Janus UM-8254-B1

UM-8254
Janus – Acoustically
Aided INS QC and Post
Processing Tool
Issue B Rev 1
Date of Issue: 15 April 2013
Head Office
Sonardyne International Limited T. +44 (0) 1252 872288
Blackbushe Business Park F. +44 (0) 1252 876100
Yateley, Hampshire E. support@sonardyne.com
GU46 6GD United Kingdom W. www.sonardyne.com
920-0083
Janus – Acoustically Aided INS QC and Post UM-8254
Processing Tool Issue B Rev 1
Copyright  2013 Sonardyne International Limited.

Sonardyne Wideband ® and 6 Generation® are registered trademarks.
All rights reserved. No part of this document shall be reproduced, stored in a retrieval system or
transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise, or
translated into any language without the written permission of Sonardyne International Limited.
15 April 2013 i
CONTACTING THE SONARDYNE SUPPORT TEAM

24-hour Emergency Telephone Helpline: +44 (0) 1252 877600
The Sonardyne 24-hour helpline is answered at the UK Headquarters during normal office hours
(08:00 to 17:00 GMT). Outside these hours, your call is automatically transferred to an agency,
which logs the details of your emergency and alerts the appropriate Sonardyne personnel.
Our aim is to make sure emergency requests are dealt with immediately during office hours, and
are responded to within 30 minutes at all other times.
Please note the helpline is for emergency use only.
If you require NON-EMERGENCY product support, please contact your nearest Sonardyne office.
Alternatively, contact the Sonardyne Head Office:
Blackbushe Business Park
Yateley
Hampshire
GU46 6GD
England
Telephone: +44 (0) 1252 872288
Fax: +44 (0) 1252 876100
Email: support@sonardyne.com
NOTE
Email and telephone support is available during normal office hours (08:00 to 17:00 UK).
15 April 2013 ii
CONTENTS
Contacting the Sonardyne Support Team ................................................................................... ii
Contents ....................................................................................................................................... iii
Figures.......................................................................................................................................... iv
Tables ............................................................................................................................................ v
Amendment History ..................................................................................................................... vi
SECTION 1 – Introduction ............................................................................................................ 1
1. Introduction ............................................................................................................................ 1
1.1 Related Publications ..................................................................................................... 1
SECTION 2 – Safety ...................................................................................................................... 2
2. Introduction ............................................................................................................................ 2
SECTION 3 – Technical Description ............................................................................................ 3
3. Introduction ............................................................................................................................ 3
3.1 Time Base Conventions ................................................................................................ 3
3.1.1 INS System Time ..................................................................................................... 3
3.1.2 Universal Time Co-ordinated (UTC) ......................................................................... 3
SECTION 4 – Installation .............................................................................................................. 4
4. Introduction ............................................................................................................................ 4
4.1 Installation Process....................................................................................................... 4
4.1.1 Installation of Janus ................................................................................................. 4
SECTION 5 – OPERATION ............................................................................................................ 9
5. Starting Janus and Importing Data ......................................................................................... 9
5.1 Operating Janus ........................................................................................................... 9
5.1.1 Import Logged Data ............................................................................................... 10
SECTION 6 – Key Functionality ................................................................................................. 13
6. Key Functionalities ............................................................................................................... 13
6.1 AINS ........................................................................................................................... 13
6.1.1 Auto Process .......................................................................................................... 13
6.1.2 Navigation .............................................................................................................. 14
6.1.3 Plotting ................................................................................................................... 18
6.2 Aiding Sensor ............................................................................................................. 22
6.2.1 Plot Data Availability .............................................................................................. 23
6.2.2 Transponder Database........................................................................................... 24
6.2.3 On / Off Control Table ............................................................................................ 24
6.3 Log Files / Import Data................................................................................................ 25
6.3.1 Outline Rejection & Manual Screening ................................................................... 25
6.3.2 Aiding Sensor Control ............................................................................................ 28
6.4 DVL Calibration........................................................................................................... 28
6.4.1 DVL Calibration Trajectory and Manoeuvres .......................................................... 28
6.4.2 Processing the Calibration Data from the ROV Manoeuvres .................................. 29
Glossary of Terms ...................................................................................................................... 31
15 April 2013 iii

FIGURES
Figure 4-1 – Setup icon ................................................................................................................... 4
Figure 4-2 – InstallShield Wizard window ........................................................................................ 4
Figure 4-3 – Janus Installation Progress Bar................................................................................... 5
Figure 4-4 – Janus Installation Computer Restart Notification ......................................................... 5
Figure 4-5 – Janus Installation Resuming ....................................................................................... 5
Figure 4-6 – Welcome to Sonardyne Janus Installation Screen ...................................................... 6
Figure 4-7 – Janus Installation License Agreement ......................................................................... 6
Figure 4-8 – Click Install to begin Installation .................................................................................. 7
Figure 4-9 – Installing Sonardyne Janus ......................................................................................... 7
Figure 4-10 – Installation Completed............................................................................................... 8
Figure 5-1 – Janus shortcut icon ..................................................................................................... 9
Figure 5-2 – Choose job/root directory ............................................................................................ 9
Figure 5-3 –Browse for Folder......................................................................................................... 9
Figure 5-4 – Job Directory window populated ............................................................................... 10
Figure 5-5 – Log Files / Import Data .............................................................................................. 10
Figure 5-6 – Select Log Files Window ........................................................................................... 11
Figure 5-7 – Select Log Files Window ........................................................................................... 11
Figure 5-8 – Imported data from log files ....................................................................................... 12
Figure 6-1 – AINS Auto Process ................................................................................................... 14
Figure 6-2 – Go Progress Information ........................................................................................... 14
Figure 6-3 – AINS Navigate Selection ........................................................................................... 15
Figure 6-4 – AINS Change Configuration ...................................................................................... 15
Figure 6-5 – Modified Configuration Parameters ........................................................................... 16
Figure 6-6 – Special / Advanced Parameters ................................................................................ 16
Figure 6-7 – Run RTS Smoother Option ....................................................................................... 17
Figure 6-8 – Run Navigation ......................................................................................................... 17
Figure 6-9 – Export Navigation...................................................................................................... 17
Figure 6-10 – Select Export Directory ........................................................................................... 18
Figure 6-11 – Plotting Navigation Selection................................................................................... 18
Figure 6-12 – Plotting Trajectory ................................................................................................... 19
Figure 6-13 – Examples of Trajectory (Position and North East) ................................................... 19
Figure 6-14 – Examples of Trajectory (Depth and Roll/Pitch/Heading) .......................................... 19
Figure 6-15 – Example of Trajectory (Velocity) ............................................................................. 19
Figure 6-16 – Plotting – Reference Drop Down Selection ............................................................. 20
Figure 6-17 – Plotting Reference – Raw Sensors.......................................................................... 20
Figure 6-18 – Plotting Reference – Post-Processed...................................................................... 20
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Figure 6-19 – Examples of KF States Gyro X, Y and Z bias .......................................................... 21

Figure 6-20 – Examples of KF States Accel X, Y and Z bias ......................................................... 21
Figure 6-21 – Example of KF States DVL Scale Factor Error ........................................................ 21
Figure 6-22 – Examples of KF States DVL Misalignments ............................................................ 22
Figure 6-23 – Example of Observation Used status ...................................................................... 22
Figure 6-24 – Plot data availability ................................................................................................ 23
Figure 6-25 – Sensor Data Availability .......................................................................................... 23
Figure 6-26 – Sensor Observations .............................................................................................. 24
Figure 6-27 – Transponder Use selection ..................................................................................... 24
Figure 6-28 – On / Off Control Table Options ................................................................................ 24
Figure 6-29 – Outlier Rejection and Manual Screening ................................................................. 25
Figure 6-30 – Edit Config .............................................................................................................. 26
Figure 6-31 – Plot Usage .............................................................................................................. 26
Figure 6-32 – Deselecting Individual Checks ................................................................................ 26
Figure 6-33 – Manual Screening ................................................................................................... 27
Figure 6-34 – Examples of Manual Screening Sensor Plots .......................................................... 27
Figure 6-35 – Calibrate DVL ......................................................................................................... 29
Figure 6-36 – Forward and Backward processing windows ........................................................... 29
Figure 6-37 – Figure 1 DVL Residuals Before and After Calibration .............................................. 30
Figure 6-38 – Figure 2 DVL Residuals Comp Plotted to X, Y and Z Axis ....................................... 30
TABLES
Table 1-1 – Related Publications .................................................................................................... 1
15 April 2013 v
AMENDMENT HISTORY
All amendments and additions will be issued with a new copy of this sheet, recording the history of
amendments.
Issue Revision Date Comments Section Page
A 1 13/05/2011 Initial Issue All All
A 2 06/07/2011 Installation Revised All All
Revised requirements, installation

A 3 11/08/2011 and some features. Added some All All
stand-alone specific notes.
A 4 25/10/2011 Major change from offshore use All All
A 5 11/11/2011 Updated installation procedure All All
Updated to MATLAB R201b.

A 6 01/12/2011 All All
Update general use + dongle
A 7 05/12/2011 Updated DVL calibration All All
A 8 12/12/2011 Minor updates All All

Complete reformatting of manual to
B 0 19/06/2012 All All
bring in line with new branding
Minor updates for Janus V1.0.2,
new Auto Process 6.1.1, Section 5:
B 1 15/04/2013 All All
Operation and section 4 import all
log files
15 April 2013 vi
SECTION 1 – INTRODUCTION
1. Introduction
This User Manual describes the safe installation, operation and data import of the JANUS software.
The information and procedures within this manual are based on Sonardyne’s experience and
knowledge.
To make sure the safety of the installer and operator is maintained, it is important that all Warnings,
Cautions and Safety section in this manual and any additional manual are read and understood.
1.1 Related Publications

To make sure the system is operated safely, a Safety Manual is supplied with this User Manual. It
is important the Safety Manual is read and understood before proceeding with any activity on the
equipment.
The related publications are:
Table 1-1 – Related Publications
Publication Title
Safety Manual Safety Manual
SECTION 1
15 April 2013 1
SECTION 2 – SAFETY
2. Introduction
Before any activity is carried out on this system, it is recommended that the included Safety Manual
and all Warnings and Cautions in this manual are read and understood.
It is recommended the operator complies with the Health and Safety Regulations applicable to the
vessel and the region before operating the equipment.
Operators and service personnel must be familiar with the normal operating and safety procedures
for Subsea Equipment.
Documentation must be consulted whenever the Warning Symbol is found on the equipment, in
order to determine the nature of the potential hazard and any actions which must be taken.
If the equipment is used in a manner not specified by the manufacturer, the protection provided by
the equipment may be impaired.
The safety of the system incorporating the equipment is the responsibility of the assembler of the
system.
SECTION 2
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SECTION 3– TECHNICAL DESCRIPTION

3. Introduction
Janus is an Acoustically Aided Inertial Navigation System (AAINS), Quality Control (QC) and Post
Processing (PP) tool.
Use Janus for typical operations such as:
• QC of real-time navigation
• DVL calibration
• Post-processing
3.1 Time Base Conventions

3.1.1 INS System Time
Janus makes use of the INS internal system time base [sys] for all navigation computations. All
times within Janus, including plots are [sys] unless otherwise specifically stated.
Key [sys] characteristics are:
• Continuously increasing from 0 at INS power up (or full system reset).
• 100% free from jumps, 1 µSec resolution/precision.
• Based entirely on INS high accuracy crystal oscillator with no corrections applied
(offset/scale).
3.1.2 Universal Time Co-ordinated (UTC)
The [sys] relation to UTC is tracked by the INS to support its use of UTC time tagged aiding sensor
data (e.g. GPS) and for the generation of UTC tagged navigation data outputs (e.g. $INGGA).
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SECTION 4– INSTALLATION
4. Introduction
The requirements for operating the Janus system are as follows:
• Recommended requirements: Windows 7 – 64 bit
• Minimum Operating requirements: Windows XP or later, 32 or 64 bit
• Recommended RAM requirements: +4GB
• Minimum RAM requirements: 2GB
4.1 Installation Process

4.1.1 Installation of Janus
For successful installation of the Janus software carry out the following procedure:
1. Insert the Janus INS Post-Processing software CD into the PC.
2. Refer to Figure 4-1. Double click on the setup.exe to start the installation.
Figure 4-1 – Setup icon
3. Refer to Figure 4-2. On the Sonardyne Janus – InstallShield Wizard window, click Install.
Figure 4-2 – InstallShield Wizard window
4. The Sonardyne program displayed in the screen will begin installation.
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5. Refer to Figure 4-3. A green progress pulsing bar will indicate the software is being installed.
Figure 4-3 – Janus Installation Progress Bar
6. Refer to Figure 4-4. During the installation process a window will appear notifying that it is
necessary to restart the computer.
Figure 4-4 – Janus Installation Computer Restart Notification
7. Refer to Figure 4-5. On completion of the computer restart, the Janus software installation
will resume automatically.
Figure 4-5 – Janus Installation Resuming
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8. Refer to Figure 4-6. Continue the installation process by selecting Next.
Figure 4-6 – Welcome to Sonardyne Janus Installation Screen
9. Refer to Figure 4-7. On the License Agreement screen, select the accept option. Click Next.
NOTE
If the ‘do not accept’ option is selected the installation process will stop.
Figure 4-7 – Janus Installation License Agreement
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10. On acceptance of the license agreement, the Ready to Install the Program window will
appear. The location of the Janus file will be displayed. If there is any requirement to make
changes to the installation click Back.
11. Refer to Figure 4-8. Click Install to proceed with the installation.
Figure 4-8 – Click Install to begin Installation
12. Refer to Figure 4-9. The InstallShield wizard will begin to install the Janus software onto the
PC. A progress bar will indicate the rate of the files being copied.
Figure 4-9 – Installing Sonardyne Janus
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13. Refer to Figure 4-10. An InstallShield Wizard Completed window will appear when the
installation has finished.
Figure 4-10 – Installation Completed
14. Click Finish to close the Sonardyne Janus – InstallShield Wizard.
NOTES
Janus software upgrade

The recommended procedure to upgrade Janus software is to manually uninstall
individual Janus components using control panel – add/remove programs.
Uninstall the following components:
- Sonardyne Janus
- Sonardyne Lodestar Data Extraction Tool
- MathWorks MCR
Then follow the installation instructions listed above.
SECTION 4
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SECTION 5– OPERATION
5. Starting Janus and Importing Data
5.1 Operating Janus
1. Refer to Figure 5-1. Start the Janus program by selecting the Janus icon.
Figure 5-1 – Janus shortcut icon
2. Refer to Figure 5-2. In the AINS tab, click on the Choose job/root directory button.
Figure 5-2 – Choose job/root directory
3. Refer to Figure 5-3. Browse to the desired folder and click OK.
Figure 5-3 –Browse for Folder
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4. Refer to Figure 5-4. The address of the job/root directory folder will populate the Job
Directory window and the Log files/Import data tab will appear
Figure 5-4 – Job Directory window populated
5.1.1 Import Logged Data
The Log Files / Import Data tab handles extraction, raw data conversion and outlier rejection. It is
necessary to import data to enable the system calculations.
1. Refer to Figure 5-5. Select the Log Files/Import Data tab.
2. Refer to Figure 5-5. Select the Import Data button. If the Import All check box is enabled,
the software will automatically import all log files from the subfolder “logfiles”.
Figure 5-5 – Log Files / Import Data
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NOTE
The recommended maximum data sizes that can be imported into Janus are:
- 32-bit Janus version is to 3 to 4 hours of logged data.
- 64-bit Janus version is up to 36 hours of logged data.
3. Refer to Figure 5-6. If the check box is not enabled the Select Log Files window will open.
Select all the required log files and click Open.
Figure 5-6 – Select Log Files Window
4. Refer to Figure 5-7. If the data is contained in a sub folder named logfiles, by selecting the
Import All function will automatically import all data into Janus
Figure 5-7 – Select Log Files Window
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NOTES
Once imported the data is stored in the following subfolders:

Extracted – Raw message data extracted from Lodestar binary log files transparently
by Janus using the “Lodestar Data Extraction Tool”.
NavRT – Real time navigation data.
Ref – Reference Data
Sensor – Raw sensor data converted into Janus generic formats and with
compensation parameters applied.
Temp – Temporary working data
5. Refer to Figure 5-8. Verify the following expected items have been imported:
• AHRS is real time computed AHRS attitude / heading.

• BIST is INS Built-In System Test.
• Time System provides time sync between [sys] and [UTC].
• Settings are configuration parameters used by the real-time system.
Figure 5-8 – Imported data from log files
6. The additional Janus tabs are now enabled (subject to available sensor data).
• AINS: “Navigate”, “Plotting”.

• Aiding Sensor (sensor data QC and control)
• DVL Calibration
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SECTION 6– KEY FUNCTIONALITY

6. Key Functionalities
The following key functionalities are available when using Janus:
• AINS
• Aiding Sensor
• Log Files/Import Data (with Outlier Rejection and Manual Screening)
• DVL Calibration
6.1 AINS
Advanced Inertial Navigation System (AINS) and Kalman filtering algorithms constitute the core of
Janus. A brief introduction to Aided INS can be found in the SPRINT manual (UM-8253). Janus
further supports Rauch-Tung-Streibel Kalman smoothing of recorded IMU and aiding sensor data.
This type of processing often goes under the simpler name of “forwards – backwards” processing
and is hence forward generally referred to “Kalman smoothing”.
Unlike filtering, for every point in time Kalman smoothing makes use of both past and future sensor
data to determine the optimal navigation solution. Navigation is performed by initially processing
data forwards, very similar to the real-time navigation of the INS. Mathematically it is not very
different to perform navigation going backwards in time and Kalman smoothing is simply the
optimal combination of the two solutions. Kalman smoothing is a very practical tool with the
following important characteristics:
i. Statistically optimum absolute accuracy.
• High accuracy survey.
ii. Optimal relative accuracy (completely smooth and continues navigation data) ideal for:
• Digital terrain model (DTM) generation from high resolution sonar.
• Pipeline “out of straightness” surveys.
• Metrology.
iii. INS high dynamic performance is fully preserved – AINS Kalman smoothing is not simple low
pass filtering.
6.1.1 Auto Process
The Auto Process function will automatically perform data import, “forwards – backwards” post
processing (using real time settings), plotting and exporting of the navigation results.
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1. Refer to Figure 6-1. Navigate to the AINS tab, select Choose job/root directory then click
the GO! button.
Figure 6-1 – AINS Auto Process
2. Refer to Figure 6-2. After selecting the GO! button, the AINS auto process can be monitored
using the information displayed.
Figure 6-2 – Go Progress Information
6.1.2 Navigation
6.1.2.1 Time Selection

In the AINS tab the navigation section offers the Time Selection (refer to Figure 6-3). The time
period can be specified as:
• All available data (from selected log files) – this is the default setting.
• Time span – as determined from a sensor data time series plot.
• From plot – imports the time span from the current plot.
• Start from position (nearest to) – as determined from the real-time navigation.
• First good DVL observation.
• First good subsea USBL (Remote) observation.
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Figure 6-3 – AINS Navigate Selection
6.1.2.2 Change Configuration

Importing a new data set will also import the AINS setting used for real-time navigation, i.e. the
default values for offline processing. AINS settings can be inspected and if necessary modified by
selecting Change configuration (refer to Figure 6-4).
Figure 6-4 – AINS Change Configuration
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Configuration that can be changed or modified include:

• Lever arm from CRP to DVL – specified from vehicle CRP (Central Reference Point)
to sensor and expressed in the vehicle frame co-ordinates (m) i.e. forward, starboard,
down.
• Mounting angles – the Euler angle rotation sequence from vehicle frame to sensor
frame, see e.g. SPRINT manual (UM-8253). Mounting angles are only relevant for
some sensors, e.g. IMU and DVL.
Figure 6-5 – Modified Configuration Parameters
Some parameters are intended for special / advanced use only and should not be changed for
typical Janus use.
• Sigma Test Level (siglev) – if enabled (<> 0) the Kalman filter will reject observations
that differ from the INS expected values by more than the Sigma Test Level expected
standard deviation.
• Noise – model parameters for weighting by the Kalman filter.
Figure 6-6 – Special / Advanced Parameters
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6.1.2.3 Run RTS Smoother

The Run RTS Smoother option selects between Janus Kalman filtering (forwards processing only)
and Kalman smoothing (forwards + backwards processing).
Figure 6-7 – Run RTS Smoother Option
i. Filtering – (forwards only processing)

• Allows near identical replication of real-time navigation and can be a useful step in
trouble shooting real-time INS behaviour.
• The root cause of some issues becomes apparent when looking at the filtered solution,
e.g. drastic change in Kalman states with little change in the associated covariance.
ii. Smoothing – (forwards – backwards processing)

• Optimal accuracy, both absolute and relative.
• 100% smooth and continuous solution.
• Suppression of the effect of any remaining sensor outliers.
6.1.2.4 Run Navigation

Run Navigation initiates navigation. Processing is in the order of 100 times faster than real-time,
i.e. typically <1 minute per hour of real time navigation.
Figure 6-8 – Run Navigation
6.1.2.5 Export Navigation

Selecting the Export Navigation option enables the navigation data to be stored in a designated
location.
Figure 6-9 – Export Navigation
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Clicking on Export Navigation will open the Browse for Folder directory and allow a location for
the export directory.
Figure 6-10 – Select Export Directory
Once confirmed, three output text files will be stored in this location. The files will include:
• Kf-ns.asc – Kalman filter navigation state
• Kf-qual.asc – Kalman filter navigation quality
• Kf-naviedit.asc – Kalman filter navigation state in EIVA NaviEdit compliant format
6.1.3 Plotting
6.1.3.1 Navigation
The quality control of real-time and post processed AINS solutions is available to the user through
the Navigation drop down menu.
NOTE
The AINS technology provides advanced high performance, however identifying the root
cause of any problems can prove to be difficult. For any assistance contact Sonardyne
Survey Support AINS specialists.
Figure 6-11 – Plotting Navigation Selection
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6.1.3.2 Plotting – Trajectory

Plot – Trajectory will plot the entire navigation solution, mostly as time series plots.
Figure 6-12 – Plotting Trajectory
Examples of the Trajectory outputs are detailed below:
Figure 6-13 – Examples of Trajectory (Position and North East)
Figure 6-14 – Examples of Trajectory (Depth and Roll/Pitch/Heading)
Figure 6-15 – Example of Trajectory (Velocity)
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6.1.3.3 Plotting – Reference

A Plotting – Reference can be selected via the Reference drop down menu. If a reference is
selected, the navigation solution will be plotted and compared against the reference.
Figure 6-16 – Plotting – Reference Drop Down Selection
6.1.3.4 Real-Time + Post-Processed – Quality Control Recommendation

Plot navigation solution against reference = “raw sensors”.
Figure 6-17 – Plotting Reference – Raw Sensors
• Position: USBL, GPS,

• Velocity: DVL, GPS,
• Attitude/Heading: Real-time AHRS
Identify unreasonable behaviour or any discrepancy from the raw sensor data. An error will be
identified if the INS position is consistently far away to one side from the raw USBL positions (whilst
being used for aiding).
6.1.3.5 Real-Time – Quality Control Recommendation
Plot the real-time navigation solution against an offline generated Kalman smoothed solution
(having better accuracy and benefitting from offline quality control)
Figure 6-18 – Plotting Reference – Post-Processed
Reference = post-processed
Verify that position, depth, attitude/heading and velocity match approximately with the Kalman filter
expected accuracy as indicated by green Kalman 1 DRMS/standard deviation.
NOTE
The Kalman smoothed solution may contribute part of apparent “error”. Outliers in the
raw sensors may contribute part of apparent “error”.
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6.1.3.6 KF-States
This will plot the estimated KF states along with the standard deviation for the state and the 1
sigma bound. The states include gyroscope and accelerometer biases along with DVL
misalignments and scale-factor error and LBL Transponder position horizontal and vertical errors.
Inertial sensor bias states should generally be within 3 sigma limits.
Figure 6-19 – Examples of KF States Gyro X, Y and Z bias
Figure 6-20 – Examples of KF States Accel X, Y and Z bias
Figure 6-21 – Example of KF States DVL Scale Factor Error
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Figure 6-22 – Examples of KF States DVL Misalignments
6.1.3.7 Observations Used

This provides an overview of which sensor data was rejected, used or unused.
Figure 6-23 – Example of Observation Used status
6.2 Aiding Sensor

Janus supports inspection of the following sensor data:
• DVL
• GPS
• IMU
• LBL
• Pressure Depth
• USBL Remote
• Sound Velocity
• Fixed Depth
• ZUPT
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6.2.1 Plot Data Availability
1. Refer to Figure 6-24. Select the Plot data availability button to gain an overview of all
available sensor data.
Figure 6-24 – Plot data availability
2. Refer to Figure 6-25. A sensor data availability window will appear listing all sensor
compensation parameters. These parameters are applied to the raw sensor data before any
Kalman filter/smoothing is applied.
Figure 6-25 – Sensor Data Availability
NOTE
There should be no requirements to change these settings unless performed incorrectly

in real-time.
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3. Refer to Figure 6-26. The aiding sensor measurements and IMU can be checked by selecting
the Plot usage (data, rejection & residuals) button next to the sensor.
Figure 6-26 – Sensor Observations
6.2.2 Transponder Database
Refer to Figure 6-27. All transponders can be controlled by selection or de-selection of the Use
option.
Figure 6-27 – Transponder Use selection
6.2.3 On / Off Control Table
Refer to Figure 6-28. Use to select or deselect and control sensor operation.
Figure 6-28 – On / Off Control Table Options
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6.3 Log Files / Import Data

6.3.1 Outline Rejection & Manual Screening
Janus has three levels of defence against outliers and erroneous data degrading the navigation
solution.
• Automatic outlier checks based on raw sensor data – specific for each sensor.
• Manual rejection of sensor data.
• Kalman filter “(3) sigma” testing.
Importing a new data set will also import the INS real-time sensor data usage – will normally suffice
for post processing.
Figure 6-29 – Outlier Rejection and Manual Screening
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6.3.1.1 Automatic Outlier Reject Settings

Advanced users may change low level settings for automatic outlier rejection Log Files / Import
data (Edit config).
Figure 6-30 – Edit Config
Once changed, outlier rejection can be re-applied to all sensor data (Outlier reject) or to an
individual sensor e.g. (USBL). Depending on the sensor, a range of rejection checks are applied.
The result of each check can be seen using the Aiding sensor (plot usage) push buttons.
Figure 6-31 – Plot Usage
Check boxes within these plots allow deselecting individual checks, for example the “velocity
unreasonable check” has been deselected in the figure hereafter.
Figure 6-32 – Deselecting Individual Checks
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6.3.1.2 Manual Screening

Manual rejection of sensor data is available for each sensor Log Files / Import Data, Manual
Screening (refer to Figure 6-33).
Figure 6-33 – Manual Screening
Clicking the sensor will bring up one or more plots where data points can be removed via marking
using the mouse.
Figure 6-34 – Examples of Manual Screening Sensor Plots
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6.3.2 Aiding Sensor Control
Aiding sensor control can be enabled and disabled for navigation use as a function of time.
Importing a new data set also imports the sensor on/off settings applied by the operator during real-
time navigation, i.e. this is the default for offline processing. Sensor on/off settings can be inspected
and modified in Aiding sensor on/off control table.
ZUPT (zero velocity update) and “At Surface” are pseudo sensors instructing the INS Kalman filter
the vehicle is stationary (velocity = 0) or at the surface (depth of CRP is as per configuration
parameter).
Aiding sensors should be disabled when their measurements are known not to be valid, e.g. GPS
may be OK to use whilst an ROV is on deck at a well-defined location but otherwise should be de-
selected.
6.4 DVL Calibration

The Doppler Velocity Log (DVL) calibration requires the following data:
• IMU
• DVL
• Pressure Depth
• Subsea USBL positions
• Sound velocity for DVL compensation
The tool automatically derives:

• DVL mounting angles
• DVL scale factor error
• DVL observation latency
The ROV has to perform a suitable DVL calibration trajectory in order for the parameters to become
observable to sufficient degree for a proposed trajectory.
The performed trajectory can be visualised using the AINS (plotting) selecting real-time plus
trajectory.
The DVL calibration parameters should be applied to the RT system by the user and will enhance
real-time navigation performance and integrity.
6.4.1 DVL Calibration Trajectory and Manoeuvres
For full instructions on DVL Calibration Trajectory and Manoeuvre procedures refer to the SPRINT
User Manual UM-8253-000 – DVL Calibration Procedure.
SECTION 6
15 April 2013 28
6.4.2 Processing the Calibration Data from the ROV Manoeuvres
Once the raw data has been imported the DVL calibration can be selected.
NOTE
The DVL Calibration uses the same settings as the AINS post processing, such as the
time selection and the outlier rejection. Make sure these are properly set up before running
the DVL calibration.
The ‘Initial’ fields are automatically populated by the values read from the settings; this prevents
guessing of numbers for initial values. These values can be changed if necessary e.g. at times
when very little calibration data is available.
Figure 6-35 – Calibrate DVL
Clicking the Calibrate DVL button will cause the data on the button to change to “Estimating,
please wait” (refer to Figure 6-35).
During the estimation process, Forward and Backward processing notification windows will
appear.
Figure 6-36 – Forward and Backward processing windows
SECTION 6
15 April 2013 29
On completion of the calibration process, 2 figures will be produced. Figure 1 shows DVL residuals
before calibration – using the initial settings – and after calibration (refer to Figure 6-37). Figure 2
shows the plots grouped according to axis (x-. y-, and z axis) (refer to Figure 6-38).
Figure 6-37 – Figure 1 DVL Residuals Before and After Calibration
Figure 6-38 – Figure 2 DVL Residuals Comp Plotted to X, Y and Z Axis
Should the results not be as expected, the initial values can be changed and the calibration
repeated.
On completion of the calibration, select the Use Calibration button to use the calibrated values for
post-processing.
NOTE
The values can be typed into the SPRINT user interface or at the Lodestar C&C interface
to calibrate the real-time system.
SECTION 6
15 April 2013 30
GLOSSARY OF TERMS
Term Definition
Acoustically Aided Inertial AAINS, the integration of acoustics and inertial technologies into a
Navigation System single navigation solution.
Information carried by sound pressure waves through water. The

Acoustic Signal
Sonardyne acoustic signal has a finite length.
An instrument that emits and receives acoustic signals, and extracts

information from them. Transceivers can measure the time it takes a
signal to travel from its transducer to a transponder and return. Some
Acoustic Transceiver can encode and send data in a message and extract digital data from
a message (Acoustic Telemetry). Used on a surface vessel or to
mark a point on the seabed, or fixed to a mobile for tracking or
positioning.
A device that converts electrical signals into acoustic signals and vice
Acoustic Transducer
versa.
An instrument that emits an acoustic signal when it detects an

Acoustic Transponder
interrogating acoustic signal.
Attitude and Heading

An inertial sensor that provides outputs of heading, pitch and roll.
Reference System (AHRS)
The transponder can be fitted with an optional depth sensor to send

Depth Status
depth information at each interrogation.
DVL uses acoustic measurements to capture bottom tracking velocity

Doppler Velocity Log
measurements and can be used to calculate distance travelled.
A navigation aid that uses a computer, motion sensors and rotation

Inertial Navigation System
sensors to continuously calculate the position, orientation and
(INS)
velocity of a moving object without the need for external references.
ROV Remotely Operated Vehicle
Subsea Precision SPRINT an acoustically aided inertial navigation system for subsea
Reference Inertial vehicles. The system extends the operating limits of USBL and
Navigation Technology improves the operational efficiency of LBL by using sparse arrays.
Glossary of Terms
15 April 2013 31
Term Definition
A system similar to an SBL system except the system uses three or
more elements in a single transducer array. The measurements it
Ultra Short Base Line
makes are the differences in “time-phase” of the signals from each
Positioning System (USBL)
element. The co-ordinate frame is fixed to the transducer array which
must be oriented in the vessel frame to be equivalent to the SBL.
Universal Time Co-ordinate. The primary time standard by which the

UTC world regulates clocks and time. Closely related successor to
Greenwich Mean Time (GMT).
Glossary of Terms
15 April 2013 32
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Acoustic Positioning  Inertial Navigation  Wireless Communication  Sonar Imaging

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UM-8254

Date of Issue: 15 April 2013

Copyright  2013 Sonardyne International Limited.

CONTACTING THE SONARDYNE SUPPORT TEAM

15 April 2013 iii

Figure 6-19 – Examples of KF States Gyro X, Y and Z bias .......................................................... 21

Issue Revision Date Comments Section Page

A 1 13/05/2011 Initial Issue All All

A 2 06/07/2011 Installation Revised All All

Revised requirements, installation

A 4 25/10/2011 Major change from offshore use All All

A 5 11/11/2011 Updated installation procedure All All

Updated to MATLAB R201b.

A 7 05/12/2011 Updated DVL calibration All All

A 8 12/12/2011 Minor updates All All

1.1 Related Publications

Table 1-1 – Related Publications

SECTION 3– TECHNICAL DESCRIPTION

3.1 Time Base Conventions

3.1.2 Universal Time Co-ordinated (UTC)

4.1 Installation Process

Figure 4-1 – Setup icon

Figure 4-2 – InstallShield Wizard window

4. The Sonardyne program displayed in the screen will begin installation.

Figure 4-3 – Janus Installation Progress Bar

Figure 4-4 – Janus Installation Computer Restart Notification

Figure 4-5 – Janus Installation Resuming

8. Refer to Figure 4-6. Continue the installation process by selecting Next.

Figure 4-6 – Welcome to Sonardyne Janus Installation Screen

Figure 4-7 – Janus Installation License Agreement

Figure 4-8 – Click Install to begin Installation

Figure 4-9 – Installing Sonardyne Janus

Figure 4-10 – Installation Completed

14. Click Finish to close the Sonardyne Janus – InstallShield Wizard.

Janus software upgrade

Figure 5-1 – Janus shortcut icon

Figure 5-2 – Choose job/root directory

Figure 5-3 –Browse for Folder

Figure 5-4 – Job Directory window populated

5.1.1 Import Logged Data

Figure 5-5 – Log Files / Import Data

Figure 5-6 – Select Log Files Window

Figure 5-7 – Select Log Files Window

Once imported the data is stored in the following subfolders:

• AHRS is real time computed AHRS attitude / heading.

Figure 5-8 – Imported data from log files

• AINS: “Navigate”, “Plotting”.

SECTION 6– KEY FUNCTIONALITY

6.1.1 Auto Process

Figure 6-1 – AINS Auto Process

Figure 6-2 – Go Progress Information

6.1.2.1 Time Selection

Figure 6-3 – AINS Navigate Selection

6.1.2.2 Change Configuration

Figure 6-4 – AINS Change Configuration

Configuration that can be changed or modified include:

Figure 6-5 – Modified Configuration Parameters

Figure 6-6 – Special / Advanced Parameters

6.1.2.3 Run RTS Smoother

Figure 6-7 – Run RTS Smoother Option