iXblue Gaps M7 USBL System

Description

The iXblue Gaps M7 is a high performance Ultra Short Baseline (USBL) positioning and communication system for locating and communicating with subsea assets. The Gaps M7 combines a USBL antenna and a fiber-optic inertial navigation system (INS) in the same housing, so USBL calibration in the field is not required. Its 3D acoustic array enables tracking and communication from the deep sea to extremely shallow water, and even at angles above horizontal.

The iXblue Gaps M7 has an operating range of > 4,000 m, coverage of 200 deg below the acoustic array, an operating frequency of 21.5 kHz to 30.5 kHz MFSK (chirp) and more than 500 acoustic channels. Positioning accuracy (CEP50) is 0.06% x slant range at SNR = 20 dB, and the acoustic data link provides 500 bits/s (burst) half-duplex communication. The INS gives a heading accuracy of 0.01 deg secant latitude RMS and roll and pitch dynamic accuracy of 0.01 deg RMS, and a DP mode combines L/USBL/INS (PRS, MRU and gyro in one equipment).

The Gaps M7 head has a carbon fiber painted housing, weighs 16 kg in air and -7 kg in water (positive buoyancy), measures 638 mm x 296 mm (H x Ø) and requires a minimum gate valve of 300 mm / 12’. The system comprises the Gaps M7 head, a 50 or 95 m cable and the Gaps M7 Box (100 to 240 VAC or 24/36 VDC, 30 W), with Ethernet and serial (232 / 422 / 485) interfaces and Delph RoadMap 3D display software.

Technical Specification

Positioning accuracy (CEP50)

SNR = 0 dB: 0.53% x Slant range; SNR = 10 dB: 0.17% x Slant range; SNR = 20 dB: 0.06% x Slant range (vertical conditions, incl. GPS error of 0.1 m, slant range 1 000 m)

Range / bearing accuracy (RMS, 1 sigma)

SNR = 0 dB: 0.02 m / 0.30°; SNR = 10 dB: 0.02 m / 0.09°; SNR = 20 dB: 0.02 m / 0.03° (vertical conditions, responder mode)

Operating range

> 4,000 m

Coverage

200 deg below acoustic array

Operating frequency

21.5 kHz to 30.5 kHz MFSK (chirp)

Position refresh rate

1 to 15 s (depends on range) - 10 Hz with predictive filter

Number of channels

> 500

Acoustic communication

Data link for AUVs and ROVs; simultaneous positioning and communication; half-duplex

Data rate

500 bits/s (burst)

Doppler

+/- 6 knots

Power supply range

100 to 240 VAC / 50~60Hz or 24/36 VDC - 30 W

Control / command

Ethernet with WEB-based user interface

Input / output ports

4 Ethernet and 4 serial (232 / 422 / 485)

Synchronisation IN / OUT

1 PPS and 1 external trigger / 2 triggers

Display

Delph RoadMap 3D display software provided - Compatible with most of navigation software

Housing

Carbon fiber painted

Weight in air / water

16 kg / -7 kg (positive buoyancy)

Overall dimension H x Ø

638 mm x 296 mm - min gate valve required: 300 mm / 12’

Depth rate

25 m standard / 100 m non destructive

Operating / storage temperature

-5 °C / +35 °C; -40 °C / +70 °C

EMC

89 / 336 / EEC – EN 60945

Gaps Box

233 mm x 330 mm x 94 mm; 4.6 kg; operating -5 °C to +50 °C, storage -40 °C to +80 °C

INS position accuracy

Three times better than GPS accuracy (with GPS); no aiding for 2 min / 5 min: 3 m / 20 m (CEP50); pure inertial mode: 0.6 nm / hour (CEP50)

INS heading accuracy

0.01 deg secant latitude RMS

INS roll and pitch dynamic accuracy (no aiding)

0.01 deg RMS

Heave accuracy (Smart Heave)

2.5 cm or 2.5 % RMS

System components

Gaps M7 head; 50 or 95 m cable; Gaps M7 Box; Y cable (optional)

Compatible beacons

iXblue MT8x2, MT9x2, ZTA02C, Ramses, Canopus; Applied 1000 series (contact iXblue for performances)

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