or size

Simulator To simulate different sensors

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 4.6 Help

Figure 39 Help

• General NaviScan Course

Shows some general slides used in basic NaviScan Training Course (not updated)
• Data Formats
NaviScan Reference Manual with Sensor formats (not updated)
• Ask a Question
Opens your default mail program and to pass us an email to [email protected]
• Search for Help
Opens your default web browser and searches the web
• About NaviScan Config
Opens the About box with useful information about Product Version, and Release
Date. This information should be given to EIVA Support when issues and
observations are reported.
Licence Info
Find the PC Code here.

5 Definitions
All depending on the type of sensor offset and mount angles can be set. Below is described
how these are defined.

5.1 Offsets
The offset is defined as the (X,Y,Z) distance [m], from the primary position/navigation
sensor, and to the sensor, where X is positive starboard, Y is positive front and Z is positive
up, as shown in figure below.

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 5.2 Mount angles
The mount angle defines the exact alignment of the sensor.

The mounting is specified by roll angle, pitch angle and heading angle; the roll angle is
measured positive starboard down, the pitch angle positive bow up and the heading angle
zero front and positive clockwise as shown in the figure below:

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 6 Version descriptions
Version Date Author Description
9.0 21.10.2016 ANS Transferred to new template

9.4 27.05.2020 ANS Reviewed by ANS and ALF

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