Phins Subsea

Description

Phins Subsea is a fibre-optic gyroscope (FOG) based inertial navigation system for subsea use, rated to 6,000 m. It provides position, true heading, attitude, speed, depth and heave. The inertial measurement unit is coupled with an embedded digital signal processor running a Kalman filter.

The system can be aided by DVL, USBL, LBL, RAMSES, GPS and depth sensors, and accepts CTD/SVP input. With DVL aiding, position accuracy is 0.1 % of travelled distance. Without aiding, it is 0.8 m after 1 minute and 3.2 m after 2 minutes (CEP 50 %). Phins Subsea can be pre-assembled and pre-calibrated with a Doppler velocity log (DVL), and DVL Ready and RAMSES options are available.

Heading accuracy is 0.01° secant latitude with GPS and 0.02° secant latitude with DVL, USBL or LBL. Roll and pitch accuracy is 0.01°, and heave accuracy is 5 cm or 5 %, whichever is greater.

The unit has a titanium housing, runs on 24 V DC and draws less than 20 W. It has RS-232/RS-422 serial ports and outputs data at 0.1–200 Hz in NMEA 0183, ASCII or binary format. Weight and size depend on the configuration.

Technical Specification

Technology

Strapdown fibre-optic gyroscope (FOG) with Kalman filter

Outputs

Position, true heading, attitude, speed, depth, heave

Position accuracy with USBL/LBL (CEP 50 %)

Three times better than USBL/LBL accuracy

Position accuracy with DVL (CEP 50 %)

0.1 % of travelled distance (dependent on DVL performance)

Position accuracy, no aiding (CEP 50 %)

0.8 m after 1 min / 3.2 m after 2 min

Heading accuracy (RMS)

0.01° secant latitude with GPS; 0.02° secant latitude with DVL/USBL/LBL

Roll and pitch accuracy (RMS)

0.01°

Heave accuracy

5 cm or 5 %, whichever is greater

Heading / roll / pitch range

0–360° / ±180° / ±90°

Rotation rate range

Up to 750°/s

Acceleration range

±15 g

Operating temperature

−20–55 °C

Storage temperature

−40–80 °C

MTBF (computed/observed)

40,000 / 80,000 hours

Depth rating

6,000 m

Housing material

Titanium

Weight in air / water

23 / 13 kg; 48.5 / 28.5 kg (WHN300K6, WHN600K6); 43.7 / 27 kg (WHN1200K6)

Dimensions (Ø × H)

255 × 288 mm; 298 × 543 mm (WHN300/600); 298 × 542 mm (WHN1200)

Connectors

3 × 12 pin / 1 × 19 pin / 1 × 26 pin / SEACON MINI-CON

Mounting

6 × Ø 6.5 mm holes / 6 × Ø 11 mm holes

Serial ports (RS-232/RS-422)

5 inputs / 5 inputs / 1 configuration port

Pulse port

2 inputs (GPS PPS for time synchronisation)

Sensors supported

GPS, USBL, RAMSES, LBL, DVL, depth, CTD/SVP

Input/output formats

NMEA 0183, ASCII, binary

Baud rates

600 baud to 115.2 kbaud

Data output rate

0.1–200 Hz

Power supply

24 V DC

Power consumption

< 20 W

Options

DVL Ready; RAMSES tight coupled acoustic aiding (optional)

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