NAVIPAC CONFIGURATION - Software download - Eiva

NAVIPAC CONFIGURATION

Author: Ole Kristensen Last update: 24/10/2016 Version: 3.10

Contents 1

The main window ........................................................................................................... 4 1.1

Tree view .................................................................................................................... 5

1.2

Properties pane .......................................................................................................... 6

1.3

Buttons and status fields ............................................................................................ 7

2

The main menu .............................................................................................................. 8

3

Instruments .................................................................................................................. 11 3.1

Edit instrument properties ........................................................................................ 11

3.2

Edit I/O settings ........................................................................................................ 14

3.3

Edit special settings .................................................................................................. 16

3.4

Remove instrument .................................................................................................. 16

3.5

Add instrument ......................................................................................................... 16

3.6

Sort instrument list .................................................................................................... 19

3.7

Navigation stations ................................................................................................... 20

3.8

Dynamic positioning objects ..................................................................................... 21

4

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Geodesy........................................................................................................................ 22 4.1

Projection and Ellipsoid ............................................................................................ 23

4.2

Datum shift ............................................................................................................... 27

4.3

ITRF .......................................................................................................................... 31

4.4

Scale ......................................................................................................................... 34

5

Objects.......................................................................................................................... 36

6

Warm start .................................................................................................................... 38

7

Navigation .................................................................................................................... 39

8

User commands ........................................................................................................... 42

9

Limited configuration .................................................................................................. 44

10

Hidden commands ...................................................................................................... 45

10.1 Manual Start ............................................................................................................. 46 10.2 INI File ...................................................................................................................... 46 10.3 Dongle exception ...................................................................................................... 46 10.4 Dongle list ................................................................................................................. 47 10.5 Administrator ............................................................................................................ 47 10.6 Simulate All ............................................................................................................... 47

NPConfig.docx Last update:24/10/2016

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1 The main window The NaviPac configuration module NaviPac Configuration is the base program for setting up an entire NaviPac operation.

Figure 1 NaviPac Configuration main window The main window shown above in Figure 1 opens when NaviPac Configuration is started. The program automatically loads the setup file in use (eg \eiva\navipac\db\gensetup.db) and displays the file name in the Setup File field. Please note that you may edit any setup file with NaviPac Configuration, but to use it for navigation, it must be named gensetup.db. Please refer to Section 9 ‘Limited configuration’ for more information. The main window can be resized to make it larger but not smaller in size.

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1.1 Tree view The left pane of the main window consists of a tree view (list and control tool) for the entire setup: 

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File header: Display information about the most recently saved configuration such as user, modification time, database version, number of entities, server information, dongle information and NaviPac mode. These items cannot be edited. Instruments: Display and control/editing of all instruments included in the list. See Section 3 ‘Instruments’ for further details. Instrument groups are ordered as follows:  Surface navigation: Any instrument used for surface navigation such as GPS or tracking systems.  Gyro: Gyro and compass for vessel and dynamic objects.  Motion sensor: Roll/pitch heave sensors for vessel and dynamic objects.  Doppler log: Doppler velocity log for positioning improvement.  Dynamic positioning: Positioning of remote or underwater vehicles such as USBL, LBL, remote GPS, tracking systems, telemetry, etc.  Special input: Dedicated drivers for time, waypoints, targets, etc.  Data output: Output to external systems and instruments.  Data acquisition: Echo sounders, magnetometers, etc.  Offsets: User-defined offset on vessel or dynamic objects. Geodesy: Display and control/editing of the selected geodesy. See Section 4 ‘Geodesy’ for further details.  Projection: Selection of geodetic projection.  Ellipsoid: Selection of datum.  Datum shift: Selection of datum shift from WGS 84.  ITRF: Optional additional datum shift.  Scale: Selection of data scale such as US Survey Feet. Objects: Display and control/editing of the objects being used in this setup. See Section 5 ‘Objects’ for further details. Warm start: Display and control/editing of which modules to activate during navigation startup. See Section 6 ’Warm start’ for further details.


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1.2 Properties pane If an item is selected in the tree view, properties for the selected item will open in the properties pane on the right side of the main window, allowing you to edit the properties, as shown for a gyro below in Figure 2:

Figure 2 Instrument properties for a gyro The various properties are described in more detail in the following sections. Editing is based on a few primitive controls. 

Editable fields: Changes to texts, integers or floating-point values. Click on the field and edit the value. Changes are accepted once you click on a different field.

Figure 3 Editing a number or text in a field 

File selection: Displays the actual file. Click on the button on the right side, and a window will open which allows you select a file.

Figure 4 Selecting a file via browser function

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Lists: Selection of item from a drop-down list. Click on the button on the right side, and a drop-down list will appear with a checkmark shown to the left of the currently selected item. Changes are accepted as soon as a new selection is made.

Figure 5 Selection from a list 

Checkboxes: Enabling or disabling of certain features. Click once inside the checkbox to change from checked to unchecked or vice versa. Changes are accepted as soon as a new selection is made.

Figure 6 Using checkboxes 

I/O selection: Lists the actual I/O setting and allows changing via the built-in COM Port tester, which is activated by clicking the button on the right side. This requires that NaviPac online navigation is stopped.

Figure 7 I/O selection Depending on the configuration, some properties are read-only – that is, not editable. These property fields are greyed out.

1.3 Buttons and status fields Multiple buttons and status fields are located in the main window. These include the File status field, Status field, Auto button, Manual button, Stop button and Save button. For further details on these buttons and fields, please refer to Section 7 ‘Navigation’. Up to five user-configurable buttons may also be included at the bottom of the window. For further details, please refer to Section 8 ‘User commands’.


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2 The main menu The main menu gives access to a few general commands:        

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File > New: Create a new empty database file. File > Open: Open a pre-existing setup file. File > Save: Save the current setup file. File > Save as: Save the current setup file under a new name – please note that only the name gensetup.db can be used in operational mode. File > Project Manager: Activate the dedicated NaviPac ProjectManager tool. Allows backup and restoration of complete setup files. File > Exit: Exit NaviPac Configuration. View > Display Setup Report: Generate an ASCII listing of the setup. Show result in Notepad. View > Display Vessel Offset: Open a graphical presentation (XY and YZ) of vessel and instrument location. See the dedicated Help file ‘Vessel Offsets’, which can be accessed by pressing the F1 key when the window is open. View > Display Ports: Open a basic ASCII listing of all interfaces ordered by port number in Notepad. View > Save Settings: Save the current main window layout so that these settings are applied next time you start NaviPac Configuration. Options > Global Parameters: Open a dialogue box for editing of a series of general NaviPac properties. See the dedicated Help file ‘Global Parameters’, which can be accessed by pressing the F1 key when the dialogue box is open. Options > Survey Parameters: Open a dialogue box for editing of a series of survey-related properties. See the dedicated Help file ‘Survey Parameters’, which can be accessed by pressing the F1 key when the dialogue box is open. Options > Depth Calculation Parameters: Open a dialogue box for editing of constants for depth calculations. See the dedicated Help file ‘Depth Calculations’, which can be accessed by pressing the F1 key when the dialogue box is open. Options > Event Setting: Open a dialogue box for global control of event settings. These can also be edited in the online navigation. Options > Event Texts: Open a dialogue box for definition for user-defined event texts. See the dedicated Help file ‘Eventing’, which can be accessed by pressing the F1 key when the dialogue box is open.

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Options > NaviPac Mode: Open a dialogue box to select NaviPac mode (Normal or Rig Move/Tug management (Barge)), enable telemetry, etc. See the dedicated Help file ‘NaviPac Mode’, which can be accessed by pressing the F1 key when the dialogue box is open. Options > Barge Setup: Only possible if Rig Move/Tug management (Barge) mode has been selected under Options > NaviPac Mode – open a dialogue box to specify barge setup including fairlead points, anchor positions, etc. Options > Telemetry: Only possible if the checkbox for Enable Multiplex Telemetry has been checked under Options > NaviPac Mode – open a dialogue box to specify inputs/outputs. See the dedicated Help file ‘Telemetry’, which can be accessed by pressing the F1 key when the dialogue box is open. Options > Station Location: Open a dialogue box to specify GPS station location, tidal station and CTD measure points. Tools > Graphics Editor: Open a small utility module for graphical file import/export. Tools > Test Interface Ports: Open a dialogue box for testing of serial and network inputs. This is only operational when NaviPac online navigation has not been activated (offline mode). Tools > GEOCalc: Open a small utility module for testing of the EIVA geodesy library, etc. Tools > Sunshot: Open a small utility program for sunshot calculations. Help > Contents: Open this Help file (‘NaviPac Configuration’). Help > Data Formats: Open Help file with short listing of all supported instruments (‘NaviPac Sensor Interfacing’). Help > Geodesy: Open Help file with detailed information about EIVA geodesy (‘NaviPac Geodetic Control’). Help > Instrument Setup: Open Help file with special hints for instrument setup (‘NaviPac Instrument Parameters’). Help > Event Setting: Open Help file with guidance on the use of Events in NaviPac (‘Event Setting’). Help > Install Guide: Open Help file with detailed guide to installation (‘NaviPac Installation and Getting Started Notes’). Help > General NaviPac Course: Open PDF file with detailed training material (‘General NaviPac Course’). Help > NaviPac Definitions: Open Help file with list of general terms and definitions that you need to know as a NaviPac user (‘NaviPac definitions’). Help > Info About NAVIPAC.INI: Open Help file with introduction to the setup file for advanced users (‘NaviPac INI File’). Help > Ask a Question: Send a question to [email protected]. Help > Report a Bug: Send a bug report to [email protected].


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Help > Release Notes: Open a browser page with links to all NaviPac module release notes. Help > Search for help: Search for help on the EIVA website:

Figure 8 Search for help via EIVA website 

Help > About: Show current program version and dongle information.

Figure 9 Program version and dongle status

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3 Instruments In NaviPac Configuration, the user may edit various properties for an instrument, edit I/O settings, edit special settings, remove instruments, add new instruments and edit the instrument order.

3.1 Edit instrument properties To edit instrument general properties, you simply have to select the instrument from the tree view. The available properties will then appear in the properties pane.

Figure 10 Editing instrument properties for a gyro


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The properties pane will then consist of a series of general properties (common for the majority of all instruments) and perhaps some instrument group-specific properties. A list of instrument group-specific properties and properties unique to individual instrument types is available in the ‘NaviPac Instrument Parameters’ Help file, which can be accessed under Help > Instrument Setup. General properties:     

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ID: Read-only. Displays unique NaviPac instrument type number. ID1: Read-only. Displays NaviPac run-time ID. SEQ: Read-only. Displays EIVA instrument sequence used if you have multiple instruments of the same type. System Name: Read-only. Displays NaviPac-defined instrument type name. Port: Read-only. Displays input/output port number. This property is edited by right-clicking on the specific instrument in the tree view and in the pop-up menu that appears, clicking Edit settings. In this dialogue box, you can select a different number under the Port drop-down list. I/O: Edit I/O settings. Can also be accessed by right-clicking on the specific instrument in the tree view and selecting Edit settings. Name: Allows for entering a user-defined name for the instrument. Offsets XYZ: Specify the location of the instrument. Defined from CRP to instrument:  Offsets X: Across vessel – positive to starboard  Offsets Y: Along vessel – positive to bow  Offsets Z: Height – positive up I/O Mode: Select the input mode of the instrument:  On: Real interfaced instrument. Not available in demo mode.  Off: Temporarily disabled instrument.  Simulated: Instrument simulated by SIMDATA. Useful for demonstrations and training.  Calculated: Calculation based on vessel movements. Only valid for gyro and Doppler log instruments. Location: Select the primary location (object) upon which the instrument is attached. Location 2–5: If the instrument is assigned to more than one object (eg an ROV positioned by both USBL and LBL), you may select up to four additional locations.

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Driver Details: For data input instruments (though not special input instruments), you may view and edit various properties for the specific driver. Please note that values specified for the following properties will be applied to all instruments of the same type (same ID number):  String Prefix: If the instrument outputs multiple telegrams of which NaviPac only uses one, this field allows you to define the string prefix. NaviPac will hereafter only use the telegrams that start with the defined string prefix (eg $HEHDT for NMEA gyro).  No of Bytes: NaviPac allocates a number of bytes (characters) for each incoming telegram. If this number is for some reason less than the actual instrument output (especially seen for user-defined input instruments), NaviPac truncates the telegram. You can enter a new, higher value here in order to see the actual instrument output with all characters included.  Telegrams per Cycle: NaviPac allocates space for a maximum number of packets per cycle. If this number is set too low, NaviPac will start discarding packets. You can enter a new, higher value here in order to allocate enough space for a higher number of packets.  Driver Type: NaviPac supports different input types, which each offer a unique way of recognising a complete telegram:  CRLF: The input is considered ASCII, and each string is terminated with two special characters (eg ). NaviPac uses the last character () to detect that a packet is completed.  CR: Same as CRLF – except only with one special end character (eg ).  NMEA: Same as CRLF – but NaviPac also uses a configurable string prefix (see above) to select between multiple telegrams.  LENGTH: NaviPac reads a chunk of data with fixed length – typically binary input. This may be combined with either a defined start character or end character.  STX/ETX: Packets with one special character at the start and one special character at the end. These were mainly used many years ago with binary code and .  XXXX: Special telegrams that have been hardcoded by instrument number (eg RDI Workhorse Navigator DVL PD0 format and Raytheon Radar).  Termination char: Read-only. If the driver expects a specific character at the end of the telegram, this field is available and displays the ASCII code (eg ‘10’ for ).


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Start char: Read-only. If the driver expects a specific character at the start of the string, this field is available and displays the ASCII code (eg 68 for ‘D’). Fixed length: Read-only. If the driver expects chunks of data with a fixed length, this field is available and displays the fixed length of the chunks in bytes.

Details on individual instruments can be found under Help > Instrument Setup.

3.2 Edit I/O settings To edit or view the instrument interfacing, right-click on the specific instrument in the tree view. In the pop-up menu that will open, select Edit settings, and the following dialogue box will open.

Figure 11 Instrument I/O dialogue box

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Some properties are copied over from the properties pane in the main window, but some I/O-specific properties are only accessible here: 

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I/O Type: Select how to interface the instrument:  Serial: Ordinary COM port.  UDP/IP: Network via UDP/IP datagram.  AD: AD Converter card – only Hippy RP sensor.  NaviScan socket: For gyro and motion sensor instruments only – import from NaviScan DataProc.  LPT: For data output instruments only – Parallel port.  ASCII File: For data output instruments only – Generate ASCII file on \eiva\navipac\data.  GP_IB: For data output instruments only – IEEE interfacing via NE interface board.  ATTU: Network interfacing via ATTU/TimeBox.  TCP/IP: Network via server connection. NaviPac acts as client. Scale positions and depth: For certain data output instruments only – define whether output should be in metric units or in selected data unit. I/O Setup: Properties related to specific I/O type:  Serial: Port, Baudrate, Parity, Stopbits and Databits.  UDP/IP and TCP/IP: Port and IP address. For incoming data, the IP address must be on the sending computer or just 0.0.0.0.  AD: Board and ch.  NaviScan socket: Port and IP address.  LPT: Port.  ASCII File: NONE.  GP_IB: IB addr and IB index.  ATTU: Port and IP address. Test Port: For serial and network input only – open port and display raw data.


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3.3 Edit special settings Some instrument types require very detailed setup. These special setup properties can be accessed by right-clicking on the specific instrument in the tree view. In the pop-up menu that will open, select Edit special settings, and a dialogue box will open. Special properties apply to the following instrument types, among others:     

User defined output Coda - long format Data to ext. nav. system Digicourse DOF SubSea Pipe Inspect

A list of individual instrument types that allow for special properties editing is available in the ‘NaviPac Instrument Parameters’ Help file, which can be accessed under Help > Instrument Setup.

3.4 Remove instrument To remove an instrument, right-click on the specific instrument in the tree view. In the popup menu that will open, select Remove instrument.

3.5 Add instrument Adding an instrument can be performed in two ways: 

Right-click on the Instruments top level item in the tree view and in the pop-up menu that will open, select Add new item.

Figure 12 Adding new instrument from top level

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Right-click on the instrument group (eg Motion sensor) in the tree view and in the pop-up menu that will open, select Add new item.

Figure 13 Adding new instrument from instrument group level If you have started the process from the top level, selecting Add new item will open an instrument group selection dialogue box:

Figure 14 Selection of instrument group Here, you select the instrument group you want to add to and select OK. Then, an instrument type selection dialogue box will open (if you started the process from the instrument group level, this is the only dialogue box that will open):

Figure 15 Selection of the specific instrument type


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This instrument type selection dialogue box includes the following:   

Type drop-down list where you select one of the available instrument types Field with short format description of selected type Name editable field where you enter the name you want to be displayed for the specific instrument

You must then accept your selection by selecting OK. Next, the ordinary Instrument I/O dialogue box opens, as described in Section 3.2 ‘Edit I/O settings’. Select OK when you are done editing to apply changes made. Lastly, the new instrument will now appear in the tree view and can be selected in order to finalise the editing of its properties in the properties pane, as described in Section 3.1 ‘Edit instrument’.

Figure 16 Finalising the instrument by editing its properties

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3.6 Sort instrument list NaviPac automatically sorts the instrument list within each instrument group in the tree view based on the following criteria:  

Instruments set to I/O Mode ‘Off’ are kept at the bottom of each list. For instruments that are assigned to objects (gyro, motion sensor, Doppler log and data acquisition instruments only) sorting is thereafter done based on the object selected under Location. For example, if the ordering of objects in the tree view is Vessel, ROV1, Towfish, a gyro instrument set to I/O Mode ‘On’ which under Location is assigned to ‘Vessel’ will be displayed higher in the gyro instrument group list than a gyro instrument set to I/O Mode ‘On’ which under Location is assigned to ‘ROV1’.

If the I/O Mode or Location is changed for one or more instruments in an instrument group, the list order can be updated either by saving the current setup file or by right-clicking on the instrument group (eg Motion sensor) in the tree view and in the pop-up menu that opens, selecting Sort list. The current setup file must be saved in order for the list order to be saved and applied the next time you open NaviPac Configuration. However, the user must specify which instrument is the primary instrument (eg the best gyro, best motion sensor, etc) in each instrument group. This can be performed by rightclicking on an instrument (eg NMEA1 Gyro) in the tree view and in the pop-up menu that opens, selecting Move up or Move down.


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3.7 Navigation stations Some surface navigation instruments (tracking systems, range/range systems, etc) are based on an underlying station setup. These stations will be displayed as subitems under the specific surface navigation instrument in the tree view, as shown below in Figure 17:

Figure 17 Special properties for station-based surface navigation instruments The user may edit each station by selecting it and entering values for the properties in the properties pane, as shown above. Properties vary from system to system and will not be discussed in further detail here. In addition to editing station properties, you can:  

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Add new stations: Right-click on the specific surface navigation instrument in the tree view and in the pop-up menu that opens, select Add station. Import stations from file: Right-click on the specific surface navigation instrument in the tree view and in the pop-up menu that opens, select Import station(s). Read stations from ASCII file: # Sample station definition file #-------------------------------COJAK, 500005, 6312345, 23.9 Stat1x , 500000, 6312345, 23.45 Stat2x , 500001, 6312345, 23.5 Remove stations: Right-click on the specific station in the tree view and select Remove. Note: It is not possible to remove the last attached station.

3.8 Dynamic positioning objects Some dynamic positioning systems (like USBL or LBL) support multiple tracking objects. These objects will be displayed as sub-items under the specific dynamic positioning instrument in the tree view, as shown below in Figure 18:

Figure 18 Special properties for object-based dynamic positioning instruments The user may edit each object by selecting it and entering values for the properties in the properties pane, as shown above. Properties vary from system to system and will not be discussed in further detail here. In addition to editing object properties, you can:  

Add new objects: Right-click on the specific dynamic positioning instrument in the tree view and in the pop-up menu that opens, select Add object. Remove objects: Right-click on the specific object in the tree view and in the pop-up menu that opens, select Remove.


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4 Geodesy The currently selected geodesy can be viewed and controlled from the tree view Geodesy item:

Figure 19 Display of current Geodesy setup If the Projection is set to ‘UTM (north)’ or ‘UTM (south)’, you can change the zone number in the UTM Zone field in the properties pane. You can also for ITRF enable or disable the ITRF via the Active checkbox. The remaining properties can only be edited by right-clicking on the specific subitem under Geodesy in the tree view and in the pop-up menu that opens, selecting Edit settings.

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4.1 Projection and Ellipsoid To edit Projection and/or Ellipsoid, right-click on one of the two subitems in the tree view. A pop-up menu will open from which you can select Edit settings, which will open a dialogue box.

Figure 20 Selection of ellipsoid and projection type This dialogue box is able to read the geodetic settings from the setup file and then display it in fields here. The available choices of predefined Ellipsoid and Projection are read from the setup file and inserted into two drop-down lists, as shown above in Figure 20.


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When the user selects an ellipsoid/projection, the relevant information for the selection is displayed in fields below the selection. Some fields will be read-only, and some projections will have more fields than others, etc. Selections and changed values will be applied upon pressing the OK button. In the above example, the projection ‘UTM (north)’ and the ‘WGS84’ ellipsoid have been selected. Changes made in this dialogue box will be saved in the setup file. Selecting a different projection than the current one will change the rest of the fields in the dialogue box, as the properties depend on the selected projection. Ellipsoid: Drop-down list with all available ellipsoids. The values in the three fields listed below will be set automatically on the basis of this selection:  

Semi Major Axis: Displays the semi major axis of the ellipsoid in metres (eg ED50 is 6378388.0000 metres). Inverse Flattening: Displays the inverse flattening of the ellipsoid. Flattening is calculated as:

1 InverseFlattening 

(eg ED50 is 297.0000000000 metres)

Eccentricity: Displays the eccentricity of the ellipsoid. Eccentricity is another way of defining the flattening of the ellipsoid, as eccentricity equals:

Flattening 2  Flattening (eg ED50 is 0.081991889979 metres)

Projection: Drop-down list with all available projections. The selection of available properties listed below will depend on the specific projection in use (similar properties with different names may be available instead, depending on the system). Some fields are readonly and some are editable:      

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Scale factor at CM: The point scale factor at origin of projection (central meridian). Central meridian: The longitude at origin of projection. Origin latitude: The latitude at origin of projection. False easting: The False easting applied to calculations. False northing: The False northing applied to calculations. UTM zone: The UTM zone number.

Five buttons are located at the bottom of the dialogue box:  

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OK button: Accept changes made to properties. Closes the dialogue box and applies selections to the current setup. Apply button: Apply changes made to properties but keep the dialogue box open. For UTM, for example, the value for Central meridian will be updated based on the entered UTM zone number. Cancel button: Close the dialogue box and discard all changes made to properties. Load US State Plane button: Open a dialogue box that allows the user to select geodesy from a series of US state planes:

Figure 21 Special US geodesy selection Here, you select the State Plane Coordinate System – either SPCS83 (GRS1980) or SPCS27 (Clarke 1866) – and the state plane. The selections apply to both the ellipsoid and the projection. Note that the special Alaska oblique methods are not supported. For details on state planes, please refer to James P. Reilly’s State Plane Coordinates vs. Surface Coordinates, Part 4.: http://www.tech.mtu.edu/courses/su3150/Reference%20Material/0799gpsobserver.pdf.


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Load EPSG system button: Open a dialogue box that allows the user to search in the EPSG database after predefined geodetic settings. The result of the datum selection (a projection and an ellipsoid) will be mapped to the EIVA definition and saved in the original setup file together with the EPSG Reference System ID number. Note that loading an EPSG system for the datum will allow you to also use the Load EPSG system function for Datum Shift to search for valid datum shifts. An EPSG system for the datum must be loaded in order for the user to be able to open the dialogue box for Load EPSG system for Datum shift.

Figure 22 Search for geodetic information in the EPSG database

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4.2 Datum shift To change the selected datum shift, right-click on the Datum shift item in the tree view, which will open a pop-up menu where you can select Edit settings.

Figure 23 Defining datum shift The dialogue box that opens allows for specification of datum shift data (7-parameter transformation from WGS84 to user datum). Please note: datum shift must be enabled manually for each individual GPS instrument under the Apply datum shift property in the general instrument setup.


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The seven parameters are read from the setup file and displayed in the fields in this dialogue box. For all predefined shifts, the seven parameters will display predefined values; however, if the user selects ‘User Defined Datum Shift’ from the Name drop-down list, all seven parameters must be manually defined, using up to 12 significant digits per parameter:       

TX TY TZ RX RY RZ Scale

(default in metres) (default in metres) (default in metres) (default in seconds (default in seconds) (default in seconds) (parts per million)

The units of measurement for translation (TX, TY and TZ) and rotation (RX, RY and RZ) can be changed from the respective Unit drop-down list. The parameters will be used in one of the following calculations: Normal (BW)

 X   Tx   PPM       Y    Ty    Rz  Z   Tz    Ry     

 Rz PPM Rx

Ry   X 0   X 0        Rx    Y 0    Y 0  PPM   Z 0   Z 0 

Mod. Bursa-Wolf From WGS84 to user datum.

 Rz Ry   X 0   X   Tx   1         1  Rx    Y 0   Y    Ty   1 /(1  PPM )    Rz  Z   Tz    Ry Rx 1   Z 0      

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North Sea (NO) This is a multistep operation, which is commonly used in the Norwegian sector of the North Sea. Note: This method is generally considered to be outdated. Transform from WGS84 to ED87 using a normal 7-parameter (NGO) transformation. If the resulting latitude is below 62 degrees, use the dedicated algorithm to get from ED87 to ED50. If the resulting latitude is above 65 degrees, use the dedicated 7-parameter transformation from ED87 to ED50:       

TX = 1.51 m TY = 0.84 m TZ = 3.50 m RX = 1.893E-6 radians RY = 6.870E-7 radians RZ = 2,764E-6 radians Scale = -6.090E-7 ppm

If the resulting latitude is between 62 and 65 degrees, use a weighted average of the algorithm and the dedicated 7-parameter transformation. One thing must be noted. Calculation of the Cartesian coordinates differs for the two methods. The Modified Bursa-Wolf method uses the WGS84 height if available, as this gives the most correct result. The online shift (from GPS instruments) will use the GPS height only if it is in RTK mode. Please note: The result of the shift is two-dimensional, ie the height is not calculated by the transformation. NADCON US Between NAD83 and NAD27, where NAD83 is to be seen as WGS84. The NaviPac implementation of NADCON (North American Datum Conversion Utility) is based on ASCII files for the American zones, and is an empirical solution rather than a mathematical solution. The NADCON files define a grid in latitude/longitude with transformation constants for each grid point. NaviPac uses this as a lookup table and interpolates between the four closest points to get actual shift correction. See http://www.ngs.noaa.gov/PC_PROD/pc_prod.shtml#NADCON for further details and http://www.cs.arizona.edu/icon/ftp/data/nadcon for a list of available grid files.


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Below, the various properties and parameters are described in detail:   



      

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Projection: Displays the selected projection. Ellipsoid: Displays the selected ellipsoid. Method: Drop-down list to for defining how to perform the shift (datum shift must be applied manually for each GPS instrument under the Apply datum shift property under the specific GPS instrument’s instrument setup, as they may be configured individually):  None: No shift performed.  Normal (BW): Use the Normal Bursa-Wolf (NGO) method.  North Sea (NO): Use the special Norwegian method (WGS84 -> ED87 > ED50). No inverse calculation is currently available.  Mod. Bursa-Wolf: Use the Modified Bursa-Wolf calculation, where height is applied if RTK.  NADCON (US): Use external NADCON grid. Remaining parameters are ignored. See, for example, http://www.ngs.noaa.gov/PC_PROD/ pc_prod.shtml#NADCON for further details. Name: Name of default shift parameters. Refers to definition in the file datumshift.cf, where a series of common shifts are included. To specify your own parameters, you must select the shift named ‘User Defined Datum Shift’. TX: Transformation parameter X. TY: Transformation parameter Y. TZ: Transformation parameter Z. RX: Rotation parameter X. RY: Rotation parameter Y. RZ: Rotation parameter Z. Scale: Scaling factor parameter for transformation (parts per million).

Three buttons are located towards the bottom of the dialogue box:   

OK button: Accept changes made to properties and parameters. Closes the dialogue box and applies selections to the current setup. Cancel button: Close the dialogue box and discard all changes made to properties and parameters. Load EPSG system button: If the projection and ellipsoid (datum) have been loaded from the EPSG database accessed via the Ellipsoid & Projection Setup dialogue box, you may use the Load ESPG system button here to open a dialogue box that allows you to search in the EPSG database after an appropriate datum shift, as it lists all shifts available for the current datum selection. The result will be mapped to the EIVA definition and saved in the original setup file together with the EPSG Selected Shift ID number.

Figure 24 Search for datum shift information in the EPSG database

4.3 ITRF Define whether NaviPac should include time-based datum shift parameters to account for situations where the datum shift is changing over time. If you choose to enable ITRF, the basic NaviPac datum shift parameters will be adjusted daily using the Speed of change parameters, based on the reference date. This type of datum shift can, for example, be relevant in North America, where the use of ITRF to NAD83 is widely used, and in Europe to shift from ITRF to EUREF89.


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As the ITRF parameters are adjusted ‘on the fly’, please use with care. Please note that there is a dedicated datum shift toggle for each GPS instrument in use (the Apply datum shift property in the instrument’s general setup), and you should disable this if you have already compensated for this shift in the GPS instrument. ITRF parameters are entirely defined in the properties pane after selecting ITRF from the tree view:

Figure 25 Definition of ITRF Reference shift and Speed of change parameters ITRF consists of the following parameters: 



Reference shift: Specify a traditional 7-parameter shift together with a valid date. Figure 25 above defines the ITRF2008 to NAD83 that was valid on 1 January 2014. Speed of change: Specify the changes of the defined seven parameters per year.

Transformations are measured in metres, rotations in milli-arcseconds and scale in parts per billion.

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If you check the Active checkbox at the top of the pane, NaviPac enables all the parameter fields, and a dialogue box opens, as shown below in Figure 26:

Figure 26 Automatic update of GPS instrument configuration If you select Yes, NaviPac enables ITRF for all the GPS instruments. If you select No, you must enable ITRF manually for each individual GPS instrument by in the tree view by selecting the individual GPS instrument under and in the properties that open in the properties pane checking the Apply ITRF Shift? checkbox:

Figure 27 Apply ITRF Shift for an individual GPS instrument PLEASE USE ITRF WITH CARE – AND MAKE SURE THAT YOU TEST AGAINST A REFERENCE POINT.


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4.4 Scale NaviPac offers the possibility for you to select your own data unit for data presentation, ie whether data should be displayed in metres, feet, US Survey feet, etc. Right-click on Scale item in the tree view, which will open a pop-up menu from which you can select Edit Settings. This will open a dialogue box, as shown below in Figure 28:

Figure 28 Selecting data scale First of all, you must note that you may use different units for presentation of position data (X, Y and Z) and echo sounder/depth data. In the upper part of the dialogue box, you can select which position data scale and which depth data scale you want to use. The default is ‘metric’ for both. The selection for each will be displayed in the field below the selection drop-down list, showing name, scale and unit. Scale is here defined as how NaviPac calculates the conversion from one metre to one of the new units. The second part of the dialogue box allows you to select whether you want data to be logged in the selected display units or not. If you, for example, want to display position data in US Survey feet but still want to log position data in the default metric system, do not check the Log positions in selected unit checkbox.

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If you have selected a new presentation scale for position data, make sure that all instrument-related input property values (ie offsets, station locations, C_O values, etc) are entered in the new unit. To reduce the amount of manual work after a position data scale change, you can select to have NaviPac update all input property values (with a few exceptions) automatically for you. If you select OK at the bottom of the dialogue box, another dialogue box opens:

Figure 29 Automatic update of input property values Select Yes if you want NaviPac to both apply the correction scale to all values (correction scale is defined as the new scale divided by the old scale) and update the unit to all instrument-related input property values. If you select No, the unit will be updated for all instrument-related input properties, but the values themselves will be left unchanged. NOTE: You should always check all properties and values after making changes to the scale to make sure they are correct. NaviPac includes ‘metric’, ‘US Survey feet’, ‘Feet’, ‘Decimetre’, ‘Fathom’ and ‘Centimetre’ as predefined units. If you want to define your own data units, please contact EIVA support.


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5 Objects NaviPac Configuration offers a high-level item that allows you to define the objects (vessel, ROV, ROTV etc) you want to use in the current setup. In the tree view to the left, the item Objects allows for these selections.

Figure 30 Selecting an object and showing properties Expanding Objects gives a list of all objects defined to be in use in the current setup – that is, locations available for instruments and dynamic positioning objects. By default, the Objects list always includes as the first object in the list the Vessel object – it is not possible to remove this Vessel object. In addition to editing object properties, you can: 







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Add a new object: Right-click on Objects in the tree view and in the pop-up menu that opens, select Add new item. NaviPac automatically selects the lowest object ID number not yet in use and adds the new object to the tree view list in a position based on its ID number. The default object name is ‘NOT DEFINED’. Import an object: Right-click on Objects in the tree view and in the pop-up menu that opens, select Import item. This will open a dialogue box with a dropdown list that displays all objects from the objects.txt file and allows for importing them individually. Remove an object: Right-click on the specific object in the tree view and in the pop-up menu that opens, select Remove. Note: it is not possible to remove an object that is attached to one or more instruments. Adjust to current configuration: If you have loaded an old setup file, the active Objects list may differ from the objects currently being used. You may adjust this by right-clicking on Objects in the tree view and in the pop-up menu that opens, selecting Reset to used objects.

You can also access a detailed list of the instruments assigned to each object. Select the specific object in the tree view, which will open the properties in the properties pane. Select the Instruments tab towards the bottom of the pane, and a complete list of attached instruments will be displayed:

Figure 31 Detailed list of object instruments For each instrument assigned to the object, the name, the port number, the I/O mode and the NaviPac ID number are displayed.


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Additionally, you may access the instruments attached to a specific object (a subset of the upper instrument list) by expanding the specific object in the tree view, displayed below in Figure 32:

Figure 32 Tree view of object instruments Here you can edit the object’s instrument properties, add new instruments (assigned to this object) and remove instruments (instruments assigned to the object). Please note that an instrument might be assigned to multiple objects – and removing it from one object will remove it from all objects it is assigned to.

6 Warm start One important setting, especially in simpler configurations, is the selection of modules the user wants to see during online navigation startup. When NaviPac starts the navigation cycle, the user can specify which modules should open automatically. This can be controlled from Warm start in the tree view. Expand Warm start to see which modules are currently selected. Right-clicking on Warm start in the tree view will open a pop-up menu from which you can select Edit settings to change the selection.

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Figure 33 Selection of modules to include in Warm start Check the checkbox for each of the specific modules you want to open upon navigation startup. At the next navigation start, the selected modules will be started automatically in the saved position and with the saved size. If you need some external programs to be started together with NaviPac, you can check the checkbox for Custom program and enter the name of the program (eg ‘Esc.exe’). The program should ideally be placed in the $EIVAHOME\bin catalogue.

7 Navigation The primary goal of NaviPac and NaviPac Configuration is to go online and collect data.

Figure 34 Navigation control toolbar


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Online navigation can be started and stopped from the lower part of the main window:  

  

Status field: Shows whether the online navigation is navigation running (‘Running’) or not (‘Stopped’). Auto button: Start online navigation. Saves the setup file if not already saved. Performs a warm start if possible, opening all requested modules, otherwise a manual (cold) start. Manual button: Start online navigation. Saves the setup file if not already saved. Performs a manual (cold) start. Stop button: Stop online navigation and close all opened modules. This button is only available if the navigation status in the Status field is ‘Running’. Save button: Save the setup file.

NOTE: only the file named ‘gensetup.db’ is valid for online navigation. If you try to start online navigation with another file loaded, you get a warning such as the one below in Figure 35 and nothing further happens.

Figure 35 Navigation and setup status information When online navigation starts, NaviPac checks whether the setup file is compatible with the selections made in the online navigation. If so, NaviPac performs a warm start based on exactly the same online settings as the previous session. This is the preferable solution, as no special settings must be considered. If the files are not compatible, perhaps due to addition or removal of instruments, NaviPac has to perform a cold (manual) start instead. This will result in two dialogue boxes opening.

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Figure 36 Online navigation manual start: Start by selecting instruments Here, you must select at least one surface navigation input (eg the Ashtech GPS1 shown above in Figure 36). The selection can always be changed later on in NaviPac Online.

Figure 37 Online navigation manual start: Enter initial position for filter estimation If you are using GPS, in the dialogue box shown in Figure 37, just select OK. If you use range/range or similar settings, you have to enter an approximate position to make the navigation operational.


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8 User commands NaviPac Configuration allows quick access to user’s own or third-party programs via configurable buttons at the bottom of the main window:

Figure 38 Sample of user-configured buttons and commands There may be up to five user-configured command buttons included. Each command button represents an executable file like an EXE file or a BAT file. Definition of each button is made in the NAVIPAC.INI file (located in C:\Windows): [NPConf] CMD1=HJSplit CMD1_Action=C:\TOOLS\HJSplit\hjsplit.exe CMD1_Reload=1 Where: [NPConf] CMD1:

Defines the name to be shown on the button

CMD1_Action: Defines a link to the file being executed CMD1_Reload: Defines whether NaviPac Configuration must reload the entire setup after executing the command One potential use for this could be if you have defined a set of different configurations, perhaps one where you use the WGS84 datum and one where you use ED50 datum. You could then create two BAT files which restore all files related to each configuration: CMD3 = -> WGS84/UTM31 CMD3_Action=\eiva\Mybin\towgs.bat CMD3_Reload=1

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BAT file example: @echo off echo ****************************************************************** echo NaviPac Restore WGS84/UTM Setup echo ****************************************************************** echo Copying files .... COPY \eiva\mydb\wgs84utm\*.DB \eiva\navipac\db COPY \eiva\mydb\wgs84utm\*.INT \eiva\navipac\setup COPY \eiva\mydb\wgs84utm\NAVIPAC.INI \WINDOWS echo Completed The directory \eiva\mydb\wgs84utm should then include all files related to this job, ie the DB files (gensetup.db and onlsetup.db) and the INI files. The button will then copy these files to the requested directory and load it into NaviPac Configuration.


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9 Limited configuration It might sometimes be useful to set up NaviPac Configuration in a reduced control variant, eg the so-called bridge version, where the user may use it as read-only instead.

; EIVA NaviPac - Version 3.4D November 2003 ; External configuration of NPConfig [Add] ; Can operator add instrument of each type SURFACE_NAV = 1 GYRO = 1 SPEED_LOG = 1 MOTION = 1 DYNAMIC_POS = 1 DATA_INPUT = 1 DATA_OUTPUT = 1 DATA_ACQ = 1 OFFSET = 1 Station = 1 Object = 1 DynamicObj = 1 [Remove] Instrument Object Station DynamicObj

= = = =

1 1 1 1

[Edit] ; Instrument 0 -> Nothing 1 -> I/O 2 -> All ; Geodesy 0 -> Nothing 1 -> UTM Zone 2 -> All ; Rest 0 or 1 Instrument = 2 Geodesy = 2 Datum Shift = 1 Scale = 1 Objects = 1

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This can be defined in the NPCONFIG.INI file, which must be located at \eiva\navipac\setup. The above example (the default installed one) gives full access. You may then disable instrument control (add, remove and edit), geodesy changes and definition of objects. Typically, ‘0’ means no access and ‘1’ means access. Regarding editing of instruments and geodesy, there is a more advanced definition: 0 1 2

No editing General editing Full editing

10 Hidden commands NaviPac Configuration includes a series of hidden commands that you might find useful. They can all be found by expanding File header in the tree view and right-clicking on the DB Version item:

Figure 39 The hidden commands menu


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10.1 Manual Start Selecting Manual Start forces NaviPac to perform a manual (cold) start. It can be required if NaviPac for some reason fails to detect the need for a manual start automatically, for example, in case of file backup/restoring, etc. In NaviPac versions 3.8.3 and onwards, manual start can also be performed from the Manual button in the main window.

10.2 INI File Opens NAVIPAC.INI in Notepad. Please note that all editing must be done with absolute care.

10.3 Dongle exception Dongle exception allows you to prompt for software backdoor.

Figure 40 Requesting software backdoor Contact EIVA (preferably by email) with the PC code and let us know the reason for requesting backdoor access. Please note that there is an administrative fee related to this service.

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10.4 Dongle list Selecting Dongle list will display all information about the dongle configuration:

Figure 41 Listing dongle (license) details

10.5 Administrator If you have administrator rights, you can reduce user access to certain tasks. Please see the Help file ‘NPConfig – Administrative Set-up’, which can be accessed by pressing F1 when the administrator dialogue box is open, for further details.

Figure 42 Administrator access

10.6 Simulate All Simulate All is for testing purposes only. This changes all input drivers to be simulated, and outputs are set to UDP/IP.


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