System Integration

1. System Integration The Zen of Hydro

2. Learning Objectives • Identify the major components of a survey system Acquisition computer, DGPS receiver, navigation and attitude sensor, multibeam, singlebeam or side scan transducer, transducer topside unit, sound velocimeter • Know the difference between serial and ethernet connections • What sort of data is usually coming across via serial connection and via ethernet connection? • Interpret a basic wiring diagram (baud rates, parity, stopbits, ip address, com ports) • Basic troubleshooting for survey systems

3. System Integration Goal: To provide an introduction to the components, connections, hardware, and protocols most often used in hydrographic system integration.

4. What is System Integration? System integration: Bringing together component subsystems into one system and ensuring that the subsystems function together as a system. In information technology, system integration is the process of linking together different computing systems and software applications physically or functionally.

5. Why is it important? You can have the best individual survey components on the face of the earth, but until you get them to talk to each other intelligibly, and with an understanding of time, you have little more than expensive paperweights. System Integration - Hydro Training 2009

6. Roles and Responsibilities • System Integration is a partnership between the FOO, EEB, and HSTP (usually the Field Support Liaison) • SSTs and JOs often play a critical role in assisting • HIC may need to troubleshoot in the field • FOO or a designated individual will aid in the troubleshooting if requested. System Integration - Hydro Training 2008

7. System Components • Acoustic Systems: • Wet end (transducers, towfish) • Dry end (topside units) • Positioning and attitude (GPS, POS/MV, etc.) • Antennas, IMUs, processing units • Sound speed (CTDs, MVPs, Digibars) • Wet/dry ends System Integration - Hydro Training 2009

8. System Components • Computers • Network switches • Data storage devices System Integration - Hydro Training 2009

9. Acoustic Systems – Wet End System Integration - Hydro Training 2009

10. Acoustic Systems – Dry End • Top Side Unit • Interprets digital/analog acoustic data signals from a modern sidescan sonar or multibeam echosounder (wet end) • Controls the signal characteristics on the wet end. System Integration - Hydro Training 2009

11. Positioning and Attitude • Applanix POS/MV • POS Computer System (PCS) • Antennas • Inertial Motion Unit (IMU) • DGPS receiver / beacon receiver • Trimble DSM-212 • CSi Wireless MBX-3S 11 System Integration - Hydro Training 2009

12. Sound Speed Measurement • Brooke Ocean MVP • Sea Bird Electronics • SBE 19/19+ CTD • SBE 45 TSG • Odom Hydrographic Digibar Pro System Integration - Hydro Training 2009

13. Computers, Networks, Data Storage Devices • Acquisition computers • Network switches, hubs, cables • External hard drives, network attached storage (NAS, e.g. NetApps) System Integration - Hydro Training 2009

14. System Connections • What are all these ports? System Integration - Hydro Training 2009

15. System Connections • Two primary physical connections for survey data: • Serial • RS232, RS422, USB, Firewire • Ethernet • Category 5/6 cable 15 System Integration - Hydro Training 2009

16. Serial Data Connections • Serial communications is the process of sending data one bit at a time, sequentially, over a cable between computers. • Examples include Serial ATA, USB and Firewire and RS232 • The RS232 standard is used extensively in connecting hydrographic systems together (and a lot of bridge equipment). System Integration - Hydro Training 2009

17. Serial – RS232 • The RS232 standard defines voltage levels that correspond to logical one and zero levels. Typically ±5V. • Some typical connectors: DB9 Male DB25 Male Null Modem Null Modem Cable DB9 Female System Integration - Hydro Training 2009

18. Serial – RS232 • Advantages • Simple, common protocol • Direct connection between two terminals • Disadvantages • Relatively low bandwidth • Direct connection between two terminals • Limited cable length • Most often used for • Position, Timing data (POS MV output) • VBES Depths • Instrument Control DB-9 RS-232 “Com” Ports (DB-9 easily confused with VGA) System Integration - Hydro Training 2009

19. RS232 Connection Details 9600,8,n,1 • “Baud Rate” • Data Transfer speed in “bits per second” • Typical Speeds: 4800, 9600, 19200, 38400 • Data Bits • Length of Message • Typically 8 (allows full ASCII code) • “Parity” • Extra bit for error checking • “Odd”, “Even”, “None” • Typically, “none” • “Stop Bit” • Signifies End of Byte • Typically, 1 • Must Specify Data Transfer Parameters • Same on both ends of connection! System Integration - Hydro Training 2009

20. Cables, Null Modems, Gender Changers • Not all serial ports on every computer are terminated the same • Mix and match between “male” and “female” • Cables • “Straight” or “Null” • Seldom have visible indication • Gender changers • Connect males to males and females to females. • Null modem adaptors • Cross receive and transmit lines • Transmit on one end is connected to the receive on the other. System Integration - Hydro Training 2009

21. RS232: Straight vs Null • Straight • Pin 2 to 2 • Pin 3 to 3 • Null • Pin 2 to 3 • Pin 3 to 2 System Integration - Hydro Training 2009

22. Example of RS232 in Software From Hypack System Integration - Hydro Training 2009

23. Ethernet A diverse family of computer networking technologies for local area networks (LANs). On hydrographic systems NOAA uses: 10Base-T, 100Base-T, 1000Base-T(10Mbit, 100Mbit, 1000Mbit or Gigabit) Wiring is CAT5,CAT5E, or CAT6 Connectors are RJ45 Transport Protocols are TCP/IPor UDP See the net for more information. It gets complicated quickly. System Integration - Hydro Training 2009

24. Ethernet • Advantages • Common, High Bandwidth • Multiple computers on same network • Disadvantages • Uncertain Timing • Typically used for: • MBES data (bathymetry and imagery) • SSS data • Increasingly used for time tagged position, attitude, etc. data • (must still use serial for time synchronization) System Integration - Hydro Training 2009

25. TCP/IP vs UDPCommunication Protocols • TCP/IP – Transmission Control Protocol of the Internet Protocol suite complement • Provides a reliable stream delivery to applications through the use of acknowledgment with retransmission of packets. Requires a connection…Think Phone Call. • UDP – User Datagram Protocol • Provides a simple, but unreliable message service for transaction-oriented services. This means that there is no confirmation of data arrival. Low overhead…Think Postal Service. • Because UDP can handle large amounts of data with relative ease, most raw hydro data is coming across with UDP.

26. Ethernet – Physical Connections Physical connections are much simpler than RS232 Patch cables Crossover cables (similar to a “Null” cable for RS232) If you are connecting directly from one computer to another, without a switch or hub, then you must use a crossover cable. System Integration - Hydro Training 2009

27. Ethernet: Patch vs Crossover System Integration - Hydro Training 2009

28. Ethernet in Software SSS data is being taken into the acquisition computer over the network and getting through UDP port 1080. The Edgetech must be transmitting to UDP port 1900 for this to work. Hypack Hardware setup for SSS System Integration - Hydro Training 2009

29. Protocols • Protocol: • a set of conventions governing the treatment and especially the formatting of data in an electronic communications system • A protocol is required in order for two pieces of equipment to communicate with one another. Merriam-Webster Online Dictionary: http://www.merriam-webster.com/dictionary/Protocol 29 System Integration - Hydro Training 2009

30. NMEA 0183 Specification NMEA 0183 • NMEA = National Marine Electronics Association • NMEA 0183 is industry standard for serial interfaces between marine electronics • Position, Speed, Time, etc. System Integration - Hydro Training 2009

31. NMEA 0183 Message Contents • GGA: Position Fix, DGPS Information • VTG: Course and Speed over Ground • HDT: Heading • ZDA: Date and Time • UTC: Time (more accurate than ZDA) • Note: Not all instruments / software can produce or recognize all messages System Integration - Hydro Training 2009

32. NMEA Message Example GGA string - essential fix data which provides 3D location and accuracy data. Where: “GP”: Global Positioning System Fix (identifies “talker”, could also be “IN” for inertial) “GGA”: Global Positioning System Fix Data “123519”: Fix taken at 12:35:19 UTC “4807.038,N”: Latitude 48 deg 07.038' N “01131.000,E”: Longitude 11 deg 31.000' E “1”: Fix quality: 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 4 = Real Time Kinematic 5 = Float RTK 6 = estimated (dead reckoning) (2.3 feature) 7 = Manual input mode 8 = Simulation mode “08”: Number of satellites being tracked “0.9”: Horizontal dilution of position “545.4,M” Altitude, Meters, above mean sea level “46.9,M”: Height of geoid (mean sea level) above WGS84 ellipsoid “(empty field)”: time in seconds since last DGPS update “(empty field)”: DGPS station ID number “*47” the checksum data, always begins with * $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,,*47 System Integration - Hydro Training 2009

33. Other Serial Messages • “TSS-1” • Heave, Pitch, Roll data • Originally proprietary, but now common • Note: no time tag • Knudsen • RTCM104 (Differential corrector message) • Sound Speed • Other proprietary instrument control protocols • Seabird, Reson, ISIS “Delph” String, etc. System Integration - Hydro Training 2009

34. Documentation: Wiring Diagrams • Essential tools in making sense of the various interconnections among survey systems • Generally developed at initial system integration • Must be kept up-to-date with all changes in order to be useful • Read it, learn it, love it! 34 System Integration - Hydro Training 2009

35. Wiring Diagram – Components SV Sensor Runs Acquisition Position and Orientation Sensor DGPS Receiver Computer Runs Navigation MBES Topside Unit System Integration - Hydro Training 2009

36. RS232 Connections on the Wiring Diagram Parity Stop Bits Baud Rate Data Bits Null Cable Message String System Integration - Hydro Training 2009

37. Ethernet Connections on the Wiring Diagram Message Strings From POS/MV IP Addresses in the same “Subnet” so computers can talk to each other. 1070 is UDP Port data is transmitted on and listened for on. IP Addresses in the same “Subnet” so computers can talk to each other. Dynamic IP does not require a fixed IP address. This is just for communication to ship network not hydrographic operations. System Integration - Hydro Training 2009

38. Troubleshooting Not everything always works all the time Troubleshooting: • generally a logical, step-by-step process of elimination in order to determine where the source of a problem lies (hardware, software, user) • If you’re in hydro, you’ll have to troubleshoot at some point • It’s part science, and part art System Integration - Hydro Training 2009

39. Troubleshooting • General steps: • Check power (The O-N-O-F-F switch!) • Check physical connections • Check power • Check built-in status lights, tests, etc. • Check power • Check software settings • Check power System Integration - Hydro Training 2009 39

40. Checking RS232 Connections Note: Hypack has its own serial connection checking program / works the same as HyperTerminal • Send a signal from a known good RS232 serial port on the transmitting machine • Connect the cable to laptop or the receiving computer. • Open up HyperTerminal. Start-> Accessories-> Communications-> HyperTerminal • Configure HyperTerminal to have the same Baud Rate, Data Bits, Parity, and stop bits as the transmitting computer. • When the connection is made in HyperTerminal ASCII information, in general, should fill the screen. If not, then… 40 System Integration - Hydro Training 2009

41. Checking RS232 Connections • Possible Errors • Baud rates, data bits and parity may not match. Check to make sure they do. • You may have an incorrect baud rate • Another program may have control of the receiving port. Turn off all other programs. • The physical port that the cable is plugged into may not be the one being checked, or transmitted to. • The cable may be bad. • Connection may be loose. • The cable may need to be “nulled” or un “nulled”. System Integration - Hydro Training 2009

42. Checking Ethernet Connections • To open “Run” window go into the “Start” and then click “Run” • Type cmd System Integration - Hydro Training 2009

43. Checking Ethernet Connections • Type ipconfig /allat the command prompt. • Note the IP Address (addresses) of the computer. System Integration - Hydro Training 2009

44. Checking Ethernet Connections • On the computer you are trying to send data to open a command window and then type ping 192.1.100.1 where the italicized number is the IP Address of the other machine. • If a line says something like Reply from 192.1.100.1: bytes=32 time=17ms TTL=238 then the cable is successfully connected System Integration - Hydro Training 2009

45. Checking Ethernet Connections • If the line says something like Request timed out then there are a few options. Such as… System Integration - Hydro Training 2009

46. Checking Ethernet Connections • Possible errors in connections • Loose connection • Bad NIC Card • Bad Cable • Someone unplugged a router • Using a crossover cable instead of a patch cable or vice versa • Some change in computer system setting • Change to UDP Port • IP address of one of the computers out of the range of the subnet to the other computer (might happen if there are to NICs and the cable is plugged into the wrong one) System Integration - Hydro Training 2009

47. WARNING! • Unless you are training, working on system development or otherwise directed, with FOO and/or ET knowledge, DO NOT MAKE CHANGES. • Something as simple as adding another NMEA message string to the POS/MV output can have serious impact on system timing which leads to a serious impact on the data. This may not be immediately detected. • Something as simple as changing the orientation of the sonar head, by accident, has ruined a days worth of work. (Easily done in RESON control software). • When troubleshooting on the launches pay close attention to any system changes you make. Record them and report them to the FOO. System Integration - Hydro Training 2009

48. Things to Do • Watch the FOO or senior hydrographers work with and configure systems. Learn by watching and then learn by doing (under instruction and or supervision). • Ask questions. • Read the manuals. (Senior folks do not know everything.) • Seek out information (the web and especially Wikipedia has lots of great info on networking, computers, and everything else) System Integration - Hydro Training 2009

49. Questions? System Integration - Hydro Training 2009