đź“–
Cerulean Sonar Docs
Docs DirectoryStore
ROV Locator
ROV Locator
  • ROV Locator
  • Overview
  • General Specifications Mk II
  • General Specifications Mk III
  • System Variants
  • Fundamentals Useful to System Designers
    • Sound Reflection and Absorption
    • Multipath
    • Ping Length
    • What to Do About Multipath and Other Issues
    • Clock Drift Expectations
    • Accuracy Expectations
      • Accuracy Test: Topside GPS
      • Accuracy Test: 110 Meter Slant Range
      • Accuracy Test: 295 Meter Slant Range
    • Operation in a Pool
  • Autosync Option (Mk II Only)
    • Autosync Mission Scenarios and Mission Suitability
    • Autosync Availability
    • Autosync GPS/GNSS Output
  • ROVL Channels (Autosync only; Operating Multiple Units in Proximity)
  • ROVL Coordinate Systems and Angles
    • Definitions
    • NED or “Compass” vs. ENU or “Math” Angles
    • Math to Compass Frame Conversions
    • Transducer Down Orientation
    • Transducer Up Orientation
    • Receiver/Transceiver Orientation Frames
    • Best Operating Envelope
  • Communicating With the ROVL
    • Serial Parameters
    • Packet Format
    • Messages from ROVL to Host
      • $USRTH Receiver-Transmitter Relative Angles Message
      • $USINF Information Message
      • $USERR Error Message
    • Messages from Host to ROVL
      • NMEA-Format Messages to Receiver
      • Valid Commands from Host to ROVL
  • Inertial Measurement Unit (IMU)
    • How To Tell Which IMU is Active
    • Mk II IMU Modes and Calibration
      • Mk II IMU Calibration Background
      • Mk II IMU Calibration General Procedures
    • CIMU Calibration Background
      • CIMU Magnetometer Calibration
      • CIMU Accelerometer Calibration
      • CIMU Gyro Calibration
  • Operating and Accuracy Considerations
  • Multi-Unit Operation (Swarms)
    • Multi-Unit 1:1
    • Multi-Unit 1:2
    • Multi-Unit 2x1:1
    • Multi-Unit n:1 (fixed transmitter)
    • Multi-Unit n:1 (mobile transmitter)
  • ROVL Mounting and Wiring
    • ROV/Deepside Mounting
    • Topside Mounting
    • Simple Topside Deployment Fixture
    • Wiring Notes
    • Electrical Noise
    • USB Interface using Blue Robotics BLUART Board
  • Mechanical Drawings
    • Mounting Footprint and Envelope, "S" Package
    • Mounting Footprint ("P" Package Mk II and Mk III)
    • Envelope Drawing. "P" Package ROVL Mk II Transmitter and Receiver, Mk III Transponder
  • Appendix: Math for Computing Remote Latitude/Longitude
    • Receiver & GPS at Topside and Transmitter Deepside
    • Transmitter & GPS Topside and Receiver Deepside
  • Appendix: Factory Usage Command Set
  • Troubleshooting
    • How to Tell if Your Mk II Receiver is Working
    • How to tell if your Mk II Transmitter is working
    • What to do when you find an unresolvable problem when troubleshooting
  • Copyright
Powered by GitBook
On this page
  1. ROVL Mounting and Wiring

Simple Topside Deployment Fixture

PreviousTopside MountingNextWiring Notes

Last updated 4 months ago

A 3D Printable mount by Tony White is available

Here's another alternative that doesn't require 3D printing:

Note: We DO NOT recommend using the ROVL electrical cable by itself as a handle or as a deployment apparatus!

The figures below show a simple fixture for deploying a topside unit (either transmitter or receiver). The chain, pipe and weights keep the unit submerged and somewhat vertical even if the boat is drifting. Once the IMU is calibrated (receiver only), just drop the unit into the water. The chain should be long enough to let the unit be 1+ meters deep (deeper is better). Obviously, the electrical connections at the user end of the cable need to be kept dry.

The fixture uses US 1-inch size PVC pipe and fittings.

here
Receiver/Transceiver Fixture. The carabiner at the top end of the chain can be used to affix the chain to a railing or other secure point. It makes for a sad day if you drop your receiver in and aren’t holding onto the chain tightly enough. Be sure to use stainless steel hose clamps with stainless steel screws.
A 1-inch union fitting should be sawn so a hose clamp can clamp to the ROVL unit. The pipe end of the union can be glued to the pipe or another slot can be sawn to allow a hose clamp to hold it to the pipe. If a wide slot is cut into the ROVL end, the ROVL cable can route out the slot for quick attachment and removal (see next photo).
Showing the ROVL cable routed out a wide slot in the union.
Cutting the upper end of the pipe at an angle makes it easier to run the ROVL cable through the middle of the pipe, especially if a USB adapter is molded into the cable.
ROV ballast weights hold the unit underwater and vertical even if the boat is drifting. We use four weights.
Mk II receiver on a chain fixture, ready to drop into the water.