PHINS

User Guide

General Introduction

Overview of PHINS User Guide

 PHINS –General Introduction

This document is the User Guide for iXSea’s PHINS (PHotonic Inertial Navigation
System).
The PHINS User Guide is divided into seven parts:
• Part 1: Introduction
This document contains a general description of PHINS and the related technology.
Details on export regulations, warranty, iXSea contacts and technical support are given.
• Part 2: Definitions, Conventions & Specifications
This document details the definitions and conventions used in PHINS for data input and
output. It also provides information on specifications and interfaces.
• Part 3: Installation
This document gives the procedure to install the PHINS system onboard, to assess the
geometrical configuration parameters of PHINS and external sensors, and to plan all
connections to external sensors and systems.
• Part 4: configuration and Operation (with iXRepeater)
This document gives the procedure for Setting to Work PHINS and the full description of
PHINS Operation using iXRepeater Software. It describes how to configure PHINS and
external sensors with all required parameters before operating the system. It also provides
a description of PHINS status and error messages.
• Part 5: Library Interface
This document is the protocol library documentation for PHINS. It contains the description
of PHINS Built-In Test Equipment together with the list and description of all available
PHINS protocols.
• Part 6: Ethernet Set-up Guide
This document is the PHINS Ethernet Set-up Guide. It describes how to set-up the
Ethernet connection
o when PHINS is directly connected to a pc/laptop
o when PHINS belongs to an Ethernet network
• Part 7: Advanced Configuration
This document provides the list of PHINS commands that can be sent to PHINS for
configuration or checks. Such commands may be used when communication through the
PHINS iXRepeater software is not possible.

A general Table of Contents and a general Index are available in the following pages to
allow a quick access to dedicated information.

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 PHINS –General Introduction

General table of Contents

GENERAL INTRODUCTION........................................................................................................................1
I PART 1: INTRODUCTION ...................................................................................................................1
I.1 Object ..................................................................................................................................... I-1
I.2 Terminology .......................................................................................................................... I-1
I.3 PHINS System Presentation ................................................................................................ I-2
I.4 PHINS Technology................................................................................................................ I-2
I.4.1 Introduction ........................................................................................................................ I-2
I.4.2 System Design................................................................................................................... I-3
I.4.3 Inertial measurement unit .................................................................................................. I-5
I.4.3.1 Fiber Optic Gyroscopes (FOGs) I-5
I.4.4 PHINS Navigation System................................................................................................. I-6
I.4.4.1 Initial Alignment I-6
I.4.4.2 Pure Inertial Navigation System I-6
I.4.4.3 Propagation of Errors in Pure Inertial Mode I-7
I.4.4.4 Kalman Filter I-8
I.4.4.5 Robust Observation and Checking of External Data I-10
I.4.5 System Performances and Tests Results ....................................................................... I-11
I.4.6 Conclusion on PHINS Technology .................................................................................. I-13

I.5 Certification ......................................................................................................................... I-14

I.6 Export Regulation ............................................................................................................... I-14
I.7 Warranty............................................................................................................................... I-15
I.8 Customer Support .............................................................................................................. I-16
I.9 Contact................................................................................................................................. I-17
II PART 2 : DEFINITIONS, CONVENTIONS & SPECIFICATIONS ................................................................1
II.1 Object .................................................................................................................................... II-3
II.2 Terminology ......................................................................................................................... II-3
II.3 Geometrical Conventions ................................................................................................... II-4
II.3.1 Definition of Reference Frames ........................................................................................ II-4
II.3.1.1 PHINS reference frame definition II-4
II.3.1.2 Vessel reference frame II-5
II.3.1.3 Navigation frame II-5
II.3.2 Rotational Transformation between Frames .................................................................... II-6
II.3.3 PHINS Misalignment: from PHINS to Vessel’s Reference Frame.................................... II-8
II.3.3.1 PHINS to Vessel Rough Misalignment (or PHINS Axes Inversion) II-8
II.3.3.2 PHINS to Vessel Fine Misalignment II-9
II.3.4 Log sensor to PHINS Misalignment................................................................................ II-12
II.3.5 Lever Arms: Definition and Conventions ........................................................................ II-12
II.3.6 Accounting for Misalignments and Lever Arms .............................................................. II-13
II.3.7 Definitions and Conventions for Navigation Data ........................................................... II-14
II.3.8 Conventions for Position Data ........................................................................................ II-14

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II.3.8.1 Latitude, Longitude and Altitude II-14

II.3.8.2 The UTM Coordinate System II-14
II.3.9 Convention for Speeds ................................................................................................... II-15
II.3.10 Conventions for Attitude and Heading ............................................................................ II-15
II.3.10.1 Definition of Roll Angle II-16
II.3.10.2 Definition of Pitch Angle II-16
II.3.10.3 Definition of Heading II-17
II.3.10.4 Vectorial Transformation between Local Geographic Frame and Vessel II-18
II.3.11 Convention for Rotation Rates and Accelerations.......................................................... II-19
II.3.12 Conventions for Heave, Surge and Sway....................................................................... II-19
II.3.13 Description of the Heave Filter (Safe heave filter).......................................................... II-19

II.4 Definition & Conventions for Standard Deviation Data ................................................. II-20
II.5 Conventions for External Sensor Data ............................................................................ II-20
II.6 Time Stamping Specifications.......................................................................................... II-20
II.7 Mechanical Specifications ................................................................................................ II-22
II.7.1 PHINS General Mechanical Specifications..................................................................... II-22
II.7.2 PHINS Interface Plate..................................................................................................... II-22
II.7.3 PHINS Mechanical Alignment......................................................................................... II-24
II.7.4 PHINS Center of Measurements .................................................................................... II-24

II.8 PHINS Electrical Interface Specifications ....................................................................... II-26

II.8.1 Overview of PHINS Electrical Interface .......................................................................... II-26
II.8.2 Listing of Interfaces......................................................................................................... II-26
II.8.3 Power Supply Connector Specifications......................................................................... II-26
II.8.4 Ethernet Connector Specifications ................................................................................. II-27
II.8.5 Installation and Repeater Connector Specifications....................................................... II-28
II.8.6 Digital Input/Output Connector Specifications ................................................................ II-29
II.8.6.1 General Digital Connector Diagram II-29
II.8.6.2 Digital Connector Specifications II-30
II.8.7 PHINS Recommended Wirings ...................................................................................... II-33
II.8.8 Specifications for Communication between PHINS & PC .............................................. II-36

II.9 List of Data provided by PHINS ........................................................................................ II-37

III PART 3 : INSTALLATION .................................................................................................................. 1
III.1 Object ................................................................................................................................... III-1
III.2 Terminology......................................................................................................................... III-1
III.3 Verification of PHINS pack contents................................................................................. III-2
III.4 Overview of the installation procedure ............................................................................ III-2
III.5 PHINS Mechanical Mounting Onboard ............................................................................. III-3
III.5.1 Location Requirements for PHINS................................................................................... III-3
III.5.2 Minimum Safe Distance ................................................................................................... III-3
III.5.3 Fixing the PHINS Unit Onboard....................................................................................... III-4

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III.6 Cable Connections ............................................................................................................. III-5

III.6.1 Determination of External Sensors Connections............................................................. III-5
III.6.1.1 Input Stream III-5
III.6.1.2 Pulse Inputs III-6
III.6.2 Determination of Connections to Vessel’s Instruments and Displays ............................. III-6

III.7 Determination of the Geometric Parameters (Misalignment – Lever Arms)................. III-7

III.7.1 Phins / Vessel Misalignment............................................................................................ III-7
III.7.1.1 Rough Misalignment III-7
III.7.1.2 Fine Misalignment III-9
III.7.2 Determination of Lever Arms ......................................................................................... III-14
III.7.2.1 Main Monitoring Point III-14
III.7.2.2 Secondary Lever Arms III-15
III.7.2.3 External Sensors Lever Arms III-16
III.8 Quick guide to PHINS Installation................................................................................... III-19
III.8.1 Electrical Interfacing with External Sensors .................................................................. III-19
III.8.2 Electrical Interfacing with Instruments and Displays ..................................................... III-20
III.8.3 PHINS / Vessel Misalignment - Rough Misalignment.................................................... III-21
III.8.4 PHINS / Vessel Misalignment - Fine Misalignment ...................................................... III-21
III.8.5 Lever Arm – Primary and Secondary Monitoring Points ............................................... III-21
III.8.6 Lever Arms – External Sensors ..................................................................................... III-22

IV PART 4 : CONFIGURATION AND OPERATION (IXREPEATER SOFTWARE 7.7).......................................1

IV.1 Object ...................................................................................................................................IV-1
IV.2 Terminology ........................................................................................................................IV-1
IV.3 General Overview................................................................................................................IV-2
IV.3.1 Prerequisites ....................................................................................................................IV-2
IV.3.2 Overview of the Configuration Steps ...............................................................................IV-2
IV.3.3 Overview of the Operational Part.....................................................................................IV-4

IV.4 iXRepeater Software ...........................................................................................................IV-5

IV.4.1 Installing the iXRepeater Software ..................................................................................IV-5
IV.4.2 Connecting PHINS to a PC and Launching iXRepeater Software ..................................IV-6
IV.4.3 General Overview ............................................................................................................IV-8
IV.4.3.1 IXRepeater Main Window IV-8
IV.4.3.2 Tool tips IV-11
IV.4.3.3 Modifying the Hardware Acceleration IV-11
IV.4.3.4 Handling 3-D compass Rose IV-14
IV.4.3.5 Selecting IMO Compass Rose IV-15
IV.4.3.6 Handling Time Graph Control IV-16
IV.4.4 General Rules for Using Control Windows of iXRepeater Software..............................IV-17
IV.4.5 Configuring the Boot Settings ........................................................................................IV-18

IV.5 Defining the Installation Parameters ..............................................................................IV-19

IV.5.1 Configuring PHINS Geometric Parameters ...................................................................IV-19
IV.5.1.1 PHINS / Vessel Misalignment IV-19

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IV.5.1.2 PHINS Lever Arms IV-22

IV.5.2 Configuring the PHINS Inputs (External sensors) .........................................................IV-24
IV.5.2.1 Configuring the Serial/Ethernet Input Data Stream IV-24
IV.5.2.2 Configuring the Pulse Inputs IV-27
IV.5.3 Entering the Lever Arms of the External sensors .........................................................IV-28
IV.5.3.1 General Description of External Sensor Configuration IV-28
IV.5.3.2 Entering the Lever Arms of the GPS IV-28
IV.5.3.3 Entering the Lever Arms of the GPS 2 IV-30
IV.5.3.4 Entering the Lever Arms of the Manual GPS IV-31
IV.5.3.5 Entering the Lever Arms of the Log EM IV-32
IV.5.3.6 Entering Lever Arms, Offsets and misalignments of the DVL IV-33
IV.5.3.7 Entering the Lever Arms of the Depth Sensor IV-36
IV.5.3.8 Entering the Lever Arms of the USBL IV-37
IV.5.3.9 Entering the Lever Arms of the LBL IV-38
IV.5.4 Configuring the PHINS Outputs.....................................................................................IV-39
IV.5.4.1 Configuring the Serial/Ethernet Output Data Stream IV-39
IV.5.4.2 Configuring the Pulse Outputs IV-43
IV.6 Defining the Mission Parameters ....................................................................................IV-44
IV.6.1 Entering the Initial Position ............................................................................................IV-44
IV.6.1.1 Manual Input of Initial Position IV-44
IV.6.1.2 GPS Input of Initial Position IV-47
IV.6.2 Updating the Position (Manual GPS).............................................................................IV-48
IV.6.3 Defining the Rejection Filter and Interface for the External Sensors............................IV-49
IV.6.3.1 Description of Rejection Filter Mode of External Sensors IV-49
IV.6.3.2 Selecting the Interface and Rejection Filter Mode of the GPS IV-50
IV.6.3.3 Selecting the Interface and Rejection Filter Mode of the GPS2 IV-51
IV.6.3.4 Selecting the Interface and Rejection Filter Mode of the Log EM IV-52
IV.6.3.5 Selecting the Interface and Rejection Filter Mode of the DVL IV-53
IV.6.3.6 Water Sound Velocity Compensation IV-54
IV.6.3.7 Water Track Mode IV-55
IV.6.3.8 Selecting the Interface and Rejection Filter Mode of the Depth Sensor IV-56
IV.6.3.9 Selecting the Interface and Rejection Filter Mode of the USBL IV-57
IV.6.3.10 Selecting the Interface and Rejection Filter Mode of the LBL IV-58
IV.6.4 Configuring the PHINS Computing Mode ......................................................................IV-59
IV.6.4.1 Starting Mode IV-59
IV.6.4.2 Altitude Calculation Mode IV-59
IV.6.4.3 Zero Velocity Update (ZUPT) Mode IV-60
IV.6.4.4 Setting PHINS Computing Mode IV-61
IV.6.5 Configuring a Time Synchronization System (UTC Config) .........................................IV-63

IV.7 Operating PHINS ...............................................................................................................IV-65

IV.7.1 Introduction ....................................................................................................................IV-65
IV.7.2 Using PHINS as a Standalone IMO Gyrocompass .......................................................IV-65
IV.7.2.1 Installation Pre-requisites IV-65
IV.7.2.2 Launching the IMO Gyrocompass IV-65
IV.7.3 Description of the Navigation Sequence........................................................................IV-66
IV.7.3.1 PHINS Start IV-67
IV.7.3.2 PHINS Alignment IV-68

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IV.7.3.3 Navigation IV-72

IV.7.4 Monitoring navigation with iXRepeater Software...........................................................IV-75
IV.7.4.1 Navigation Data IV-76
IV.7.4.2 Status IV-77
IV.7.4.3 External Sensor Data IV-78
IV.7.4.4 Checking for Reception of Data from External Sensors IV-80
IV.7.4.5 Manual Reacquisition of External Sensors IV-82
IV.7.5 Recording Navigation Data............................................................................................IV-83
IV.7.6 Recording for Replay purpose .......................................................................................IV-85
IV.7.7 Modifying PHINS Configuration with iXRepeater Software ...........................................IV-86
IV.7.7.1 Manual Input of Position IV-87
IV.7.7.2 Parameterization of the Water Track Mode IV-87
IV.7.7.3 Changing PHINS Computing Mode IV-88
IV.7.7.4 Changing Rejection Filter for External Sensors IV-88
IV.7.7.5 Soft Restart IV-88
IV.7.8 Saving/Reloading PHINS Configuration File .................................................................IV-89
IV.7.9 Getting Information about PHINS System and Software version ..................................IV-92
IV.7.10 Blocking/Unblocking PHINS Configuration Modifications..............................................IV-93
IV.7.11 Examples of PHINS Alignment procedures...................................................................IV-95
IV.7.11.1 Moving Base Alignment with GPS IV-95
IV.7.11.2 Static Alignment IV-96
IV.7.11.3 Checking for the Quality of the Alignment IV-97
IV.7.12 Automatic Alignment of Log Sensor ..............................................................................IV-97
IV.7.12.1 General Overview of the Procedure IV-97
IV.7.12.2 Requirements for Log Sensor Calibration with a GPS IV-98
IV.7.12.3 Procedure for Log Sensor Calibration with a GPS IV-98
IV.7.12.4 Requirements for Log Sensor Calibration with a ROV (no GPS) IV-100
IV.7.12.5 Procedure for Log Sensor Calibration with ROV (NO GPS) IV-100
IV.8 Status Provided by iXRepeater Software .....................................................................IV-102
IV.9 Performances ..................................................................................................................IV-106
V PART 5 : LIBRARY INTERFACE ..........................................................................................................1
V.1 Object ....................................................................................................................................V-1
V.2 Terminology .........................................................................................................................V-1
V.3 Introduction ..........................................................................................................................V-2
V.3.1 Conventions ......................................................................................................................V-2
V.3.2 Firmware restrictions ........................................................................................................V-2

V.4 Digital Interfaces ..................................................................................................................V-3

V.4.1 General Overview .............................................................................................................V-3
V.4.2 Status description .............................................................................................................V-3
V.4.2.1 $PIXSE,STATUS: System Status V-3
V.4.2.2 $PIXSE,ALGSTS: Algorithm Status V-4
V.4.2.3 Sensor Status V-4
V.4.2.4 $PIXSE, HT_STS: User Status V-5
V.4.2.5 Detailed STATUS tables V-6
V.4.3 NMEA Checksum............................................................................................................V-11

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V.4.4 Digital Output protocols...................................................................................................V-12

V.4.4.1 Quick Guide to Output Protocols V-12
V.4.4.2 Detailed Specifications for Output Protocols V-13
V.4.5 Digital Input protocols .....................................................................................................V-84
V.4.5.1 Quick Guide to input protocols V-84
V.5 Pulse Output Interfaces...................................................................................................V-116
V.6 Pulse Input Interfaces......................................................................................................V-117
VI PART 6: ETHERNET SET-UP GUIDE .................................................................................................. 1
VI.1 Introduction .......................................................................................................................VI-11
VI.2 Document History .............................................................................................................VI-11
VI.3 Connecting PHINS directly to a PC/Laptop....................................................................VI-12
VI.3.1 Equipment required........................................................................................................VI-12
VI.3.2 Approach........................................................................................................................VI-12
VI.3.3 PHINS Default Configuration .........................................................................................VI-12
VI.3.4 Setting up the PC...........................................................................................................VI-13

VI.4 Inserting PHINS into an Ethernet Network .....................................................................VI-16

VI.4.1 Equipment required........................................................................................................VI-16
VI.4.2 Approach........................................................................................................................VI-16
VI.4.3 Choosing an IP address (if default configuration is not used) .......................................VI-17
VI.4.4 IP Address Options ........................................................................................................VI-17
VI.4.5 PHINS DHCP Option .....................................................................................................VI-18

VI.5 Setting up PHINS Data Connection.................................................................................VI-19

VI.5.1 Port Numbers.................................................................................................................VI-20
VI.5.2 Configuring a Port with the TCP Transports Modes ......................................................VI-20
VI.5.3 Configuring a Port with the UDP Transports Modes......................................................VI-20

VII PART 7: ADVANCED CONFIGURATION .............................................................................................. 1

VII.1 Object ................................................................................................................................VII-11
VII.2 Document History ............................................................................................................VII-11
VII.3 Terminology......................................................................................................................VII-11
VII.4 General Conventions .......................................................................................................VII-12
VII.4.1 Command Syntax .........................................................................................................VII-12
VII.4.2 How to Send and Receive Commands.........................................................................VII-12

VII.5 General System Configuration .......................................................................................VII-13

VII.5.1 Communication Mode ...................................................................................................VII-13
VII.5.1.1 User Mode VII-13
VII.5.2 Save to EEPROM .........................................................................................................VII-13
VII.5.3 Software System Reboot ..............................................................................................VII-13
VII.5.4 Initial Position................................................................................................................VII-13
VII.5.5 Manual UTM Position....................................................................................................VII-14

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VII.5.6 Heading, Roll and Pitch Biases ....................................................................................VII-14

VII.5.7 Axis Orientation.............................................................................................................VII-14
VII.5.8 Main Lever Arms...........................................................................................................VII-15
VII.5.9 Secondary A Lever Arms..............................................................................................VII-15
VII.5.10 Secondary B Lever Arms..............................................................................................VII-16
VII.5.11 Secondary C Lever Arms..............................................................................................VII-16
VII.5.12 Zero Velocity Update ....................................................................................................VII-16
VII.5.13 Turn On/Off DVL Calibration Mode...............................................................................VII-17
VII.5.14 Starting Mode Configuration .........................................................................................VII-17
VII.5.15 Altitude Calculation Mode .............................................................................................VII-18
VII.5.16 Static Convergence Selection.......................................................................................VII-18
VII.5.17 Go to Navigation ...........................................................................................................VII-18

VII.6 External Sensors Configuration.....................................................................................VII-19

VII.6.1 DVL Configuration.........................................................................................................VII-19
VII.6.1.1 Lever Arm VII-19
VII.6.1.2 DVL Calibration (Misalignments and Scale Factor) VII-19
VII.6.1.3 DVL Interface VII-19
VII.6.1.4 Sound Velocity Compensation VII-20
VII.6.1.5 Rejection Filter Configuration for Bottom Track VII-20
VII.6.1.6 Rejection Filter Configuration for Water Track VII-20
VII.6.1.7 Water Track Configuration VII-21
VII.6.2 EM Log Configuration ...................................................................................................VII-21
VII.6.2.1 EM Log Lever Arm VII-21
VII.6.2.2 EM Log Interface VII-21
VII.6.2.3 EM Log Rejection Filter VII-22
VII.6.3 GPS Configuration........................................................................................................VII-22
VII.6.3.1 GPS Lever Arm VII-22
VII.6.3.2 GPS Interface VII-22
VII.6.3.3 GPS Rejection Filter VII-23
VII.6.4 GPS2 Configuration......................................................................................................VII-23
VII.6.4.1 GPS2 Lever Arm VII-23
VII.6.4.2 GPS2 Interface VII-23
VII.6.4.3 GPS2 Rejection Filter VII-24
VII.6.5 Depth Sensor Configuration .........................................................................................VII-24
VII.6.5.1 Depth Sensor Lever Arm VII-24
VII.6.5.2 Depth Sensor Interface VII-24
VII.6.5.3 Rejection Filter Mode for Depth Sensor VII-25
VII.6.6 USBL Configuration ......................................................................................................VII-25
VII.6.6.1 USBL Lever Arm VII-25
VII.6.6.2 USBL Interface VII-25
VII.6.6.3 USBL Rejection Filter Mode VII-26
VII.6.6.4 USBL Beacon Selection VII-26
VII.6.6.5 Maximum Number of USBL Beacons VII-26
VII.6.7 LBL Configuration .........................................................................................................VII-26

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VII.6.7.1 LBL Lever Arm VII-26

VII.6.7.2 LBL Interface VII-27
VII.6.7.3 LBL Rejection Filter VII-27
VII.6.7.4 UTC (Time Synchronization) Interface VII-27
VII.7 Interfaces Configuration .................................................................................................VII-28
VII.7.1 Serial and Ethernet Commands....................................................................................VII-28
VII.7.1.1 Serial I/O General Parameters (Parity and Stop Bit) VII-28
VII.7.1.2 Serial/Ethernet Input VII-28
VII.7.1.3 Serial/Ethernet Output VII-30
VII.7.1.4 Output Device Selection VII-31
VII.7.1.5 Input Device Selection VII-31
VII.7.1.6 Port Forwarding Command VII-31
VII.7.2 Ethernet Configuration ..................................................................................................VII-32
VII.7.2.1 Network Setup Command VII-32
VII.7.2.2 IP Output Configuration VII-32
VII.7.2.3 IP Input Configuration VII-32
VII.7.3 Pulses Interfaces ..........................................................................................................VII-33
VII.7.3.1 Pulses Input VII-33
VII.7.3.2 Pulses Output VII-33
VII.8 Dynamic String Retrieve Commands.............................................................................VII-34
VII.8.1.1 Generic Text Retrieve Command VII-34
VII.8.1.2 PHINS Generation III Specific Text Retrieve Command VII-35
VII.9 Using Commands for Log Sensor Calibration..............................................................VII-37
VII.9.1 Pre-Requisites ..............................................................................................................VII-37
VII.9.2 Detailed procedure........................................................................................................VII-38

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General Index
AIRINS Water Sound Velocity Compensation, IV-54
Performances, IV-106 Water Track Mode, IV-55
CONTACT, I-17 Data Display with iXRepeater Software, IV-
CUSTOMER SUPPORT, I-16 78
ELECTRICAL INTERFACE Navigation in Water Track Mode, IV-73, IV-
Configuration with iXRepeater Software, IV-24, 87
IV-39 Navigation With Log Sensor, IV-72
List of Electrical Interfaces, II-26 Rejection Filter Modes
Synchronisation Active Automatic Reacquisition
Sending a pulse Output synchronized with Checking Status, IV-81
Serial Output, V-116 Active Manual Reacquisition
EXPORT REGULATION, I-14 Checking Status, IV-81
External Sensors Manual Reacquisition Of Sensor, IV-82
Connection to PHINS, III-5, III-19 Always False
Data Description, IV-49
Checking Reception of Data with iXRepeater Always True
Software, IV-80 Description, IV-49
Conventions, II-20, II-39 Modification during PHINS Operation, IV-88
Data Display with iXRepeater Software, IV- Not Active Always False
78 Checking Status, IV-81
Depth Sensor data, IV-79 Not Active Always True
GPS data, IV-78 Checking Status, IV-81
LBL data, IV-79 USBL
Log Sensor data, IV-78 Configuration, IV-37
USBL data, IV-79 Data Display with iXRepeater Software, IV-
Depth Sensor 79
Configuration, IV-36 Navigation With USBL, IV-73
Data Display with iXRepeater Software, IV- External Systems
79 Connection to PHINS, III-6
Navigation With Depth Sensor, IV-74 Connection to PHINS, III-20
DVL Geometrical Configuration
Configuration, IV-33 External Sensors
Lever Arms, IV-33 Lever arms
GPS1 Definition, II-12
Data Display with iXRepeater Software, IV- Measurement, III-16
78 PHINS
Navigation With GPS, IV-72 PHINS Lever arms
GPS2 Configuring, IV-22
Configuration, IV-30, IV-31 Definition, II-12
Data Display with iXRepeater Software, IV- Measurement, III-14, III-15
78 PHINS Misalignment
Navigation With GPS, IV-72 Configuring, IV-19
LBL Definition, II-8
Configuration, IV-38 Measurement, III-7
Data Display with iXRepeater Software, IV- Geometrical Conventions
79 Lever Arms Definition, II-12
Navigation With LBL, IV-73 Log Sensor misalignment, II-12
Log Sensor Misalignment from PHINS to Vessel, II-8
Automatic Alignment of Log Sensor, IV-97, Navigation Data, II-14
VII-37 Navigation Frame, II-5
Configuration, IV-32 PHINS Reference Frame, II-4
Rejection Filter Mode, IV-53 Rotational Transformation between frames, II-6

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Vessel Reference Frame, II-5 Boot Settings, IV-18

GPS Electrical Interface, IV-24
Configuration, IV-28 PHINS Configuration File, IV-89
Rejection Filter Modes PHINS Re-Start without Powering-Off, IV-88
Automatic Reacquisition PHINS System Information, IV-92
Description, IV-49 Rejection filter Modes
iXRepeater Software Description
AIRINS Data Display, IV-9 Always False, IV-49
Compass, IV-10, IV-14, IV-15 Always True, IV-49
Configuring PHINS Automatic Reacquisition, IV-49
Blocking PHINS Modification during System Configuration, IV-9
Operation, IV-93 System Status, IV-10
PHINS Computing Mode Time Graph display, IV-16
Altitude Calculation Mode, IV-59 Tool bar, IV-9
How To Proceed, IV-61 Navigation Data
Modification during Operation, IV-88 Data Display with PHINS Software, IV-76
Starting Mode, IV-59
Data Record with iXRepeater Software, IV-83
Zero Velocity Update Mode, IV-60
Definition
PHINS Configuration File, IV-89
External Sensor Data, II-20
PHINS Electrical Interfaces, IV-24, IV-39
General List, II-37
Pulse Inputs, IV-27, IV-43
Heading, II-17
PHINS Lever Arms, IV-22
Heave, Surge & Sway, II-19
PHINS Misalignment, IV-19
Pitch, II-16
Time Synchronization, IV-63
Position, II-14
Unblocking PHINS Modification during
Operation, IV-94 Roll, II-16
Data Display Rotation Rates, II-19
Checking Reception of Data from External Speeds, II-15
Sensor, IV-80 Standard Deviation, II-20
Depth Sensor Data, IV-79 Time, II-20
LBL Data, IV-79 OCTANS DATA
Log Sensor Data, IV-78 Interface OUTPUT Protocols Description
Navigation Data, IV-76 Pulse, V-116
USBL Data, IV-79 Operating AIRINS
Data Record, IV-83 Navigation Sequence
Description of Main Window, IV-8 Alignment
Coarse Alignment, IV-68
External Sensors Configuration
Depth Sensor, IV-36 Description, IV-66
DVL, IV-33 Navigation
Pure Inertial Mode, IV-74
GPS2, IV-30, IV-31
PHINS Re-Start without Powering-Off, IV-88
LBL, IV-38
Operating PHINS
Log Sensor, IV-32
Blocking PHINS Modification during Operation,
Rejection Filter Mode, IV-53
IV-93
Serial Interface, IV-53
Checking PHINS Status, IV-77, IV-102
Water Sound Velocity Compensation, IV-54
Water Track Mode, IV-55
Manual Input of Position, IV-87
USBL, IV-37 Manual Reacquisition of External Sensor, IV-82
General Rules for Control Windows, IV-17 Modifying PHINS Computing Mode during
Operation, IV-88
Input of Initial Position
Modifying Rejection Filter Modes of External
Manual, IV-44, IV-87
Sensors during Operation, IV-88
Installation on a PC, IV-5
Navigation Sequence
OCTANS Configuration
Alignment, IV-68
Electrical Interface, IV-39 Checking Quality of Alignment, IV-97
PHINS Configuration Examples, IV-95

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 PHINS –General Introduction

Fine Alignment RDI WH 300 PD6, V-106

At Sea, IV-70 SVP 70, V-109
With PHINS Static, IV-71 USBL, V-110
Automatic Alignment of Log Sensor, IV-97, USBL LBL CTD, V-114
VII-37 Binary Format
Navigation, IV-72 External Sensor BIN, V-88
Navigation in Water Track Mode, IV-73, IV-87 IXSEA USBL INS1, V-112
Navigation With Depth Sensor, IV-74 Posidonia, V-104
Navigation With GPS, IV-72 RDI WH 300 PD4, V-105
Navigation With LBL, IV-73 SeaKing II, V-85
Navigation With Log Sensor, IV-72 SOC Autosun In, V-108
Navigation With USBL, IV-73 Digital output protocols, V-13
PHINS Start, IV-67 ASCII format
Unblocking PHINS Modification during GPS like, V-27
Operation, IV-94 Gyrocompass, V-30
PHINS Gyrocompass 2, V-31
Electrical Specifications, II-26 Halliburton SAS, V-32
Communication with PC, II-36 HYDROGRAPHY, V-36
Digital Connector, II-29 IMU ASCII, V-37
PHINS 3 I/Os, II-30 INDYN, V-39
Ethernet Connector, II-27 NAV BHO, V-41
NAV BHO LONG, V-44
Installation and Repeater Connector, II-28
Navigation, V-48
Power Supply, II-26
NMEA HEHDT, V-53
Kalman Filter, I-8 NMEA HEHDT FIXED, V-54
Mechanical Specifications, II-22 Octans Standard, V-55
Interface Plate, II-22 PHINS Standard, V-57
Mechanical Alignment, II-24 Posidonia 6000, V-65
PHINS Center of Measurement, II-24 PRDID, V-66
Onboard Installation, III-3 PRDID TSS, V-67
Connection of External Sensors, III-5 Techsas, V-76
Connection of External Systems, III-6 Techsas TSS, V-77
External Sensors LVA, III-16 VTG-GGA, V-82
PHINS Lever Arms, III-14, III-15 Binary format
Binary Nav, V-14
PHINS to Vessel Misalignment, III-7
BUC, V-17
Performances, I-11
CONTROL, V-18
Technology, I-2 DCN STD NAV1, V-19
PHINS Software DCN STD NAV10, V-22
Communication with PC, II-36 Dorado, V-24
Data Display EMT SDV GCS, V-25
PHINS Status, IV-77 extsensorbin out, V-26
PHINS Status HDMS, V-35
Status Description, IV-102, V-3 IMU Binary, V-38
Status Display with PHINS Software, IV-77 Navigation & CTD, V-49
Protocols Navigation Long, V-50
Digital input protocols, V-84 Navigation SHORT, V-52
Odometre, V-102
ASCII Format
SeaPath, V-68
GPS, V-89
Sensor RD, V-70
Halliburton SAS, V-91
Simrad EM, V-72, V-74
INDYN Speed Sensor, V-94
Simrad EM heave II, V-73
LBL Apos, V-95
SOC Autosub, V-75
loch vbw, V-98
TMS CCV Imbat, V-78
lochem vbw, V-99
TSS1 DMS, V-80
lochem vhw, V-100
TSS335B, V-81
Micro SVP&T, V-101
Paroscientific, V-103 Broadcast from X, V-16

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NMEA Checksum, V-11
Pulse input Protocols, V-116, V-117
PPS Falling Edge + ZDA, V-119
PPS Rising Edge+ ZDA, V-119
Reset System, V-121
SerOut X Synchro, V-118
User Status Bit, V-121
PHINS –General Introduction
ZDA + PPS Falling Edge, V-120
ZDA + PPS Rising Edge, V-120
Time Synchronization
Configuring, IV-63
Definition, II-20
WARRANTY, I-15
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