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WASSP SENSOR BOX INSTALLATION MANUAL
SENSOR BOX INSTALLATION MANUAL
WASSP SENSOR BOX
INSTALLATION MANUAL
General Notices
WASSP Ltd. reserves the right to change the contents of this manual and any system
specifications without notice.
Contact WASSP Ltd. regarding copying or reproducing this manual.
The WASSP Sensor Box is an interfacing box to simplify installation of an integrated
sensor system required by WASSP multibeam systems.
Sensor integration comprises:
-
Position, Heading and PPS from a satellite compass
-
Roll, Pitch and Heave from a motion sensor
SENSOR BOX INSTALLATION MANUAL
Support information
If you require maintenance or repair, contact your local dealer. You can also contact
WASSP Ltd. using the following address: wassp.com/support/.
If you need information about WASSP products, visit wassp.com.
On the website you will also find a list of WASSP dealers and distributors.
Warnings, Cautions, and Notes
NOTE: For DRX serial numbers below #217 please refer to Sensor Box
Installation Manual Version 3.3 due to connector configuration changes.
Warnings, cautions, and notes are indicated by the following icons throughout this
manual:
DOCUMENT REVISION HISTORY
REVISION DATE
REASON FOR CHANGE
VERSION
May 2016
Compilation
1.0
May 2016
Updated Screen Shots & info
1.1
May 2016
Updated Figure 2 and Section 5
1.2
June 2016
Update for Revision 2 of Sensor Box
2.0
July 2016
Update for Revision 3 of Sensor Box
3.0
November 2016
Update Appendix A.3
3.1
November 2016
Updates to Section 4 Sensor Configuration
3.2
November 2016
Corrected GNSS Offset instruction
3.3
June 2017
Update RS422 to RS422-A, Satellite Compass support updated
3.4
CAUTION indicates that if the instruction is not heeded, the action may result
in equipment damage or software corruption.
NOTE indicates a TIP or additional information that could be helpful while
performing a procedure.
RELATED DOCUMENTS
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Hemisphere Reference Manual;
https://hemispheregnss.com/Portals/0/TechnicalDocumentation/875-0287-000%20
%28MNL,USER%20GUIDE,V103%29_B1.pdf
Spatial Reference Manual;
http://www.advancednavigation.com.au/product/spatial#documentation
WMB-X230 Installation Manual; Shipped with WMB-X230
DRX Installation Manual; Shipped with DRX
RELATED TOOLS
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Spatial Manager Application;
http://www.advancednavigation.com.au/product/spatial#software
Hemisphere PocketMax3 Application;
https://hemispheregnss.com/Resources-Support/Software
Further documentation can be found at wassp.com
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SENSOR BOX INSTALLATION MANUAL
CONTENTS
SENSOR BOX INSTALLATION MANUAL
FIGURES
1 Interconnection diagram
1.1.
Interconnection Diagram Widescan Option – S3/F3
1.2.
Interconnection Diagram WMB-X230/WMB-3250 Option
2 Components
2.1.
WASSP Sensor Box
2.2.
Power Cable
2.3.
WASSP Cable
2.4.
Satellite Compass plus Cable
2.5.
Configuration Cable
3 WASSP Sensor Box Installation
3.1.
WASSP Sensor Box Mounting
3.2.
WASSP Sensor Box Connection
3.2.1. Satellite Compass
3.2.2. Spatial IMU Connection
4 Sensor Configuration
4.1.
Satellite Compass Configuration
4.1.1. Hemisphere V103
4.2.
Spatial Configuration
4.2.1. Configuring External Offset
5 WASSP Configuration
5.1.
Widescan - S3/F3; DRX Configuration
5.2.
WMB-X230/WMB-3250; WASSP PC Configuration
6 Appendix
6
6
6
7
7
7
8
9
9
10
10
10
11
12
13
13
13
13
14
16
16
19
21
Figure 1.
Interconnection Diagram Widescan Option - S3/F3
6
Figure 2.
Interconnection Diagram WMB-X230/WMB-3250 Option
6
Figure 3.
WASSP Sensor Box
7
Figure 4.
Power Cable
7
Figure 5.
WASSP Cable: Widescan Option; Connects WASSP Sensor Box to DRX
8
Figure 6.
WASSP Cable: WMB-X230/WMB-3250 Option; Connects WASSP
Sensor Box to WASSP PC
8
Figure 7.
Sensor Package Option; Hemisphere V103 plus Cable
9
Figure 8.
Motion Sensor and Satellite Compass Configuration cables
9
Figure 9.
WASSP Sensor Box Alignment
10
Figure 10.
Widescan - S3/F3; DRX Configuration
16
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APPENDIX
Appendix A - Connector pin-outs
Appendix A.1 Power connector
Appendix A.2 Config Connector
Appendix A.3 Satellite Compass Terminal Block
Appendix A.4 Spatial Terminal Block
Appendix A.5 WASSP Connector
Appendix B - Spatial external connection
Appendix B.1 WASSP Sensor Box Dimensions
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20
20
20
21
22
23
24
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SENSOR BOX INSTALLATION MANUAL
SENSOR BOX INSTALLATION MANUAL
1 INTERCONNECTION DIAGRAM
2 COMPONENTS
1.1. INTERCONNECTION DIAGRAM WIDESCAN OPTION – S3/F3
2.1. WASSP SENSOR BOX
Central box for sensor interconnectivity with the WASSP system. Incorporates internal
Spatial IMU.
SATELLITE
COMPASS
Power
DRX
RS232
RS422-A
WASSP Cable
Configuration
Cable
Configuration
PC
Gland
Power
Supply
12/24V
Power Cable
Spatial
IMU
Figure 3. WASSP Sensor Box
WASSP Sensor Box
Figure 1.
2.2. POWER CABLE
Interconnection Diagram Widescan Option - S3/F3
Power Supply to POWER connector on WASSP Sensor Box
1.2. INTERCONNECTION DIAGRAM WMB-X230/WMB-3250
OPTION
SATELLITE
COMPASS
RS422 to RS232
Converter
Powers the WASSP Sensor Box. All sensors are directly powered from the WASSP
Sensor Box.
WASSP
PC
RS232
RS232
WASSP Cable
Configuration
Cable
Configuration
PC
Power Cable
Gland
Power
Supply
24V
Figure 4. Power Cable
Spatial
IMU
WASSP Sensor Box
Figure 2. Interconnection Diagram WMB-X230/WMB-3250 Option
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SENSOR BOX INSTALLATION MANUAL
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2.3. WASSP CABLE
2.4. SATELLITE COMPASS PLUS CABLE
DRX or WASSP PC To DRX connector on WASSP Sensor Box.
Satellite Compass to SATELLITE COMPASS terminal block in the WASSP Sensor Box.
Option 1: Widescan Option; Connects WASSP Sensor Box to DRX
Option 1: Sensor Package Option; Hemisphere V103 plus Cable
Figure 7.
Sensor Package Option; Hemisphere V103 plus Cable
Option 2: Motion Package Option; Owner supply supported Satellite Compass
NOTE: For Currently Supported Satellite Compasses see “4 Sensor
Configuration” on page 13.
Figure 5. WASSP Cable: Widescan Option; Connects WASSP Sensor Box to DRX
2.5. CONFIGURATION CABLE
Configuration PC to CONFIG connector on WASSP Sensor Box.
Option 2: WMB-X230/WMB-3250 Option; Connects WASSP Sensor Box to WASSP PC
Figure 6. WASSP Cable: WMB-X230/WMB-3250 Option; Connects WASSP Sensor Box to WASSP PC
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Connects WASSP Sensor Box to PC for Spatial IMU configuration and for Hemisphere
V103 configuration.
Figure 8. Motion Sensor and Satellite Compass Configuration cables
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SENSOR BOX INSTALLATION MANUAL
3 WASSP SENSOR BOX INSTALLATION
For operation, the following connections are required:
3.1. WASSP SENSOR BOX MOUNTING
The WASSP Sensor Box should be installed taking the following into consideration:
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SENSOR BOX INSTALLATION MANUAL
WASSP Sensor Box should be as close to the vessels centre of motion as possible
(usually very close to the vessel centre of gravity). This will give optimum motion
sensor performance which is essential to achieve acceptable WASSP performance
Cabling from the GPS Compass and WASSP system needs to be accessible.
Flat rigid mounting location is required for optimum motion sensor performance.
Pitch accuracy should be +/- 2 degrees.
WASSP Sensor Box needs to be mounted accurately in fore/aft vessel orientation as
per the arrow on the box. Angular accuracy should be +/- 1 degree.
Area needs to have space for connectors.
Once a suitable location and fixing plate is identified the WASSP Sensor Box should be
mounted using the supplied mounting pieces and instructions supplied with the box.
NOTE: WASSP Sensor Box needs to be mounted aligned fore/aft as per the
arrow on the box. Tolerances are +/- 1 degree fore/aft and +/- 2 degrees pitch.
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Power
WASSP Cable to DRX or WASSP PC
Satellite Compass
Spatial IMU - Internal to WASSP Sensor Box
3.2.1. Satellite Compass
To connect the Satellite Compass Connection connect the cable to the internal terminal
block as per the instructions below.
1.
Strip 50mm of the outer insulation from the Hemisphere cable exposing the
coloured cables.
2.
Cut off unused cables, see “Appendix A.3 Satellite Compass Terminal Block” on
page 22 for required cable.
3.
Strip back 5mm of insulation from all the remaining wires and twist them (tin them
if practical).
4.
Open the connection box by unlatching the 4 screws on top of the box.
To open the connection box,
twist all 4 screws half a rotation
anti-clockwise.

Figure 9. WASSP Sensor Box Alignment
5.
3.2. WASSP SENSOR BOX CONNECTION
Refer to “1 Interconnection diagram” on page 6 for system configuration.
Insert the Satellite Compass cable into the box through the gland. Insert the wires
into the terminal block seen below and then tighten the terminal screws. See
“Appendix A.3 Satellite Compass Terminal Block” for Satellite Compass pin out.
For sensor configuration, the following connections are required:
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Power
Configuration cable to a PC, for Spatial configuration (See “4 Sensor Configuration”
on page 13).
Spatial IMU - Internal to WASSP Sensor Box
NOTE: If Hemisphere Satellite Compass requires configuration this can also be
connected
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SENSOR BOX INSTALLATION MANUAL
When the cable connection is made, tighten the gland and make sure the cable is
secured.
SENSOR BOX INSTALLATION MANUAL
4 SENSOR CONFIGURATION
4.1. SATELLITE COMPASS CONFIGURATION
3.2.2. Spatial IMU Connection
The Spatial IMU is mounted internally to the WASSP Sensor Box. If the Spatial IMU needs
to be mounted external to the WASSP Sensor Box, follow instructions in “Appendix B Spatial external connection” on page 25.
See “Appendix A.4 Spatial Terminal Block” on page 23 for Spatial Pin Out.
GPS Compasses supported currently include:
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Hemisphere V103; Supplied preconfigured as part of the Widescan Sensor Package
4.1.1. Hemisphere V103
Hemisphere V103 will be supplied preconfigured.
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Mount fore/aft for true heading
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Port B (RS422-A): 38400 Baud
• GGA 20Hz
• VTG 2Hz
• ZDA 1Hz
• HDT 20Hz
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PPS Out
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Port A (RS232): 38400 Baud
• $JBIN, 1, 20
• $JASC, GPHDT, 20
4.2. SPATIAL CONFIGURATION
Spatial IMU will be supplied preconfigured. Other than External Offset.
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Auxiliary baud rate; 38400 Baud
GPIO
• Aux Tx Function: TSS1
• Aux RX Function: Hemisphere GNSS Input
• GPIO1; 1PPS Input
GPIO Output
• TSS Auxiliary output rate 50Hz
Filters
• Vehicle Profile = SHIP
• Internal GNSS = OFF
• Magnetic Heading Enabled = OFF
• Atmospheric Altitude Enabled = OFF
• Velocity Heading Enabled = OFF
• Reversing Detection Enabled = OFF
• Motion Analysis = OFF
• Automatic Magnetic Calibration = OFF
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SENSOR BOX INSTALLATION MANUAL
4.2.1. Configuring External Offset
1.
Connect WASSP Sensor Box to configuration PC using the configuration cable, see
“2.5. Configuration Cable” on page 9.
2.
Connect power cable to the WASSP Sensor Box, see “2.2. Power Cable” on page
7.
3.
Install and Run SPATIAL MANAGER
SENSOR BOX INSTALLATION MANUAL
8.
Adjust GNSS ANTENNA OFFSET so
that it matches the distance that the
spatial is offset from the external
GPS unit.
9.
The GNSS Antenna Offsets should
be measured from the center of
the Spatial unit to the center of the
antenna with coordinate system:
• SPATIAL MANAGER can be download from
http://www.advancednavigation.com.au/product/spatial#software
It is also available on USB flash drive shipped with DRX
• SPATIAL MANAGER requires Java. If not already installed on your PC;
http://www.java.com
4.
Select the com port that you connected the CONFIG.
5.
Enter 115200 as the baud rate then
press CONNECT.
6.
When you are connected the
Connection Status Indicator will turn
green and show “Connected”.
• X positive forward
• Z positive down
• Y positive starboard
10.
7.
Example:
Click on CONFIGURATION then
choose ALIGNMENT.
Press SAVE and then exit the
application
NOTE: GNSS Antenna Offset needs to configured for acceptable attitude data.
NOTE: Spatial Firmware should be 4.501 or later.
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SENSOR BOX INSTALLATION MANUAL
5 WASSP CONFIGURATION
SENSOR BOX INSTALLATION MANUAL
For manual configuration, follow these steps:
5.1. WIDESCAN - S3/F3; DRX CONFIGURATION
1.
For sensor configuration on DRX refer to the DRX Installation Manual.
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Connect the WASSP Cable from the DRX connector on the WASSP Sensor Box to the
DRX as per “Figure 1. Interconnection Diagram Widescan Option - S3/F3” on page 6.
Configure Port Setup
RS422-A; Enable, Baud 38400
RS232; Enable, Baud 38400
RS422-A
RS422-A
RS422-B
RS232
RS232
LAN
POWER
N2K
0183
AUX
WASSP Cable
2.
Power
Figure 10. Widescan - S3/F3; DRX Configuration
CAUTION: Noise due to poor grounding will have direct impact on DRX
performance and signal integrity (RS-232 is particularly susceptible).
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Configure Sensor
Sensor 1; Spatial, Port RS232
Sensor 2; Hemisphere, Port RS422-A
Configure the Offsets as per the DRX Installation Manual
Configure the DRX using the DRX SETUP WEBPAGES. If the DRX version supports
PRESETS the sensor setup can be automated for Port Setup, Data Setup, Corrections and
PPS using the Configuration Presets.
Sensor offsets will need to be input manually.
Refer to the DRX Installation Manual for more details.
3.
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Configure Data Setup
Position; Sensor Hemisphere, Sentence GGA
Heading; Sensor Hemisphere, Sentence HDT
Roll; Sensor Spatial, Sentence TSS1, Lag 0.001
Pitch; Sensor Spatial, Sentence TSS1, Lag 0.001
Heave; Sensor Spatial, Sentence TSS1, Lag 0.001
Time, Sensor Hemisphere, Sentence ZDA
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SENSOR BOX INSTALLATION MANUAL
5.2. WMB-X230/WMB-3250; WASSP PC CONFIGURATION
For sensor configuration on WASSP PC refer to the WMB-X230/WMB-3250 Installation
Manual.
Connect the WASSP Cable from the DRX connector on the WASSP Sensor Box to the
WASSP PC serial ports as per “Figure 2. Interconnection Diagram WMB-X230/WMB-3250
Option” on page 6.
Below shows configuration using the Hemisphere V103 Satellite Compass.
1.
Configure the COM ports using the Serial Transfer Task.
2.
Verify the data using the monitor option above.
3.
Setup the sensors on the WMB-X230/WMB-3250 application. Example below is
for the WMB-3250.
NOTE: Any Bias will need to be calculated for Heading, Roll and Pitch.
NOTE: Lag for Hemisphere V103 is not required for position if PPS is used,
other Satellite Compass Lags will need to be calculated and applied.
4.
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Configure PPS
PPS Port; RS422-A
Trigger Edge; Rising Edge
Motion;
Sentence TSS,
Port Number 2,
Time Lag 0.001
NOTE: If PPS is not supported configure POSITION LAG as per CONFIGURE
DATA SETUP above.
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Position;
Sentence GGA,
Port Number 1,
Time Lag as
calculated
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SENSOR BOX INSTALLATION MANUAL
SENSOR BOX INSTALLATION MANUAL
6 APPENDIX
Heading;
Sentence HDT,
Port Number 1
Appendix A - CONNECTOR PIN-OUTS
Appendix A.1 POWER CONNECTOR
Labeled; POWER
Heave;
Sentence TSS,
Port Number 2,
Time Lag 0.001
PIN
1
2
Date/Time;
Sentence ZDA,
Port Number 1
Colour
Main Power +
Main Power -
Appendix A.2 CONFIG CONNECTOR
Labeled; CONFIG
NOTE: Any Bias will need to be calculated for Heading, Roll and Pitch and
input under SENSOR VALUES tab.
NOTE: Lag is for Hemisphere V103 without PPS being used should be set at
0.005s, other Satellite Compass Lags will need to be calculated and applied.
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PIN
1
2
3
4
5
6
Function
Spatial Primary RS-232 Tx
Spatial Primary RS-232 Rx
Signal Ground
Hemisphere Port A Tx RS-232
Hemisphere Port A Rx RS-232
Signal Ground
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SENSOR BOX INSTALLATION MANUAL
SENSOR BOX INSTALLATION MANUAL
Appendix A.3 SATELLITE COMPASS TERMINAL BLOCK
Appendix A.4 SPATIAL TERMINAL BLOCK
Labeled; SATELLITE COMPASS
Labeled; SPATIAL
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
For Hemisphere V103 Satellite Compass
PIN
24
23
22
21
20
19
18
17
16
15
14
13
12
11
Function
Spare
Spare
Spare
Spare
Spare
Port A Tx RS-232
Signal Ground
Power Power +
Port A Rx RS-232
Spare
PPS (+)
Port B Tx RS-422 (-)
Port B Tx RS-422 (+)
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PIN
10
9
8
7
6
5
4
3
2
1
Blue
Grey
Black
Red
Black / blue
Function
Auxiliary RS-232 Rx
Auxiliary RS-232 Tx
Primary RS-232 Tx
Primary RS-232 Rx
Ground
Ground
GPIO1
Ground
Power +
Power -
Blue
Yellow
Red
Orange
Pink
Pink
White
Pink
Brown
Black
Orange
Yellow / black
Yellow
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SENSOR BOX INSTALLATION MANUAL
Appendix A.5 WASSP CONNECTOR
Appendix B - SPATIAL EXTERNAL CONNECTION
Labeled; DRX
The Spatial IMU is recommended to be installed mounted in the WASSP Sensor Box.
These instructions are only applicable if the Spatial IMU needs to be mounted external to
the WASSP Sensor Box.
For DRX - Referenced to DRX. See DRX Manual.
PIN
Function
1
RS-232, Rx
2
Power +
3
RS-422, RD B (IN)
4
RS-422, PPS (AUX)
5
RS-422, RD A (IN)
6
Power -
7
RS-422, GND
8
RS-232, GND
9
RS-232, GND
Unlatch the four screws
on the top of the box.
To open the connection
box, twist all 4 screws half
a rotation anti-clockwise.
2.
Remove the Spatial
IMU connection to the
terminal block.
3.
Remove the mounting plate.
4.
Remove the Spatial IMU from the mounting plate.
5.
Run the cable through a gland into the WASSP Sensor Box.
6.
Insert the wires into the Spatial IMU terminal block and tighten the terminal
screws. See “Appendix A.4 Spatial Terminal Block” on page 23 for Spatial IMU
terminal pin out.
7.
Spatial IMU should be mounted taking the following into consideration:
For WASSP PC - Referenced to PC COM Ports.
Convertor connected to COM 1.
PIN
Function
1
COM2 (Pin 2), RS-232 Rx
2
NC
3
RS-422 to RS-232 Converter (Pin 4), Rx-
4
COM2 (Pin 8), RS-232 CTS
5
RS-422 to RS-232 Converter (Pin 3), Rx+
6
NC
7
COM2 (Pin 5), RS-232 GND
8
COM2 (Pin 5), RS-232 GND
9
COM2 (Pin 5), RS-232 GND
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
1.
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SENSOR BOX INSTALLATION MANUAL
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Spatial should be as close to the vessels centre of
motion as possible (usually very close to the vessel
centre of gravity). This will give optimum motion
sensor performance which is essential to achieve
expected WASSP performance.
Cabling to the WASSP Sensor Box needs to be
accessible.
Flat rigid mounting location is required for optimum
motion sensor performance. Pitch accuracy should be
+/- 2 degrees.
Spatial IMU needs to be mounted accurately in fore/
aft oriented in X direction. Angular accuracy should be
+/- 1 degree.
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SENSOR BOX INSTALLATION MANUAL
Appendix B.1 WASSP SENSOR BOX DIMENSIONS
X
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