Is there any chance we could setup a dual head system based on two surveyor 240-16 to increase swath width as it is often done? It would be great to get a full ~130° swath width for just 2*5k=$10k!
It would at least require:
Surveyor’s pitch and roll working even if the head is listed (static rolled) by say 30deg.
Unless we use a third-party IMU.
Acoustic propagation works for zenith angles greater than 40° even if sound velocity is not homogeneous
Since you use angle of arrival as opposed to classical beam forming I am not sure if this is an issue or not
The two units are synched together in a better way than just a UTC clock.
Oh, you need to check out Omniscan 3D. It was designed for exactly this use case and it has dramatically more point detections. Omniscan 3D 450 SS - Cerulean Sonar
A question for those with a little more use than me.
We used the Surveyor in a dinghy for its first test, with the idea we could trouble shoot anything on the water. All went well.
Where the question comes in is in the exported CSV. We get an altitude which have assumed is depth. Further across is altitude above MSL. Is that the antenna height?
If its a depth relative to msl does it need a z offset from the antenna, the only z offset I have seen is for the Surveyor underwater, which I have assumed is acoustic centre to WL.
“altitude (m)” is the vehicle-relative vertical position - so for a surface vessel that’s the depth. “altitude (m above MSL)” is the vertical position taking into account the ArduPilot GLOBAL_POSITION_INT message alt.
Is anybody using Hydromagic when capturing data from the Surveyor 240-16? Our setup works great with Sonar View, we use Cube autopilot fed by dual Here4 GPS units. The Cube is sending GGA, RMC, and ASHR sentences via NMEA 0183. This works fine but my one hiccup that I don’t like in Sonar View is it does not give you RTK fix status, nor does it include status in the CSV that is exported. We’ve always used Hydromagic for our single beam collection, and you can set up some nice fix status alarms. I spoken a bit with Cerulean about this, hoping they can come add something like this, because it really is a nice piece of software.
Our problem capturing in Hydromagic with the 240-16 is the RMC sentence is confusing Hydromagic. You end up with the boat heading correct but the heading for the Surveyor is wandering all over. This does not happen in Sonar View. I’ve been working with Leon from Hydromagic and he’s trying to figure it out. Anybody have any thoughts on this. @tony-white@ljlukis
Hi @rokclimr -
Larry may have to contribute, but from what I understand SonarView pulls the heading from the BlueBoat to use - it does not have its own heading sensor. Therefore if the boat heading is correct in Hydromagic, it should be correct for the Surveyor as well?!
Hi @tony-white
Yes, I believe you are correct and that seems to be exactly what is happening in Sonar View where it works perfectly. I believe there is an issue with the Hydromagic Surveyor plugin, but hoping to hear from anybody that may be having success with it. Thank you for your input!
How are you integrating Hydromagic with Blueos? I though it was a windows only app.
I have been using it on a manned boat and have it setup so I can switch it to the usv when needed. I have a lattepanda that I will install windows and hydromagic that will sit within the blueos network on the usv so the data can be collected onboard. I have 2 GPS units onboard, an emlid reach m+ is used for navigation for blueos and an emlid rs2+ is used for the sonar.
Hi @antcrook We build our own USVs, this is not a Blueboat, so we use an onboard Microsoft Surface Pro running Hydromagic. Are you using Hydromagic on your manned boat? If so, are you using Emlid units with the Hydromagic RTK heading plugin?
I use the emlid rs2+ attached directly above the sonar and stream NMEA over a TCP port to Hydromagic. I am only using the “Hydromagic NMEA0183 plugin #1” to read the NMEA stream from the GPS.