System Integration The Zen of Hydro. Learning Objectives Identify the major components of a survey system Acquisition computer, DGPS receiver, navigation.

System IntegrationSystem Integration

The Zen of HydroThe Zen of Hydro

Learning ObjectivesLearning Objectives

• Identify the major components of a survey systemAcquisition computer, DGPS receiver, navigation and attitude sensor, multibeam, singlebeam or side scan transducer, transducer topside unit, sound velocimeter

• Know the difference between serial and ethernet connections

• What sort of data is usually coming across via serial connection and via ethernet connection?

• Interpret a basic wiring diagram (baud rates, parity, stopbits, ip address, com ports)

• Basic troubleshooting for survey systems

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Goal:

To provide an introduction to the components, connections, hardware, and protocols most often used in hydrographic system integration.

System IntegrationSystem Integration

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What is System Integration?What is System Integration?

System integration:

Bringing together component subsystems into one system and ensuring that the subsystems function together as a system.

In information technology, system integration is the process of linking together different computing systems and software applications physically or functionally.

5System Integration - Hydro Training 2009

You can have the best individual survey components on the face of the earth, but until you get them to talk to each other intelligibly, and with an understanding of time, you have little more than expensive paperweights.

Why is it important?Why is it important?


Roles and ResponsibilitiesRoles and Responsibilities

• System Integration is a partnership between the FOO, EEB, and HSTP (usually the Field Support Liaison)

• SSTs and JOs often play a critical role in assisting

• HIC may need to troubleshoot in the field

• FOO or a designated individual will aid in the troubleshooting if requested.

System ComponentsSystem Components

• Acoustic Systems:– Wet end (transducers, towfish)– Dry end (topside units)

• Positioning and attitude (GPS, POS/MV, etc.)– Antennas, IMUs, processing units

• Sound speed (CTDs, MVPs, Digibars)– Wet/dry ends


System ComponentsSystem Components

• Computers

• Network switches

• Data storage devices



Acoustic Systems – Wet EndAcoustic Systems – Wet End


Acoustic Systems – Dry EndAcoustic Systems – Dry End

• Top Side Unit

– Interprets digital/analog acoustic data signals from a modern sidescan sonar or multibeam echosounder (wet end)

– Controls the signal characteristics on the wet end.


Positioning and AttitudePositioning and Attitude

• Applanix POS/MV– POS Computer

System (PCS)– Antennas– Inertial Motion Unit

(IMU)

• DGPS receiver / beacon receiver– Trimble DSM-212– CSi Wireless MBX-3S

System Integration - Hydro Training 2009

Sound Speed MeasurementSound Speed Measurement

• Brooke Ocean MVP

• Sea Bird Electronics– SBE 19/19+ CTD– SBE 45 TSG

• Odom Hydrographic Digibar Pro


Computers, Networks, Data Storage Devices

Computers, Networks, Data Storage Devices

• Acquisition computers• Network switches,

hubs, cables• External hard drives,

network attached storage (NAS, e.g. NetApps)


System ConnectionsSystem Connections

• What are all these ports?

System ConnectionsSystem Connections

• Two primary physical connections for survey data:– Serial

• RS232, RS422, USB, Firewire

– Ethernet• Category 5/6 cable



Serial Data ConnectionsSerial Data Connections

• Serial communications is the process of sending data one bit at a time, sequentially, over a cable between computers.– Examples include Serial ATA, USB and

Firewire and RS232

• The RS232 standard is used extensively in connecting hydrographic systems together (and a lot of bridge equipment).


• The RS232 standard defines voltage levels that correspond to logical one and zero levels. Typically ±5V.

• Some typical connectors:

Null Modem Cable

DB25 Male

Null Modem

DB9 Female

DB9 Male

Serial – RS232Serial – RS232


Serial – RS232Serial – RS232

• Advantages– Simple, common protocol– Direct connection between two

terminals

• Disadvantages– Relatively low bandwidth– Direct connection between two

terminals– Limited cable length

• Most often used for – Position, Timing data (POS

MV output)– VBES Depths– Instrument Control

DB-9 RS-232 “Com” Ports

(DB-9 easily confused with VGA)

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9600,8,n,1• “Baud Rate”

– Data Transfer speed in “bits per second”– Typical Speeds: 4800, 9600, 19200, 38400

• Data Bits– Length of Message– Typically 8 (allows full ASCII code)

• “Parity”– Extra bit for error checking– “Odd”, “Even”, “None”– Typically, “none”

• “Stop Bit”– Signifies End of Byte– Typically, 1

• Must Specify Data Transfer Parameters– Same on both ends of connection!

RS232 Connection DetailsRS232 Connection Details



Cables, Null Modems, Gender ChangersCables, Null Modems, Gender Changers

• Not all serial ports on every computer are terminated the same– Mix and match between “male” and

“female”• Cables

– “Straight” or “Null”– Seldom have visible indication

• Gender changers– Connect males to males and females to

females.• Null modem adaptors

– Cross receive and transmit lines – Transmit on one end is connected to the

receive on the other.

RS232: Straight vs NullRS232: Straight vs Null

• Straight– Pin 2 to 2– Pin 3 to 3

• Null– Pin 2 to 3– Pin 3 to 2



From Hypack

Example of RS232 in SoftwareExample of RS232 in Software


EthernetEthernet

• A diverse family of computer networking technologies for local area networks (LANs). On hydrographic systems NOAA uses:– 10Base-T, 100Base-T, 1000Base-T

(10Mbit, 100Mbit, 1000Mbit or Gigabit)– Wiring is CAT5,CAT5E, or CAT6– Connectors are RJ45– Transport Protocols are TCP/IP

or UDP

• See the net for more information. It gets complicated quickly.


EthernetEthernet

• Advantages– Common, High Bandwidth– Multiple computers on same network

• Disadvantages– Uncertain Timing

• Typically used for:– MBES data (bathymetry and imagery)– SSS data– Increasingly used for time tagged position, attitude, etc. data– (must still use serial for time synchronization)

TCP/IP vs UDPCommunication Protocols

TCP/IP vs UDPCommunication Protocols

TCP/IP – Transmission Control Protocol of the Internet Protocol suite complement

Provides a reliable stream delivery to applications through the use of acknowledgment with retransmission of packets. Requires a connection…Think Phone Call.

UDP – User Datagram Protocol

Provides a simple, but unreliable message service for transaction-oriented services. This means that there is no confirmation of data arrival. Low overhead…Think Postal Service.

Because UDP can handle large amounts of data with relative ease, most raw hydro data is coming across with UDP.


Ethernet – Physical ConnectionsEthernet – Physical Connections

• Physical connections are much simpler than RS232– Patch cables – Crossover cables (similar

to a “Null” cable for RS232)

• If you are connecting directly from one computer to another, without a switch or hub, then you must use a crossover cable.

Ethernet: Patch vs CrossoverEthernet: Patch vs Crossover



Hypack

Hardware setup for SSS

SSS data is being taken into the acquisition computer over the network and getting through UDP port 1080. The Edgetech must be transmitting to UDP port 1900 for this to work.

Ethernet in SoftwareEthernet in Software


ProtocolsProtocols

Protocol:– a set of conventions governing the treatment

and especially the formatting of data in an electronic communications system

A protocol is required in order for two pieces of equipment to communicate with one another.

Merriam-Webster Online Dictionary: http://www.merriam-webster.com/dictionary/Protocol


NMEA 0183 SpecificationNMEA 0183 Specification

NMEA 0183

• NMEA = National Marine Electronics Association

• NMEA 0183 is industry standard for serial interfaces between marine electronics– Position, Speed, Time, etc.


NMEA 0183 Message ContentsNMEA 0183 Message Contents

• GGA: Position Fix, DGPS Information • VTG: Course and Speed over Ground• HDT: Heading• ZDA: Date and Time• UTC: Time (more accurate than ZDA)

• Note: Not all instruments / software can produce or recognize all messages


NMEA Message ExampleNMEA Message Example

GGA string - essential fix data which provides 3D location and accuracy data.

Where: “GP”: Global Positioning System Fix (identifies “talker”, could also be “IN” for inertial)“GGA”: Global Positioning System Fix Data “123519”: Fix taken at 12:35:19 UTC “4807.038,N”: Latitude 48 deg 07.038' N“01131.000,E”: Longitude 11 deg 31.000' E “1”: Fix quality: 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 4 = Real Time

Kinematic 5 = Float RTK 6 = estimated (dead reckoning) (2.3 feature) 7 = Manual input mode 8 = Simulation mode

“08”: Number of satellites being tracked “0.9”: Horizontal dilution of position “545.4,M” Altitude, Meters, above mean sea level “46.9,M”: Height of geoid (mean sea level) above WGS84 ellipsoid “(empty field)”: time in seconds since last DGPS update “(empty field)”: DGPS station ID number “*47” the checksum data, always begins with *

$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,,*47


Other Serial MessagesOther Serial Messages

• “TSS-1”– Heave, Pitch, Roll data– Originally proprietary, but now common– Note: no time tag

• Knudsen

• RTCM104 (Differential corrector message)

• Sound Speed

• Other proprietary instrument control protocols– Seabird, Reson, ISIS “Delph” String, etc.


Documentation: Wiring DiagramsDocumentation: Wiring Diagrams

• Essential tools in making sense of the various interconnections among survey systems

• Generally developed at initial system integration– Must be kept up-to-date with all changes in

order to be useful

• Read it, learn it, love it!


Computer

SV Sensor

Position and Orientation Sensor

MBES Topside Unit

DGPS Receiver

Runs Navigation

Runs Acquisition

Wiring Diagram – ComponentsWiring Diagram – Components


RS232 Connections on the Wiring DiagramRS232 Connections on the Wiring Diagram

Baud Rate

Parity

Data Bits

Stop Bits

Null Cable

Message String


IP Addresses in the same “Subnet” so computerscan talk to each other.

IP Addresses in the same “Subnet” so computerscan talk to each other.

1070 is UDP Port data is transmitted on and listened for on.

Dynamic IP does not require a fixed IP address.This is just for communication to ship networknot hydrographic operations.

Message Strings FromPOS/MV

Ethernet Connections on the Wiring DiagramEthernet Connections on the Wiring Diagram


TroubleshootingTroubleshooting

Not everything always works all the time

Troubleshooting:– generally a logical, step-by-step process of

elimination in order to determine where the source of a problem lies (hardware, software, user)

• If you’re in hydro, you’ll have to troubleshoot at some point

• It’s part science, and part art


TroubleshootingTroubleshooting

• General steps:– Check power (The O-N-O-F-F switch!)– Check physical connections– Check power– Check built-in status lights, tests, etc.– Check power– Check software settings– Check power


Checking RS232 ConnectionsChecking RS232 Connections

• Send a signal from a known good RS232 serial port on the transmitting machine

• Connect the cable to laptop or the receiving computer.• Open up HyperTerminal. Start-> Accessories->

Communications-> HyperTerminal • Configure HyperTerminal to have the same Baud Rate,

Data Bits, Parity, and stop bits as the transmitting computer.

• When the connection is made in HyperTerminal ASCII information, in general, should fill the screen.

If not, then…

Note: Hypack has its own serial connection checking program / works the same as HyperTerminal


Checking RS232 ConnectionsChecking RS232 Connections

• Possible Errors– Baud rates, data bits and parity may not match.

Check to make sure they do.– You may have an incorrect baud rate– Another program may have control of the receiving

port. Turn off all other programs.– The physical port that the cable is plugged into may

not be the one being checked, or transmitted to.– The cable may be bad.– Connection may be loose.– The cable may need to be “nulled” or un “nulled”.


Checking Ethernet ConnectionsChecking Ethernet Connections

• To open “Run” window go into the “Start” and then click “Run”

• Type cmd

• Type

ipconfig /all at the command prompt.

• Note the IP Address (addresses) of the computer.



• On the computer you are trying to send data to open a command window and then type ping 192.1.100.1 where the italicized number is the IP Address of the other machine.– If a line says something like Reply from 192.1.100.1: bytes=32

time=17ms TTL=238 then the cable is successfully connected



• If the line says something like Request timed out then there are a few options.

Such as…





• Possible errors in connections– Loose connection– Bad NIC Card– Bad Cable– Someone unplugged a router– Using a crossover cable instead of a patch cable or

vice versa– Some change in computer system setting

• Change to UDP Port• IP address of one of the computers out of the range of the

subnet to the other computer (might happen if there are to NICs and the cable is plugged into the wrong one)


WARNING!WARNING!WARNING!WARNING!

• Unless you are training, working on system development or otherwise directed, with FOO and/or ET knowledge, DO NOT MAKE CHANGES.– Something as simple as adding another NMEA message string

to the POS/MV output can have serious impact on system timing which leads to a serious impact on the data. This may not be immediately detected.

– Something as simple as changing the orientation of the sonar head, by accident, has ruined a days worth of work. (Easily done in RESON control software).

• When troubleshooting on the launches pay close attention to any system changes you make. Record them and report them to the FOO.


Things to DoThings to Do

• Watch the FOO or senior hydrographers work with and configure systems. Learn by watching and then learn by doing (under instruction and or supervision).

• Ask questions.• Read the manuals. (Senior folks do not know

everything.)• Seek out information (the web and especially

Wikipedia has lots of great info on networking, computers, and everything else)


Questions?Questions?

System Integration The Zen of Hydro. Learning Objectives Identify the major components of a survey system Acquisition computer, DGPS receiver, navigation.

Documents

wet end transducers

acoustic systems dry

transducer topside unit

different computing

data storage devicesacquisi

major components

serial connection

sound velocimeterknow