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DVL-75
DVL-75
  • DVL-75
  • Overview
    • General Specifications
    • General Use Cases
    • The Basic System
    • System Components
    • Comparison of Tracker 650 and DVL-75
  • Usage Considerations and Scenarios
    • General Usage
    • Scenario: GPS Emulation
    • Scenario: Holding Position
    • Scenario: Autonomous Waypoint Navigation
    • Scenario: Returning to a Series of Known Positions
    • Scenario: Returning to Home
    • Scenario: Using GPS Assist
    • Scenario: Doing Your Own Dead Reckoning
    • Additional Connection Possibilities
    • General Hints and Tips
    • Operation in a Pool
  • Using MAVLink and BlueOS for Position Hold on a BlueROV2
    • ArduPilot Parameters
    • DVL Setup for MAVlink Support
  • Using Other Than the Bottom for the DVL (Side-Tracking Capability)
    • Side-Tracking Capability Design Use-Cases
    • Side-Tracking Capability Considerations
  • Mounting the DVL Components
    • Sensor Head Typical Mounting
    • Sensor Head Side-Tracking Mounting Alignment
    • All-in-One and Most-in-One Mounting Considerations
    • Mounting the Electronics Stack
    • Mounting an Auxiliary GPS
  • Assembling the Electronics Stack
    • Cerulean 300m Electronics Enclosure Assembly
  • Inertial Measurement Unit (IMU)
    • Baseline IMU Calibrations
    • Baseline IMU Background
    • Baseline IMU Blind Initial Calibration Procedure
    • Baseline IMU Status-Assisted Initial Calibration Procedure
    • Baseline IMU Calibration for Each Mission or Each Time Power is Applied
    • Upgraded IMU Calibration for Each Mission or Each Time Power is Applied
  • Communicating with the DVL
    • Factory Defaults and Default Messages
    • The Ethernet Interface
    • Tips on How to Find the IP Address Assigned to Your Ethernet Adapter
    • The Serial Interface
    • Resetting the Communications Parameters to Factory Default
    • What Do the LEDs Mean?
    • Outgoing Message Formats, DVL to Host
      • $GPRMC: NMEA standard Recommended Minimum GPS/Transit Data
      • $DVEXT: DVL Extended Data
      • $DVPDL: DVL Position and Angle Deltas Message
      • Freeform Error and Informational messages ($DVTXT)
      • Re-Tweeted GPS Messages
      • Re-Tweeted IMU Messages (IMU Raw Data)
      • $DVKFA, $DVKFB Kalman Filter Support Messages
        • Driving your own Kalman Filter
    • Commands Accepted by the DVL
      • $GPRMC
      • SET-POSITION
      • CONFIGURATION
      • SUPPRESS-GPS
      • DECLINATION
      • SET-SPEED-OF-SOUND
      • SET-VELOCITY-ADJUSTMENT
      • SEND-GPRMC
      • SEND-DVEXT
      • SEND-DVKFA
      • SEND-DVKFB
      • SEND-FREEFORM
      • SEND-DVPDL
      • RETWEET-GPS
      • RETWEET-IMU
      • SET-SENSOR-ORIENTATION
      • GRAB-IMU-CAL
      • VOID-IMU-CAL
      • BAUD-RATE
      • IP-ADDRESS
      • HOST-ADDRESS
      • MAVLINK-ADDRESS
      • FALLBACK-ADDRESS
      • UNICAST-TO-ME
      • PAUSE
      • RESUME
      • REBOOT
    • Blue Robotics Ping360 Discovery Protocol (Ethernet Only)
    • ARP (Address Resolution Protocol)
    • DHCP (Dynamic Host Configuration Protocol)
    • Ping (Internet Control Message Protocol Ping)
    • Mechanical Drawings
      • Mounting Dimensions, Sensor Head
      • Mounting Dimensions, Electronics Stack
      • RAM Mount Adapter Plate
      • Electronics Stack Assembly Drawing
      • Mounting Bracket for 300m Electronics Enclosure
      • Mounting Bracket for Sensor Head or Electronics Enclosure, fits BlueROV2 Heavy Thruster Guard
      • Mounting Bracket for All-in-One Enclosure, fits BlueROV2 Heavy Thruster Guard
      • Mounting Dimensions, Cerulean 300m Enclosure
      • Mounting Dimensions for the Cerulean All-in-One Enclosure
      • Mounting Dimensions, Cerulean GPS
  • Electrical Drawings
    • Serial Cable Supplied with Baseline Electronics Stack
    • DVL Serial Connection Example
    • Power over Ethernet (POE) Cabling
    • Standard Ethernet Pinouts
    • Optional GPS Wiring
    • Sensor Head Wiring
    • Using External Power with Serial Cable
    • Serial to USB Interface Using Blue Robotics BLUART Board
  • CAD Models
  • Appendix – Coordinate Systems
  • Copyright
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Inertial Measurement Unit (IMU)

The DVL has two options for the Inertial Measurement Unit. The baseline IMU supplied with the system is reasonably priced, but it requires you to manage its calibration, a tedious and sometimes annoying process. We offer an upgraded IMU as an option. It does a reasonable job of managing its own calibration, but you need to check to be sure it is ready for use each time before deploying the ROV. The actual dead reckoning performance of the DVL with either IMU is similar, assuming you have properly calibrated the baseline unit. The upgraded IMU is substantially more expensive.

Only read and follow the calibration instructions for the IMU you are using. Mix-and-match will just lead to confusion and frustration.

If you want the simplest setup with the least hassle from the IMU, we recommend upgrading the IMU. The upgraded IMU has a much simpler (almost non-existent) calibration process that is easy to do without seeing the calibration state. Additionally, if your ROV is too big to physically manipulate easily during calibration, consider the upgraded IMU.

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Last updated 3 years ago