Anyone doing blue boat lifting in Hypack?
Is it possible?
Hi @nicoalmonacid95 -
Welcome to the forums!
Can you clarify what you mean by “lifting” ?
I’m aware of at least one user using sonars and the BlueBoat via Hypack,… but it definiteliy takes a lot of setup!
Sorry, I meant bathymetry.
Regarding Hypack, what sonar do you need to make it work?
What IP address is needed to communicate with the sonar?
That depends on the sonar! You can find things like the IP address in the integration guides for a particular sonar on its product page- just expand the section below technical details.
@ljlukis may have some information on using Cerulean Sonars with hypack… Blue Robotics has not used that software first hand!
We haven’t used Hypack either, but with the Surveyor 240 MBES (commonly used with the Blue Boat) and the Cerulean SonarView application you can export CSV or GSF point data. Most hydrographic s/w packages can import these.
Hydromagic and BeamworX have done the best integrations so far to support Surveyor directly.
Larry
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We currently use Hydromagic to collect and process the data from a Blueboat with the Surveyor MBES and it easily converts to Hypack matrix files. We then use the Hypack files in our Dredgepack system in our excavators for dredging/material placement. It’s been a cost effective solution to getting quality data quickly on our jobsites.
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@Larry
Do you know how position would be handled when GPS denied (such as going under a bridge). I’m wondering if we can take in readings from a DVL or INS and if Sonarview can accommodate it.
Everything on the SonarView end of things should be just fine. We are currently able to handle GPS to DVL transitions in ArduSub quite well with our Tracker 650 DVL. SonarView doesn’t care where your vehicle gets its position or orientation from, so a high-end external GNSS aided INS (VectorNav, Microstrain, Inertia Labs, Trimble) would be ideal. As long as it works with Ardupilot, SonarView will use it.
I’m not aware of anyone currently using a DVL to aid an Ardurover vehicle in GPS denied environments. I don’t see any reason why it wouldn’t work (although I can’t say how well it would perform under a bridge).
ArduRover supports GPS to Non-GPS transitions and the VISION_POSITION_DELTA messages from the Tracker 650 DVL or a Waterlinked DVL should work.
The operator would likely need to manually trigger the non-gps transition, you should be able to do this with one of the LUA scripts from the link above. The LUA script can be triggered from Cockpit. If you try to let the EKF make the transition on its own, it will likely consume some erroneous GPS messages before the transition and the DVL navigation will start in the wrong location.
If you get all of that working you’ll still need to contend with magnetic challenges. Ardupilot’s dead-reckoned position estimate is going to be driven by the BlueBoat’s magnetic heading, and most bridges use ferrous building materials.
If your budget allows I would look into an External AHRS.