All-in-One and Most-in-One Mounting Considerations
The All-in-One and Most-in-One configurations have mounting constraints based on visibility of the sensor to the bottom, and the GPS (if referring to the All-in-One) to the sky when surfaced. See the next four figures for examples.
Side view of an all-in-one DVL mounted on the thruster guard of a BlueROV2 Heavy. The all-in-one DVL can be challenging to mount; the GPS needs to be emergent when the ROV is surfaced; the unit needs to be positioned away from magnetic fields; and the sonar beam cones need to be unobstructed.
Front view of the all-in-one DVL mounted on the thruster guard of a BlueROV2 Heavy. The sonar cones are accurate to scale for the minimum fly altitude of 30 cm from sensor to bottom. The port-side sonar beam clears the side and bottom panel of the ROV housing. See also next figure.
A bottom view of the all-in-one DVL mounted on the thruster guard of a BlueROV2 Heavy, showing the port sonar cone clearing the ROV housing. In real life the sonar beams are not nicely hard-edged like the illustration. You may need to experiment to find the current mounting location.
View looking straight up the port sonar beam. This configuration also shoots through the payload sled, if there is no payload in the beam path.
