Rovins 9-DVL

Description

The Exail Rovins 9-DVL is an all-in-one combined inertial navigation system (INS) and Doppler velocity log (DVL) for underwater vehicles, rated to 6000 m. It combines an Exail INS based on the Exail UmiX inertial measurement unit (IMU) with a 500 kHz DVL from Nortek Group, with tight integration of the IMU and DVL raw sensor data. The Rovins 9-DVL provides 3D positioning with heading, roll, pitch and bottom velocities, uses FOG strap-down technology and requires no calibration.

The Rovins 9-DVL position accuracy is 0.1 %TD (CEP 50) in straight line performance and 0.02 %TD (CEP 50) in optimal performance under typical conditions. Without aiding, position accuracy is 0.6 m after 60 s, 2.3 m after 120 s and 0.47 Nm/h beyond 8 hrs (CEP 50). Heading accuracy is 0.05 deg secant latitude RMS with GNSS (or USBL/LBL), and roll and pitch dynamic accuracy is 0.01 deg RMS without aiding. The DVL bottom velocity has a single ping standard deviation of 0.5 cm/s at 3 m/s and a long-term accuracy of ±0.1 % / ±0.1 cm/s, with a DVL min/max altitude of 0.3 / 175 m.

The Rovins 9-DVL has a titanium housing measuring 150 × 255 × 199 mm (Ø × L × H) and weighs 11.5 kg in air and 5.3 kg in water. It has one 26-pin and two 10-pin SEACON connectors and 3 × Ø M6 mounting holes (bottom-up mounting, max penetration 8 mm), and runs on 24 VDC (20–32 V) with a power consumption of < 20 W. Interfaces include 5 serial ports (RS422 or RS232), 10/100 Mbit Ethernet with UDP/TCP and a web server GUI, a PPS input, a PPS output and a DVL sync pulse, and more than 130 output protocols including NMEA, ASCII and Exail STD BIN.

The Rovins 9-DVL supports GNSS, USBL, LBL, DVL, EMLOG, depth, CTD and SVP sensors, with interfaces for USBL, LBL and Ramses up to 6000 m water depth. Stated applications are unmanned underwater vehicles (UUV), remotely operated vehicles (ROV), uncrewed surface vehicles (USV), towfish positioning (sonar, ROTV), mine countermeasures (MCM), and subsea metrology, IRM and survey.

Technical Specification

Components

Exail INS with Exail UmiX IMU; DVL from Nortek Group

DVL frequency

500 kHz

Technology

FOG, strap-down technology; calibration-free

Position accuracy, straight line performance

0.1 %TD (CEP 50)

Position accuracy, optimal performance in typical conditions

0.02 %TD (CEP 50)

Position accuracy, no aiding for 60 s / 120 s / > 8 hrs

0.6 m / 2.3 m / 0.47 Nm/h (CEP 50)

Heading accuracy with GNSS (or USBL/LBL)

0.05 deg secant latitude RMS (typical, dependent on external sensor characteristics)

Roll and pitch dynamic accuracy (no aiding)

0.01 deg RMS

DVL bottom velocity, single ping std @ 3 m/s

0.5 cm/s

DVL bottom velocity, long-term accuracy

±0.1 % / ±0.1 cm/s

DVL min/max altitude

0.3 / 175 m

Operating temperature

−4 °C to 40 °C

Storage temperature

−20 °C to 60 °C

Rotation rate dynamic range

Up to 450 deg/s

Acceleration dynamic range

±30 g

MTBF

100 000 hrs

Heading/roll/pitch range

0 to +360 deg / ±180 deg / ±90 deg

Depth rating

6000 m

Dimensions (Ø × L × H)

150 × 255 × 199 mm

Weight in air/water

11.5 kg / 5.3 kg

Material

Titanium

Mounting

3 × Ø M6 (bottom-up mounting, max penetration 8 mm)

Connectors

1 × 26 pins, 2 × 10 pins SEACON

Sensors

GNSS / USBL / LBL / DVL / EMLOG / DEPTH / CTD / SVP

Serial

5 ports: RS422 or RS232

Ethernet

10/100 Mbits, UDP/TCP (client / server) / web server (GUI)

Pulse

1 input for PPS / 1 output PPS / 1 DVL sync pulse

Input/output

Configurable 7i / 5o; industry standards: NMEA, ASCII, Exail STD BIN etc.; more than 130 output protocols

Baud rates

Up to 576 kbaud

Data output rate

0.1 Hz to 200 Hz

Power supply/consumption

24 VDC (20–32 V) / < 20 W (own consumption, typical @ 24 V and ambient temperature, excluding external sensors)

Applications

UUV, ROV, USV, towfish positioning (sonar, ROTV), mine countermeasures (MCM), subsea metrology, IRM, survey

Download