Integration between NaviPac and CDL MiniPOS

Transcription

1 Integration between NaviPac and CDL MiniPOS The program The program is named NPCDLAiding.exe and found at \eiva\navipac\bin. It has to be started manually as part of the NaviPac online system, and we recommend that to put it in as a warmstart module in NaviPac Configuration: NPCDLAIDING.DOCX Page 1

2 The program acts as a gateway between the CDL system and NaviPac: The program reads position data from NaviPac (guild in TCP/IP protocol) and translates it into the pseudo ASCII messages and passes it on to the CDL world using serial port. It reads data from CDL and translates this into a NMEA GGA string and output it on internal UDP/IP port for later use in NaviPac The window consists of 3 sections NPCDLAIDING.DOCX Page 2

3 I/O In this section you find definition of the input/output CDL IF Defines the serial port used for the communication. Can be edited by clicking on the COM See later Count Number of messages received from CDL and timestamp of last message NaviPac Defines the object that must be used in the position telegram to CDL. That is an object representing the raw USBL position (aiding). Can be selected by clicking the name. You may alternatively select to use a manual input position by pressing the Manual Pos button Enter the 4 values and accept by OK. If you want to revert to an online position just click the Manual Position text Count Number of messages received from NaviPac and timestamp of last message It must be checked that both counts are increasing and that the timestamp follows app each other NPCDLAIDING.DOCX Page 3

4 CDL This section shows the data received from CDL Raw string Number of bytes and the start/stop pattern shall be 100 and BDDB / DBBD Position The position shown as latitude, longitude, height and QC Status 3 dedicated CDL status flags (enabled / disabled) System mode The mode indicator from CDL HGRP Height, Gyro, Roll and Pitch from the unit GGA The resulting GGA message which can be used by NaviPac or other sensors CDL Control The 4 buttons allows you to control the CDL unit and the QC reference Enable/Disable DVL Use this button to toggle the DVL integration on and off. The change results in a message that is passed on to the MiniPos and handled accordantly Use GPS Time / Latency Use this button to configure the MiniPos to use GPS time sync (meaning that all data is related to UTC) or use data latency (NaviPac and CDL act individually when it comes to time) Reset Alignment Send a Reset Alignment command to the MiniPos and thus resetting their filter NPCDLAIDING.DOCX Page 4

5 Enter QC NaviPac calculates a position error estimate on the USBL and passes this on to the MiniPos. You may overrule this and enter a fixed estimate Position Valid Here you may overrule NaviPac s position valid flag and force the position output to be invalid (flagged in CDL telegram) Depth Valid Here you may overrule NaviPac s depth valid flag and force the position output to be invalid (flagged in CDL telegram) Salinity Valid NOT SUPPORTED NaviPac This section shows the data received from NaviPac Position The position shown as latitude, longitude, height and QC CDL string The raw data output string before bitmapping ( ASCII to binary) Setting it up The communication must be defined prior to using the module. This can be done by clicking on the COM.. field in the dialogue: It opens NotePad with the definition file \eiva\navipac\setup\npcdlaid.ini NPCDLAIDING.DOCX Page 5

6 [IN] Port=1 Baudrate=9600 Databits=8 Stopbits=1 Parity=0 Object=26 Vessel=CSEM-Fish UseAbsTime=0 [OUT] Port=11111 [Port2] Adr= The first part (port Parity) identifies the serial port that is used for the communication The object number and name is defined by the program when selecting the object The UseAbsTime tells if NaviPac must use the timestamp in the CDL input (1) or not (0). If yes then both NaviPac and CDL has to be synchronized with the same time source Port OUT defines the UDP/IP port number used for sending data to NaviPac Ade defines the TCP/IP address to be used in the data output Please note that the program must be restarted before this is taken into account You must also define which object position you must deliver to the CDL system. Just click at the object name and select new object in the pop up list: You may alternatively select to use a manual input position by pressing the Manual Pos button NPCDLAIDING.DOCX Page 6

7 Enter the 4 values and accept by OK. If you want to revert to an online position just click the Manual Position text Use in NaviPac The data transfer from NaviPac to the module (and on to CDL) is selected automatically as soon you have selected the object in the module (and made sure that it s active in NaviPac) i.e. you do not need to set-up anything special inside NaviPac If you want to use the filtered position from CDL in NaviPac then you need to specify this as a remote GPS position NPCDLAIDING.DOCX Page 7

8 The data will be read on UDP/IP input on the selected port. NPCDLAIDING.DOCX Page 8

9 And the position will be assigned to the selected object: NPCDLAIDING.DOCX Page 9