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Copyright 2006 Guidance Navigation Limited. All Rights Reserved.
Copyright in the whole and every part of this document belongs to Guidance
Navigation Limited (the Owner) and may not be used, sold, transferred, copied
or reproduced in whole or in part in any manner or form or in or on any media to
any person other than in accordance with the terms of the Owners Agreement or
otherwise without the prior written consent of the Owner.
Windows is a trademark of Microsoft Corporation.
All other brand or product names are trademarks or registered trademarks of their
respective companies or organisations.

Guidance Navigation Limited Release: 1.0d

4 Dominus Way, Date: 1/2/06
Meridian Business Park,
Leicester, LE19 1RP, Document No: 94-0015-4
England Previous issue: 1.0b
Tel: +44 (0)116 229 2600 Date: 25/10/05
Fax: +44 (0)116 229 2604 Changes: Changes to reflect CyScan v3.09

Documentation by:

Serial numbers and software versions ................................................................ 2 Primary sensor view (requires service access) .................................................... 26
Location offsets (requires service access) .......................................................... 27
CyScan Components Vessel name (requires service access)................................................................ 27
CyScan system component layout...................................................................... 3 Additional shutdown menu features (requires service access) ........................... 28
Licence load (requires service access)................................................................ 28
Mechanical Installation Initial log file creation ...................................................................................... 29
Where to install CyScan ..................................................................................... 4 Bearing offset (requires service access) ............................................................. 30
CyScan sensor orientation.................................................................................. 5
Mounting templates ................................................................................ 6 Operator training
How to install CyScan ........................................................................................ 9 Aspects of CyScan and its use that should be described
Unpacking the CyScan system ................................................................. 9 to a new user to complete the installation ....................................................... 31
Mounting the system components......................................................... 11
Technical notes
Cable Installation Target types ..................................................................................................... 33
Cable specifications ......................................................................................... 14 Targets - reflective material .............................................................................. 34
CyScan Console computer options .................................................................. 15 Target installation ............................................................................................ 35
Connecting the CyScan Sensor ........................................................................ 18 System logs ..................................................................................................... 36
DP feed ........................................................................................................... 38
CyScan Console set-up DP message types ............................................................................................ 41
Entering service access mode ........................................................................... 20 NMEA 0183 message string status bits definition............................................. 46
Blanking zone.................................................................................................. 21 Low temperature operation ............................................................................. 47
Configuration tab ............................................................................................ 24
Console display options (bow orientation) (requires service access) .................. 25 CyScan installation checklist
Checklist and sign-off sheet............................................................................. 48

CyScan Installer 1
Serial numbers and software versions
Component Part Numbers and individual Serial Numbers are assigned to each
component of CyScan. These can be found on product labels affixed to each unit.
These numbers identify the hardware configuration and product revision and will be
requested by Guidance Navigation in the event of an application service or support
call to the company.

Product labels Software version information

The Configuration page tab within the Property sheet provides version information
about every software component within the Console application and the CyScan
CyScan sensor
part number

CyScan sensor
serial number

Software component
version information

CyScan PSU
part number

CyScan PSU
serial number

CyScan Installer 2
CyScan Components
A CyScan Optional cables: 1 Power cable assembly for PSU (40m length) - P/N: 33-0092-3
system is
CyScan Sensor 2 DP cable assembly for PSU (40m length) - P/N: 33-0093-3
made up
Three variants:
as shown:
Standard 3 Console cable assembly with 9-pin D-type (40m length) - P/N: 33-0094-3
P/N: 20-0028-0
Type Approved (ABS)
P/N: 20-0064-0
Low Temperature Optional Data
P/N: 20-0067-0 Converter
P/N: 39-0005-2


data converter
RS to laptop PC cable
PSU 2 32
P/N: 20-0030-0 Co

11 10

3 12



3 21

3 23

OR 422
Power sig 3
2 al
in ign
Pre-wired sensor To 42
RS l
to PSU cabling na
DP unit 2 sig
3 OR
Laptop PC
computer with
RS232 input
(requires Data
OR Hatteland JH15 Converter)
integrated monitor/ P/N: 38-0001-1
CPU with RS422
P/N: 38-0036-4

Industrial PC module
with RS422 input
P/N: 38-0040-4

CyScan Installer 3
Mechanical Installation

Where to install CyScan

The CyScan system is designed for permanent or semi-permanent installation at a The CyScan sensor should be firmly bolted to a flat horizontal surface at the suit-
suitable location on the installation vessel. able location (see Template 1 on page 6).
The mounting surface must have the following characteristics:
CyScan sensor mounted on a rigid be rigid and able to support the sensor weight of 27kg / 61lb.
mounting surface, above sea level,
clear of obstructions and with a be capable of receiving the 4 fixing
clear view in the direction of the bolts used to secure the sensor.
reflective targets. 300mm
provide adequate clearance for the
sensor tilt mechanism

be well above sea level to prevent the
swamping or immersion of the sensor.
afford an adequate view in the expect-
ed direction of retro-reflective targets.
be clear of likely omissions from ex-
hausts or other particulate sources to
Ensure a minimum 300mm exclusion zone
prevent the need for overly frequent around the moving head of the sensor
cleaning of the optical windows.
The Power Supply Unit (PSU) should be firmly bolted to a flat vertical surface within
1m / 3ft of the sensor to allow the use of the pre-wired Sensor / PSU cables (see
Template 2 on page 7).
Typical installation for a platform supply vessel is above the wheelhouse looking
over the back deck area. Installation may benefit from the use of a custom fabri-
cated mounting plate located outside the rear guard-rail.

CyScan Installer 4
CyScan sensor orientation
The CyScan sensor can be situated with its four connectors pointing either to the
bow or stern of the vessel. The required orientation must be signaled to the system
by the correct placement or removal of a jumper within the PSU - please refer to the
section Mounting the system components on page 11.

CyScan sensor mounted with connectors facing the vessels STERN CyScan sensor mounted with connectors facing the vessels BOW

CyScan Installer 5
Mounting templates
Template 1 - CyScan sensor base plate

Length 460


Allow 100mm cable

entry along this edge

or BOW
Width 340

Allow sensor height of 500mm from mounting plate Allow 300mm clearance around baseplate

on all sides to prevent any fouling of spinning rotor

cable entry
along this

4 Holes M8

Outline of Sensor Baseplate

Mount the baseplate horizontal
and level with the bow and stern as

CyScan Installer 6
Template 2 - PSU mounting

Width 330


Allow 100mm cable

clearance at this side

Height 230
Allow housing depth
of 120mm

4 Holes M6

Outline of PSU Housing

Allow incoming cable clearance as required on this side

! IMPORTANT: Mount the PSU with
cable glands along its longest edge
The fixing holes for the PSU are located inside the unit - remove the lid for access. facing downwards to ensure water
Ensure that the PSU is located within 1m of the CyScan Sensor. resistance.

CyScan Installer 7
Template 3 - Data converter mounting

Allow housing depth of 130mm from mounting plate

Width 175 Allow cable clearance as shown


Height 125


Outline of RS485 Housing 4 Holes M4

Remove the Converter lid to access the fixing holes. Mount the
NOT TO SCALE unit close to the CyScan Console laptop computer.

CyScan Installer 8
How to install CyScan Unpacking the CyScan system
The CyScan Sensor is designed to be semi-portable. This allows it to be mounted The whole CyScan system (comprising: main sensor unit, power supply and data
in different positions on the vessel to present the best view of the structure/vessel converter) are supplied and shipped in a custom-built flight case. Use the following
being approached. procedure to unpack and prepare the system elements ready for installation.
Commissioning the CyScan system ready for operation involves four basic stages:
To unpack the CyScan system:
Unpacking the CyScan system
1 Position the CyScan flight case on a level surface, close to the area where the
Mounting the system components sensor will be installed.
Cable installation

Connecting the CyScan sensor
Warning: The CyScan Sensor weighs in
excess of 30kg. Two people, should perform
all lifting and carrying of the unit.
2 Release the four locking catches by rotating
the butterfly-wing tabs anticlockwise. Swing
the catches outwards until they lock out,
away from the lower lip.
3 With the assistance of another person, lift
and remove the upper lid of the flight case.

Remove the flight case lid

4 You will now be left with the base of the

flight case and an inner box containing the
sensor. Check that the eight screws attaching
the lid of the inner box are intact. With the
assistance of another person, hold the open
sides of the lid and lift the inner box out of
the flight case base. You can then place the
inner box onto the ground or, if space is lim-
ited, rotate it horizontally by 45 degrees and
place it onto the lip of the flight case.

Lift out the inner box

CyScan Installer 9

5 Using a crosshead screwdriver, re-

move the eight screws securing the
lid onto the inner box and remove 8 With the assistance of another
the lid. person, lift the sensor from the inner
box using the two carrying handles.
Place the sensor next to the pre-in-
stalled mounting plate on deck.

Remove the inner box lid

Lift out the sensor unit

6 Using a crosshead screwdriver,

remove the eight screws securing
the two end bumper boards and

9 From the access hole in the base of

the flight case, remove the power
supply and data converter boxes
plus their accompanying cables.
Remove the bumper boards

Remove the peripheral items

7 Using a 13mm socket and ratchet, remove

the four bolts that secure the CyScan sensor The system is now ready for installation.
to the base of the inner box.

Remove the bolts

CyScan Installer 10
Mounting the system components
The sensor is mounted on the vessel using
four bolts to secure the sensor unit through
the holes in the base.

To mount the CyScan sensor:

1 With the assistance of another
person, use the two lifting handles
to lift the CyScan sensor onto the
required mounting plate.
2 Carefully lower the CyScan sensor
onto the mounting position so
that its four mounting holes line
up with those of the pre-drilled
mounting plate and with the cor-
rect orientation.
3 Insert four M8 x 25 stainless steel
bolts and tighten them evenly us-
CyScan sensor mounted with connectors facing the vessels STERN CyScan sensor mounted with connectors facing the vessels BOW
ing a 13mm socket and ratchet.
4 Remove each of the four locking
pins from the sensor. Ensuring that
the white bellows are not dam-
aged, rotate the larger barrel of
each locking pin clockwise until it
becomes short enough to remove.
Keep the locking pins with the
flight case for future shipping.
5 Depending on whether the sensor
is mounted with its connectors to
Stern or Bow, remove or install
the link wire (shown overleaf)
within the PSU.

Ensure that the locking pins are removed and safely stowed

CyScan Installer 11
To set the PSU jumper to reflect the
sensor orientation
Depending on whether the sensor is mounted Mounting with connectors to BOW Mounting with connectors to STERN
with its connectors to Stern or Bow, remove or (link required within the PSU) (link must be removed from PSU)
install the link wire (as shown left) within the












Ensure link is Ensure link is

present between removed
connectors 4 and 6

CyScan Installer 12
To mount the PSU:
The PSU must be securely mounted within one metre of the CyScan sensor position.
1 Prepare a suitable site for the PSU and pre-drill pilot holes for the mounting
screws according to the Template 2, given on page 7.
2 Remove the PSU lid and insert four M6 x 30 stainless steel cap head screws
through the mounting holes at the four corners of the PSU enclosure.

PSU mounting holes

CyScan Installer 13
Cable Installation
CyScan is supplied without the cables that are
necessary to connect the sensor/PSU to the
DP system or to the PC control console. These 24 22 19 18 15 14 13 11 10 9 8 6 5 4 3 2 1
must be supplied and fitted as required for a
particular vessel installation by the installer. The CyScan

installer must also provide power to the PSU. Sensor
Three cable connections to the PSU are required
as shown here:

Cable specifications
Signal wiring to the DP and Control Console
should be constructed of standard armoured
and shielded data cable with a minimum of 5
3 2 1

cores and suitable for external marine applica-



RS422 link:


tions including UV and chemical resistance.


9600 baud

The power cable should be of external marine 8 data bits

standard 3 core armoured construction rated to 1 stop bit 19 18 14
6 amps. No parity






DP POWER RS422 link:





The DP feed behaviour can be configured, with- 38400 baud
in the CyScan Console application, to suit the 8 data bits
CYSCAN 1 stop bit
type of DP system being used. This is described
in Technical Note 6 on page 41. CONSOLE 11 10 9 8 5 No parity


PC RS422 port

CyScan Installer 14
CyScan Console computer options
The CyScan system is available with three
different optional configurations of PC hard- Industrial PC Module
ware to run the Control Console application. (part number 38-0040-4)
The wiring connections for each of these are
shown here. Use the one that is appropriate
to your PC hardware configuration. RS422 link:



DP POWER 38400 baud
FEED IN 8 data bits
1 stop bit
No parity 11 10 9 8 5

ay D

M1 5

Console computer notes:

Use only COM2
Set the Console Communications port to COM2
Remove keyboard after setup and use onscreen keyboard

CyScan Installer 15
Hatteland JH15 integrated monitor/CPU module
(part number 38-0036-4)

2 RS422 link:



38400 baud

M3 8 data bits
1 stop bit
M1 M4
CO 232
11 10 9 8 5 No parity

CO 422
RG b


2 fem
3 H

2 9
1 8

Console computer notes:

Use COM1 or COM2
Set the Console Communications port to COM1 or COM2, as appropriate
Remove keyboard after setup and use onscreen keyboard

CyScan Installer 16
Laptop PC
(part number 38-00011)



DP POWER RS422 link:
FEED IN 38400 baud
8 data bits

CYSCAN 11 10 9 8 5 1 stop bit

No parity






7-35VDC +24V [22] F

CyScan KL
Console OR AB

GND/0VDC 0V [23]
2W Switches
BRIDGE PSU max 1-8: OFF Requires use of the optional Serial Data
Power can be derived either from Converter to produce an RS232 signal
the bridge supply OR from the PSU from the RS422 output of the PSU. Use
Template 3 for data converter

CyScan Installer 17
Connecting the CyScan Sensor
With the CyScan Sensor in position, the necessary electrical connections can be

To connect the CyScan Sensor:

1 Remove the protective dust caps from the Power, DP and Console sockets at
the Stern end of the CyScan Sensor. Do not remove the protective cap from the
fourth sensor connector.
The cable connectors and corresponding sockets are similarly labelled. Note that
the sockets and connectors are not interchangeable.

! WARNING: The scanning head will begin to spin within 30 seconds after
power is applied. Ensure that it is not obstructed before attaching the
power connector. Keep all objects at least 300mm away from the scan-
ning head in all directions.
2 Attach each of the three cable connectors, in the order that follows, to the ap-
propriate sockets on the CyScan sensor:
i First, attach the Console and DP Feed connectors.
ii Next, attach the Power connector.
3 Double check that each connection is secure.

DP feed


To use the CyScan connectors

IMPORTANT: The CyScan connectors are keyed. DO NOT twist or
turn. DO NOT use a wrench or other tool.

For each connection: To remove:

1 Orient the red dot of each con- 2 Slide forward the 1 Slide back the outer
nector to the correspond- outer ring of the ring and then
ing red dot of the connector gently pull the
socket and push until it connector
it into the locks in from the
socket. place. socket.

CyScan Installer 18
CyScan Console set-up
Once the full CyScan system has been installed on the vessel, a number of tasks
need to be performed to ensure accurate operation. These are:
Blanking zone this ensures that the sensor is looking in the right direction.
Primary sensor view this setting affects the preset blanking zone shapes that
are made available.
Location offsets these define the exact position of the sensor on the vessel,
Vessel name identifies the vessel and is included in all reports created by the
CyScan system, Most of these tasks are only available when
Log file creation create and collect a log file to confirm the correct installation Service access mode is invoked.
and operation of the CyScan system.
In addition, other optional settings are available:
Bearing offset optional, used to account for any deviation of the sensors
orientation from the true centre-line of the vessel,
Additional shutdown menu features a range of options, such as upgrading
and diagnostics that are available during service access mode.
Licence load used to unlock additional features or upgrades when they be-
come available.
Each of these operations are discussed in the sections that follow.

CyScan Installer 19
Entering service access mode
There are many settings within CyScan Console that can seriously affect system op-
eration if they are incorrectly adjusted. For this reason they are concealed until you
enter service access mode.
There are two ways to enter service access mode: A Service Access USB Key is available to authorised service partners
Insert an engineers USB key into one of the Console computers USB ports, or (part number 20-0076-4). This can be obtained from Guidance
Navigation Limited. Email
Obtain a temporary service access code from either Guidance Navigation Lim-
ited or an authorised customer service representative.

To obtain and use a temporary service access code

1 Within the CyScan Console application, view the About page tab within the Prop-
erty sheet.
2 Click the Service Access button in the lower
right corner of the About page. A dialog will
be displayed and will show a Service request
Note: The service request code is always
constructed as two groups of six capital letters
[A-Z] separated by a + sign. There are never
any numerals in a service access code.
3 Transmit the service access code to Guidance
Navigation Limited (
or an authorised customer service repre-
sentative. A corresponding Service access
code will be supplied to you. This code is
non-transferable and will operate only with
current Console system for a limited period.
4 Enter the received code into the Service
access code field of the displayed page and Service access code dialog showing the request code
click OK. Service access will be granted on and an area to enter a corresponding access code
this system for a maximum period of 12
hours, however, the mode will be automati-
cally ended after 20 minutes - you need to
re-click the Service Access button within the
About page.
Note: The service access code is a 12 digit hexadecimal number [0-9, A-F].

CyScan Installer 20
Blanking zone
Once the CyScan sensor has been installed on the vessel, the Blanking Zone can Setting the Blanking zone
be adjusted to take into consideration the vessels super-structure. In general, the There are two ways to set the blanking zone, either:
Blanking zone should be set to maximise the view that the sensor has of the target
Select a preset zone shape provided within the Blanking page, or
Create a custom zone shape using the Set Blanking Zone option available via
For a typical PSV installation with the sensor mounted centrally above the wheel-
the Sensor operations button.
house looking over the rear deck the Blanking zone should be set as per one of the
examples below, depending on the vessel superstructure.

Blanking zone example 1 - CyScan sensor has Blanking zone example 2 - CyScan sensor has
view completely across the stern as well as view completely across the stern and directly
forward up to 45o port and starboard out on port and starboard

CyScan Installer 21
To select a preset Blanking zone
Note: If the blanking zone is adjusted while navigating, the new values are applied
only to the active multi-target group. However, if the blanking zone is adjusted
while out of navigation mode, the new values are not applied to any existing multi-
target groups but instead form a new baseline setting.
1 View the Blanking page tab within the Property sheet.
2 Click on the blanking zone shape that best suits the current CyScan installation and
its field of view. Note: The Primary sensor view setting affects the range of blanking
preset shapes that are provided.
3 Click the Apply

View the Blanking page tab

Select the most appropriate

Blanking zone shape

Click the Apply button

CyScan Installer 22
To create a custom Blanking zone
Note: If the blanking zone is adjusted while navigating, the new values are applied
only to the active multi-target group. However, if the blanking zone is adjusted
while out of navigation mode, the new values are not applied to any existing multi-
target groups but instead form a new baseline setting.

1 Click the Sensor Operations button to reveal a pop-up list of options.

Blanking zone Blanking zone
2 Select the Set Blanking Zone option. start segment end segment
The first segment The last segment
Note: The 3600 sweep of the sensor display is split into 16 segments and the where the laser is before the laser is
CyScan rotor spins in an anti-clockwise manner. When selecting the start and switched off. switched back on.
stop segments for the blanking zone, you must always work in an anti-clock-
wise direction.
3 Using the cursor, click the first segment where you wish the laser to switch off.
4 Now move the cursor to the final blanking zone segment of the anti-clockwise
rotation, where the laser will still be off (i.e. the laser will resume at the begin-
ning of the next segment). As you move the cursor into a new segment, that
segment will be blanked so that you can see a representation of the final blank-
ing zone. To fix the zone, click the mouse within the final segment.
Note: The blanking zone must use a minimum of four segments.
5 Click the Apply tick button and in the subsequent dialog, click OK to
confirm your action.

CyScan Installer 23
Configuration tab
In addition to the normal user information displayed on this page there are a
number of additional options available when service access is enabled.

The Configuration Category box allows you

to access Vessel Parameters, Communication
Settings and Display Options.

(requires service access) (requires service access)

> >

The General Settings/Version Info box allows

the installer to check the orientation of the
sensor in relation to the wiring connectors.
This is determined by the presence/absence
of a link in the PSU as described previously
(see page 12).

CyScan Installer 24
Console display options (bow orientation) (requires service access)
The Display Options page allows the direction of the vessel bow on the console
display to be set as either; Top, Bottom, Left or Right.

To adjust the bow Orientation

1 Enter Service Access mode using either an engineers thumb key or a temporary
service access code.
2 View the Configuration page tab within the Property sheet.
3 Click the down arrow of the Select Configuration Category box and select the
Communications/Display Options setting.
4 In the Display Bow Orientation field select either; Top, Bottom, left or Right.
5 Click the Apply button.

Bow orientation: Top Bow orientation: Bottom

Bow orientation: Left Bow orientation: Right

CyScan Installer 25
Primary sensor view (requires service access)
This is a vessel parameter which, once set, is not likely to need alteration unless the
CyScan is only semi-permanent. This parameter sets the main viewing direction of
the sensor. The options are Stern or Bow. This setting determines the orientation of
the pre-set blanking zones which are available via the Blanking property page.

To change the primary sensor view Preset blanking zone

1 Enter Service Access mode using either an engineers USB key or a temporary shapes that are available
when the Primary sensor
service access code. view is set to Bow
2 View the Configuration page tab within the Property sheet.
3 Click the down arrow of the Select Configuration Category box and select the
Vessel Parameters / File Transfer option.

Preset blanking zone

shapes that are available
when the Primary sensor
view is set to Stern

4 Click the down arrow of the Primary sensor view box and select either Bow or
Stern as appropriate.
5 Click the Apply button.

CyScan Installer 26
Location offsets (requires service access) Vessel name (requires service access)
Location offsets allow you to define exactly where, within the outline of the vessel, The vessel name is displayed within the CyScan Console application and is also written
the CyScan sensor is positioned. The location offsets are expressed as four values to all activity logs that are produced. The latter is an important reason to enter the ves-
(length and breadth of the vessel, plus a bow offset and a starboard offset) held sel name, particularly to avoid confusion between logs sent from different vessels.
with the Configuration page tab of the property sheet.
To set the vessel name
To adjust the location offsets 1 Enter Service Access mode using either an engineers USB key or a temporary
1 Enter Service Access mode using either an engineers USB key or a temporary service access code.
service access code. 2 View the Configuration page tab within the Property sheet.
2 View the Configuration page tab within the Property sheet. 3 Click the down arrow of the Select Configuration Category box and select the
3 Click the down arrow of the Select Configuration Category box and select the Vessel Parameters / File Transfer option.
Vessel Parameters / File Transfer option.

4 In the Name field, enter the vessel name.

4 In the Length and Breadth fields, enter the overall size of the vessel. 5 Click the Apply button.
5 In the Bow Offset and Starboard Offset fields, enter the distance of the sensor
from the bow and from the starboard side, respectively.
6 Click the Apply button.

CyScan Installer 27
Additional shutdown menu features Licence load (requires service access)
(requires service access) This is an upgrade utility which allows the Licence Keys required to unlock addition-
When service access mode is invoked, the CyScan Console shutdown menu displays al or enhanced performance features of the system to be installed.
a variety of options that are concealed during normal user mode:

In addition to the standard entries, the extra options include:

Scanner and Leveller flash upgrades
Leveller diagnostics
Navigator upgrade
Call Windows Registry Editor (regedit) or Windows Explorer

CyScan Installer 28
Initial log file creation
As part of the commissioning process, it is accepted best practice to initiate and store a
log file of the CyScan system operation. The completed log file should then be archived
and a copy also sent to Guidance Navigation Limited as a base reference for the system.
Normally, the CyScan system creates automatic log files whenever it is navigating.
For commissioning and diagnostic purposes, it is possible to force the system to cre-
ate a log file while it is in standby mode. To provide real data, the system must be
able to see one or more reflective targets.

To create and send a log file

1 Enter Service Access mode using either an engineers USB key or a temporary
service access code.
2 On the CyScan Console keyboard, press Alt + L. Allow the system to run for at
least ten minutes with one or more reflective targets in view.
3 After a suitable period, press Alt + L to stop the log file session.
4 Use the 'Start' button and My Computer to access the Local Disk (C:) folders
and filing system. Locate the Program Files\CyScan folder.
5 Within the folder, locate the log file whose filename matches the date and time
of your session. The name of the folder will include the start and finish dates
and times, for example:
05d09m2005y 20h33m03s to 05d09m2005y 20h43m38s
6 This folder and its contents should be archived and also transmitted via email to or posted on diskette back to Guidance Navigation Ltd.
Note: To compress the whole folder prior to transmission by email, you can
make use of the folder compression utility with a right mouse click and by
choosing Send to compressed folder. Such compressed folders can be also be
decompressed with standard tools such as WinZip.

CyScan Installer 29
Bearing offset (requires service access)
The Bearing offset allows you to optionally correct any deviation of the CyScan To adjust the bearing offset
sensors centre-line from that of the vessels. 1 Enter Service Access mode using either an engineers thumb key or a temporary
The bearing offset is calculated based on the direction of the CyScan sensor relative service access code.
to the bow - irrespective of whether the sensor is mounted with its connectors fac- 2 View the Configuration page tab within the Property sheet.
ing the bow or the stern.
3 Click the down arrow of the Select Configuration Category box and select the
Positive Negative Vessel Parameters / File Transfer option.
bearing bearing
offset offset
angle angle

Sensor mounted slightly to port Sensor mounted slightly to starboard

Bearing angle is positive Bearing angle is negative

4 In the Bearing Offset field, enter the exact angle by which the centre-line of the
sensor deviates from that of the vessel. If the angle is to port (anti-clockwise),
the angle must be positive.
5 Click the Apply button.

CyScan Installer 30
Operator training
Aspects of CyScan and its use that should be described to a
new user to complete the installation
As part of the commissioning process it is important to ensure that the vessels
DP operation staff are familiar and comfortable with the operation of the CyScan
system. As a minimum, the DP operation staff should be shown and practice the
following basic aspects of the CyScan Console, so that they are confident in operat-
ing the system:
Start up and shutdown,
Elements of the User Console display,
Adjusting the blanking zone,
Adjusting the sensor tilt controls,
Creating and using multi-target groups,
To assist with DP operator training, an Operators Guide and an instruction video are
supplied with every CyScan system. The Guide is in hardcopy printed form and as
a .pdf on an accompanying CD. The video is on a CD and can be played on any PC
with disk drive and audio output.

CyScan Installer 31
Technical notes
Technical note 1: Target types
Technical note 2: Targets - reflective material
Technical note 3: Target installation
Technical note 4: System logs
Technical note 5: DP feed
Technical note 6: DP message types
Technical note 7: NMEA 0183 message string status bits definition
Technical note 8: Low temperature operation

CyScan Installer 32

Target types
CyScan can operate successfully with flat, cylindrical or prismatic targets. These are
available from your CyScan agent and are shown here:

Flat targets Cylindrical targets Prism targets

Flat targets are generally attached to rigid struc- Cylindrical targets can be used up to Prism cluster with 8 x 6cm elements for
tures such as metal stanchions using steel bands. approximately 300 metres. They can be extended range operations.
2 metre tall flat targets can typically be seen at hung over the side of the structure/vessel Part number: 20-0075-1
up to 400 metres in ideal conditions. Shorter and secured with a shackle at either end.
1 metre tall flat targets are visible at up to 250 Part number: 20-0032-0
metres when viewed straight on. (1.5m cylindrical reflector including shack-
Part number: 20-0031-0 les)
(2m x 350mm flat reflector including stainless
steel bands)

CyScan Installer 33

Targets - reflective material

CyScan has been designed to operate with good quality retro-reflective targets.
There are numerous manufacturers and types of reflective material available world-
wide. These have widely varying angular reflective specifications and are not all
suitable for laser navigation purposes.
Only one type of reflective material is recommended for use with CyScan. It is
known as Scotchlite Diamond Grade White 3970 and is manufactured by the 3M
Company. It is widely available as a tape or flexible sheet in a variety of sizes with an
adhesive backing. The material can be obtained through 3Ms international product
distribution network as detailed below.
3M trademarks are acknowledged

Contact details for 3M product distribution network:

Recommended reflective tape:
Country Contact point
United States 3M Austin Centre, Austin, Texas, 78726
3M Diamond Grade
Tel: 512-984-1800 White 3970
United Kingdom 3M UK Plc, Bracknell, Berkshire, RG12 1JU
Tel: 01344-858000

Canada 3M Canada Product Information Centre,

London, Ontario, N5V 3R6
Tel: 1-800-364-3577

Japan Sumitomo 3M Limited, Setagaya-ku, Tokyo 158

Tel: 813-3709-8170

Germany 3M Deutschland GmbH, 41453 Neuss

Tel: 02131-143472

Italy 3M Italia SpA, Segrate, Milano

Tel: 392-70351

France 3M France Customer Information Centre,

F-95006 Cergy Pontoise Cedex
Tel: 331-130-318-020

Hong Kong 3M Hong Kong Limited, North Point, Hong Kong

Tel: 852-2806-6111

CyScan Installer 34

Target installation
Key to the operation of the CyScan system is the correct installation of targets. Please
follow the guidelines given below when installing targets on the structure/vessel.
Once the targets are installed, their relative positions can be automatically surveyed
by the system.

Installation tips
Targets should be placed in positions where the sensor can see them while the Targets should be positioned with unequal spacing between them this helps
vessel is within the expected working area. Consider vertical position as well as the system to distinguish between specific targets. For example, with a typical
horizontal. mooring distance of 40-80m using three targets, suitable spacings between the
targets would be 10m and 20m giving a total spread of 30m.
Flat targets should not be placed too far along the structure/vessel from the ex-
pected working area as this can reduce the viewing angle for close operations.
The sensor beam should not

strike a flat target at an angle are asymmetrically spaced,

of more than 45 degrees to thus making it easier for the
the target surface. VI CyScan system to assess which re-
Cylindrical targets can be
viewed from any angle
GLE LE 45 o
flection corresponds to a particular
equally well. 0 VI
Targets should be placed no closer than 5m together. Ideally they should be
placed 10m or more apart.

Targets are too close together and

have even spacings. This makes
it more difficult for the CyScan
system to differentiate them.

CyScan Installer 35

System logs
CyScan Console automatically creates comprehensive data logs in chunks of In particular the data logging feature can be totally disabled:
about 1 hour duration while the system is navigating. Logs are also written when
manual logging is enabled (Alt-L) or when a multi-target group is created by survey.
The maximum overall size of the created data log folders depends on the number
of reflections seen, but is typically ~6MB which compresses down to less than 1.44
MB for distribution by standard floppy, if necessary.
Moreover, CyScan Console also writes out the historic alarms list to the console
computer, generates registry backup files or calibration/parameter parsing error files By default the data logging is enabled and the destination path is set to the applica-
on applying registry defaults or performing file imports respectively and saves screen tion installation directory:
dump images (F10) when requested.
CyScan Console automatically trims back the accumulated data logs by age only.
Log files which are older than the hard-coded log period are deleted. This log pe-
riod is hard coded to ca. 30 days, i.e. 1 month. The destination directory for log files
is also hard-coded to be the application installation directory.

Console changes introduced with v3.09 software If the data logs should be directed to an alternative drive or a specific path, then
With the introduction of CyScan Console v3.09 a number of changes have been this can be done via the Custom option:
introduced to the logging mechanism as follows:
The ability to configure the data logging behaviour.
Automatic handling of disk space constraints.

Configuring the data logging behaviour

The bottom of the Com-
munications / Display Op- The File trim value is the maximum age a log file is allowed to have in order to
tions configuration property be retained. This value does not neatly correlate to a unit of time in terms of hours
page (service access required) or days at this point. The default value of 6000 corresponds to about 30 days. The
now presents some Datalog minimum value for this age is 200, i.e. about 1 day.
Options to configure the All the above configuration parameters only apply to the CyScan Console and are
logging behaviour. not retained by the sensor in its parameter set. Instead they are stored locally in the
system registry.

CyScan Installer 36
Automatic handling of disk space constraints
Previously, CyScan Console would assume sufficient log space was available on the As before, while logging is in progress, the system will continue to trim log files
console computer to accumulate 24/7 logs at a rate of ~144MB/day as the stand- based on the age criteria as configured by the File trim value mentioned above.
ard console computers are fitted with 20GB hard disks. This basic assumption is no In addition, every time a new log is created, the system now re-evaluates the avail-
longer appropriate with the emergence of different console computer configura- able disk space according to:
tions, e.g. 1GB XP embedded compact flash installations, and an enhanced mecha- Free space available > (1 hour of log space + Keep Free limit), e.g. 144MB /
nism has been introduced. 24 + 10MB = 16MB, then logging proceeds as normal
On start-up, CyScan Console now performs a number of checks depending on Otherwise, the maximum age limit is incrementally reduced (amounting to the
which the data logging feature might be disabled in order to avoid exhausting the equivalent of a day each time) and log files are deleted until sufficient space is
available disk capacity. Primarily, if logging is enabled and the log path is valid, the created.
following conditions are evaluated:
Eventually, if the maximum age limit has been reduced to the minimum of 1 day
1 Free space available <= 0MB, then Error # 3230 No Disk Space is raised and and the available free space is still insufficient, the system will stop creating log
the logging feature is disabled. files.
2 Free space available < hard-coded Keep Free limit of 10MB, then Warning # When the system completely fails to free up sufficient space for further logs it
4270 Insufficient Disk Space is raised and the logging feature is automatically generates an alarm to that effect. However, it will still try to recover from this
disabled. condition and logs will be created again if space is made available indirectly via an
3 Free space available < 144MB requirement for a single full day of continuous external process at a later stage. While in this state the system can still generate
data logs, then Warning # 4280 Low Disk Space is raised, but the logging automatically created files such as screen dumps. The hard-coded Keep Free limit
feature remains operational as the system might be able to remove older logs to is a parameter stored in the system registry to allow adjustment to a larger value.
free up sufficient space when new logs are being created. As a consequence,
logs younger than the configured File trim value might be automatically
4 Free space available < maximum space required for continuous data logs over
the whole log age period (default 30 x 144MB = 4320MB), then Info # 5820
Low Disk Space is raised, but the logging feature remains operational as the
system will simply remove old logs as necessary to free up space for newer logs.
As a consequence, logs younger than the configured File trim value might be
automatically removed.
Programmers Note: The available free space is evaluated in the calling context of
the user process running the CyScan Console via GetDiskFreeSpaceEx()
If the data logging is disabled from the outset because of conditions (1) or (2)
above, then this will also stop creation of any other automatically generated files
such as screen dumps or error files.

CyScan Installer 37

DP feed
Introduction In single-target navigation:
The CyScan Sensor can provide position feedback in a variety of proprietary and As no heading information is available, the coordinate frames do agree with each
standard formats to allow hook-up to a range of DP systems. To achieve the highest other, but are still target centred and aligned with vessel Bow and Starboard.
level of compatibility between the sensor and any DP system a number of param-
eters can be configured on a per-installation basis. Position calculation in NMEA0183P
The actual specification of the available DP message types and their respective for- Normally the position reported in this message is a straight Polar to Cartesian
mats is covered in Technical Note 6. Detail of the status bits for the NMEA0183 type transformation of the range and bearing measured to the primary reflector. If the
message formats in Technical Note 7. The correct wiring information etc. is covered primary reflector is obscured or not associated for whatever reason, then a VOID
in the product manuals and installation sheets. position will be reported even though CyScan might still be able to maintain posi-
Nevertheless, there are a number of subtle issues for example concerning the timing tion from the 2nd and 3rd target in multi-target navigation. Therefore it is possible
of messages or the logic behind status flags contained within DP messages which in this configuration to have a VOID position feedback but an ACTIVE heading
the system integrator or installer should be aware of so that the DP feed behaviour feedback.
can be correctly tailored to the requirements of the DP system it is connected to. If the sensor parameter Route.UseRawVesselFramePosition is set to 1
This document outlines these issues in no particular order or context and is meant the above behaviour is changed so that the position is instead calculated from the
as a reference guide to the skilled engineer or DP system integrator. available redundant target information via the transformation on page 4 of [1]. In
effect, the position feedback becomes the same as in NMEA0183R but is vessel
Coordinate Axes NMEA0183 aligned with Bow and Starboard. Therefore when the position feedback is ACTIVE
The coordinate frames used in the NMEA0183R and NMEA0183P specification use or VOID this is mirrored in the heading feedback.
the same axes designators A and B and the same clock-wise from A convention for
the heading, but they are fundamentally different coordinate frames. Status bits in NMEA0183
In multi-target navigation: NMEA0183R and P messages are not obviously distinguishable from each other, but
bits 15 and 14 can be used to decode what the correct reference frame alignment
For NMEA0183P the axes are always aligned with the CyScan vessels Bow and Star-
board. For NMEA0183R the coordinate frame is arbitrarily aligned as defined by
the mooring point survey (A axis connects the origin to the outer most target) but When in NMEA0183R (or NMEA0183P and UseRawVesselFramePosition
may have been rotated in a subsequent mooring point alignment. set to 1) mode the status of bit 12 can give some level of warning of degradation if
the primary target is unavailable (likely to coincide with origin).
However, in both cases the origin is not vessel centred, but target centred at the
primary reflector (id 1). Manually translating the origin in the mooring point defi-
nition may move the origin away from this reflector, depending on how the position
Target redundancy for valid DP messages
is calculated. In single target tracking a valid position-only feedback can be provided if the meas-
ured range and bearing (and sometimes brightness) fits the tracking parameters.
In both message types the heading reported is the vessel heading with respect to
There is no level of redundancy from other targets if the correct target is obscured
the A axis of the mooring point, i.e. the heading in NMEA0183P and R are identi-
or not detected for other operational reasons (more on single target tracking be-
cal and referenced to the same A axis, while the position coordinate frames do not
align with each other.

CyScan Installer 38
In multi-target tracking the situation is different. In NMEA0183R mode valid posi- Stale values in DP messages
tion & heading feedback can be provided if bearing and range to at least 2 targets
Typically when no position fix is temporarily available then stale DP messages will
can be measured. If one out of 2 targets drops out, both position and heading
be generated which simply contain a copy of the most recent valid data. This is to
feedback are simultaneously VOID. If 3 or more targets are available, the system
avoid possible position jumps back to 0 and to make plotting of data less dis-
will maintain position and heading feedback for as long as at least 2 targets are
jointed. If status flags are available these will be set to indicate a VOID message
detected and associated reliably. Thus, any reflector beyond the minimum of 2 adds
status of course.
further redundancy against target drop-outs up to a limit of 5 reflectors.
In NMEA0183P mode (default configuration) the redundancy gained by adding Allow refresh timer / zero strings
more than 2 targets to the mooring point only benefits the heading feedback but
In an extension to the above discussion, by default the position feedback is based
not the position feedback. The position feedback is completely dependent on the
either on a 1 Hz timer or by the most recent data available whichever of the two is
primary target; on the other hand, position feedback can be maintained on this
the soonest. When starting navigation, i.e. no valid position feedback yet available,
single target if the secondary target is of weaker nature and the heading feedback
the system issues zero valued DP message strings. Equally, when temporarily no po-
is of lower importance.
sition feedback can be provided while navigating then a repeat message contain-
ing stale data is generated based on this timer.
Operator selection of DP messages
By un-setting the sensor parameter Allow refresh timer & zero strings this behav-
By default the operator can select from any of the three messages types
iour can be altered so that the timer is not active. Moreover, for messages which
NMEA0183R, NMEA0183P and ASCII17 while other message types are only avail-
do not contain a status flag the sending of stale messages will be suppressed, i.e.
able with service engineer level access. However, the choice of messages can be
messages are only generated when a valid position fix is available.
configured (e.g. pre-configured to a single value with no operator choice!) via the
system registry value DpFeedAllowSelection which is a bit-wise OR repre- Single target tracking constraints
sentation of the message selection identifiers specified in [1].
Single target tracking is the simplest form of operation but also offers the least
Zero value DP messages amount of redundancy and subtlety in target and noise rejection. The system prima-
rily distinguishes between two types of single target tracking: (i) retro-reflective tape
In default configuration CyScan Console will keep the sensor DP feed permanently targets in tube or flat form and (ii) prism or prism clusters.
enabled whether the sensor is navigating or not. This means that regular DP mes-
sages are sent but all values are set to 0 and status flags if available will indicate Both modes track by automatically constraining the acceptable range and bearing
VOID status. to the target under track, but (i) will also make a pre-selection of likely target can-
didates based on the currently tracked target brightness while (ii) does not consider
This also applies to 3rd party proprietary message formats which typically are range the return brightness at all.
and bearing based. These messages will be issued with both range and bearing set
to zero. This behaviour can be used by the DP system to detect the presence of the If the target quality is poor (likely to encounter large brightness changes from rev to
sensor even though the data is not valid for DP selection. rev) or the environmental conditions are poor, then (ii) might give the appearance
of more reliable performance. On the other hand (ii) is more likely to track spurious
However, not every DP system will find this acceptable and by setting CyScan Con- close-by reflection if the actual target is temporarily obscured.
sole parameter DpFeedAlwaysEnabled to 0 the system will stop sending DP
messages when not navigating. Single target tracking tuning
The sensor is configured for typical PSV installations (in terms of height, offset from
vessel axis and typical vessel motion) and the tracking parameters are tuned to the
sensor noise characteristics. However, higher than normal installations or more
severe vessel motions will introduce larger local sensor displacements which will
express itself in increased range and/or bearing difference on a per rev basis.

CyScan Installer 39
Should these become greater than the tracking constraints the system will not ac- DP message status flags
cept a valid measurement for the position fix until it has increased its tracking limits
In its default configuration (i.e. parameter configuration and tracking performance)
on the next rev. This will introduce 1 or more VOID messages. The occurrence of
the sensor would expect to be allowed to occasionally generate up to 10s of VOID
these can be reduced by adjusting the following parameters.
messages prior to automatic de-selection by the DP system. If this period needs
Laser.BearingMargin to be reduced substantially, then adjustments to the sensor configuration may be
Laser.RangeMarginRel NMEA0183 message length
Laser.PeakMarginRel These are fixed length messages and the numeric fields cannot grow beyond their
maximum size as described in Technical Note 6.
The sensor takes a cautious approach to tracking and follows the principle of erring
on the side of false positives (i.e. rejecting a good measurement and producing a
VOID fix) rather than true negatives (accepting a bad measurement and passing it
on as a GOOD fix). If the system rejects a measurement on a particular rev it will not
accept the closest best fit currently available but does not consider any other data
until the next rev.

Multi-Target tracking tuning

In this mode the system employs an n-state extended Kalman filter to recognize and
associate the correct target measurements and integrates this with a basic vessel
motion model taking into account such measurements as the vessel yaw rate.
To avoid unstable control the position and heading feedback however is not derived
form the Kalman filter state but is computed on an instantaneous basis using a
least-squares minimisation technique on the best range and bearing data available.
This distributes any measurement noise from the two range and bearing pairs into
the two position values and the one heading value.
The system is tuned for station keeping applications and typical PSV vessel mo-
tions when on station but can be adjusted within reason for other operations such
as approach tracking etc. The relative weighting between position and heading
feedback can also be adjusted.

CyScan Installer 40

DP message types
The CyScan Mk II distinguishes between two operating modes: (a) single target/ NMEA0183P Format (0x0002)
prism, and (b) multiple target operation which can affect the type of data sent to A 42 character string:
the DP feed. However, independent of this operation mode different DP feed mes-
sage types can be selected from a range of formats. The DP message update rate is
1 Hz. $RLS message header
Each format name is followed by the corresponding selection value that can be AAA.AA resolved primary position in A axis [metres]
used in a bitwise combination with other selection values (registry key: BBB.BB resolved primary position in B axis [metres]
DpFedAllowSelection) to define which DP feed formats are available for selection S1 status of position data in A and B axis, A available; V void
by the normal DP operator. Typically this should be set to only a single value corre-
XXX.XXX resolved bearing of vessel with respect to A axis [degrees]
sponding to the DP system the sensor is connected to.
S2 status of bearing data, A available; V void
The default DP feed selection value for normal operators is 0x0007 correspond-
HHHH status word in hexadecimal. Up to 16 bits defined by Guidance
ing to the NMEA0183R, NMEA0183P and ASCII17 formats. In engineer mode all
Navigation in a separate specifications document
formats with selection values below 0x00FF are available.
CC computed checksum in hex
NMEA0183R Format (0x0001) <CR> Carriage return (ASCII 0D hex)
A 42 character string: <LF> Line feed (ASCII 0A hex)


$RLS message header A 17 character string delimited only by <CR> and <LF> with bearing measured bow
AAA.AA resolved raw position in A axis [metres] clockwise.
BBB.BB resolved raw position in B axis [metres] CHARACTER INDEX DESCRIPTION FORMAT
S1 status of position data in A and B axis, A available; V void 0-5 Range (metres x 10) nnnnnn
XXX.XXX resolved bearing of vessel with respect to A axis [degrees] 6 Space (0x20h) X
7-12 Bearing (degrees x 1000) nnnnnn
S2 status of bearing data, A available; V void
13 Space (0x20h) X
HHHH status word in hexadecimal. Up to 16 bits defined by Guidance 14 Status Flag (0 = invalid, 1 = valid) N
Navigation in a separate specifications document 15 carriage return (0x0Dh) X
CC computed checksum in hex 16 line feed (0x0Ah) X
<CR> Carriage return (ASCII 0D hex)
<LF> Line feed (ASCII 0A hex)
Note: when the reflectors are installed on a fixed platform and their co-ordinates
are entered in Northings and Eastings, AAA.AA and BBB.BB will also be in North-
ings and Eastings and XXX.XXX will be true vessel heading.

CyScan Installer 41
MDL Standard (0x0008) Nautronix Standard (0x0080)
A 19 character string delimited only by <CR> and <LF> with bearing measured bow A 14 character string delimited only by <CR> and <LF> with bearing measured bow
clockwise. clockwise.
0-1 ID nn 0-1 ID nn
2 Space (0x20h) X 2-6 Bearing (degrees x 100) nnnnn
3-9 Range (m) nnnn.nn 7-11 Range (m x 10)) nnnnn
10 Space (0x20h) X 12 carriage return (0x0Dh) X
11-16 Bearing (degrees) nnn.nn 13 line feed (0x0Ah) X
17 carriage return (0x0Dh) X
18 line feed (0x0Ah) X Artemis Mk IV (0x0010)
A 17 character string delimited only by <CR> and <LF> with bearing measured bow
MDL Multi-Target (0x0040) clockwise.
A 22 character string delimited only by <CR> and <LF> with bearing measured bow CHARACTER INDEX DESCRIPTION FORMAT
clockwise. 0-5 Range (metres x 10) nnnnnn
0-1 ID nn 7-12 Bearing (degrees x 1000) nnnnnn
2 Space (0x20h) X 13 Space (0x20h) X
3-9 Range (m) nnnn.nn 14 ID (always 1) N
10 Space (0x20h) X 15 carriage return (0x0Dh) X
11-16 Bearing (degrees) nnn.nn 16 line feed (0x0Ah) X
17 Space (0x20h) X
18-19 NMEA style checksum in hex CC Kongsberg Standard (0x0020)
20 carriage return (0x0Dh) X A 9 character string in BCD format.
21 line feed (0x0Ah) X
0-2 Bearing (degrees x 100) in BCD ddd
3-5 Range (metres x 10) in BCD ddd
6 Zero (0x00h) X
7 Zero (0x00h) X
8 Delimiter (0xFFh) X

CyScan Installer 42
Single Target/Single Prism Operation (a) NME0183P Primary
In single target or single prism operation the system runs a different algorithm Position: feedback is based on a per-rev instantaneous trigonometric calcula-
which captures targets based on the signal strength and then tracks them based on tion using the raw range and bearing to the primary target only. If no primary
range, bearing (and signal strength where applicable). association is available, then the position feedback is flagged as void. The posi-
tion is referenced to a vessel aligned target frame, i.e. the vessel frame with the
Any NMEA0183 Format
origin located at the primary target.
Position: feedback is based on a per-rev instantaneous trigonometric calcula-
Heading: If more than one association is available, then the further associa-
tion using the raw range and bearing to the primary target only. The position is
tions are used to compute a bearing. This bearing is identical to the bearing
referenced to a vessel aligned target frame. If no fresh data is available the most
computed in the raw data mode. If less than two associations are available or
recent data is resent but the void flag is asserted.
the iterative refinement calculation did not succeed, then heading feedback is
Heading: value is always set to zero and the heading status is always flagged flagged as void. The data is referenced to the target frame.
as void.
The relationship between raw data position feedback and primary data position
Status: Bit 15 is always set and bit 14 is always unset. feedback is defined by a transformation from the target frame into the vessel
ASCII17 centred frame located at the primary target as shown below:
The feedback is the raw range and bearing to the primary target. If there is no xv sinot cosot 0 xt
target detected the status flag is set to invalid.
MDL, Nautronix, Artemis, Kongsberg formats
yv cosot sinot 0 yt
The feedback is the raw range and bearing to the primary target. There are no ov 0 0 1 ot
status bits.
Status: Bits 15 and 14 are always set.

Named Multi-Target Group Operation (b) ASCII17

In this operation mode the CyScan runs a Kalman filter for its association (and navi- The feedback is the raw range and bearing to the primary target. If there is no
gation where applicable). The DP Message format selection has a vital impact on target detected the status flag is set to invalid.
the nature of the data transmitted. MDL, Nautronix, Artemis
NME0183R Raw The feedback is the raw range and bearing to all associated targets. A separate
Position and Heading: feedback is based on a per-rev instantaneous iterative message for each range/bearing pair is transmitted. There are no status bits.
optimisation calculation using the raw ranges and bearings from the two as- Kongsberg
sociations with the widest baseline. If less than two associations are available or The feedback is the raw range and bearing to the primary associated target
the iterative position refinement calculation did not succeed, then the position only. Since this message type does not contain any target identifier only one
and heading feedback are both flagged as void. The data is referenced to the message per rev can be sent.
target frame.
Status: Bit 15 is always unset and bit 14 is always set.

CyScan Installer 43
General DP Feed behaviour Coordinate Frames for NMEA0183 messages
Two configuration options accessible via the Communications property page Single target operation produces the same A/B position in either raw or primary
control the behaviour of the DP Feed: mode provided in each case the same target is being tracked, i.e. the measured
Keep DP Feed Always enabled range R and bearing B are the same.

If this value is ticked (switched on) as per default, then the DP Feed link is al- +A
ways kept active while the system is not suspended and on each scanner rev the
system will transmit a message if there is no valid message to send because
the system is not navigating or no reflections are received, then a zero based
message is sent. This can be used by the DP system to determine that the mes-
sage link is alive even though the sensor is not configured to navigate.
If this option is turned off, then the DP Feed is only enabled for the time when
the start navigating button on the CyScan Console has been pressed until
stop navigating is pressed.
Allow refresh timer / zero strings VB
-B +B
If this value is ticked (switched on) as per default, then a 1 second timer ensures
that messages are regularly sent at a rate of 1 Hz to the DP system irrespective
of what reflections are detected or whether valid navigation messages are avail-
able for transmission. This means that when navigation is started and no valid B R
message is available yet, a few zero message might be sent. During a rev when
navigation might be dropped because of a missing reflection, a repetition of the
previous message can be sent (stale data) based on this timer.
If this option is turned off, zero messages and stale data are never sent for VA
message types which do not have a quality status flag. Only valid messages are
sent. -A

(N.B: when starting single target tracking the brightest target is acquired and
not the first one in a rev, so if the measured brightness of a target changes for
example because of frost, then subsequently a different target might be ac-
quired. However, this only applies to acquiring of the target on start-up only
and not while tracking a target.)

CyScan Installer 44
Multiple target tracking with the first target being located at the defined target Multiple target tracking with the first target not being located at the defined
origin (as recommended). multi-target group origin.

+A raw +A prim +A raw +A prim

VA raw
VA raw
+B raw +B raw

-B prim VB prim -B prim VB prim

B +B prim +B prim
VH raw
& prim R VH raw
& prim B R

VA prim

VA prim

-A prim -A prim
VB raw
-B raw
VB raw
-B raw
In primary mode the A/B axes are aligned with the ships axes and centred at
the primary target which in this case coincides with the origin of the defined
multi-target group and therefore with the origin of the raw mode A/B axes. In this case the origins of the raw mode and primary mode co-ordinate axes
no longer coincide as the primary mode axes are referenced from the primary
target whereas the raw mode is referenced with respect to the defined multi-
target group origin.

CyScan Installer 45

NMEA 0183 message string status bits definition

The DP message string makes use of the 16 status bits originally set to zero. This
document gives the means to decode the status bits and to ascertain their meaning.
These bits only apply for navigation with the NMEA0183 DP message type selected.

The 16 status bits are encoded as 4 hex characters of which only the least and most
significant four bits are relevant. The format of the string is thus [x3x2x1x0] with
characters xi taking on values 0x0h to 0xFh.

Character x0 = Bit Definitions [b3b2b1b0] Character x1 = Bit Definitions [b7b6b5b4]

b0 : bNavEnabledTest Control flag indicating whether the navigator is B7-4 : reserved These bits may or may not be set.
enabled. This must be set to 1 when navigating; These bits are currently reserved and should be ignored.
otherwise the navigation data is invalid.
b1 : bScnEnabledTest Control flag indicating whether the sensor is ena- Character x2 = Bit Definitions [b11b10b9b8]
bled. This must be set to 1 when navigating; other- b11-8 : reserved These bits may or may not be set.
wise the navigation data is invalid.
These bits are currently reserved and should be
b2 : bRefTargetTest Control flag indicating whether the current mooring ignored.
point contains a valid reference target definition.
This must be set to 1 when navigating; otherwise Character x3 = Bit Definitions [b15b14b13b12]
the navigation data is invalid. b12 : bAssocPrimary Control flag indicating whether a primary associa-
b3 : bFixedStructure If the above reference target definition is available tion has been made this rev.
(b2 = 1), then this flag indicates whether the current b13 : bAssocRaw Control flag indicating whether two (or more) as-
mooring definition corresponds to a fixed structure sociations have yielded a raw position and heading
(b3 = 1) or a mobile structure (b3 = 0). Otherwise estimate.
this flag is always 0.
b14 : bRawDataMode The second most significant bit is a special status bit
indicating whether the system is operating in raw
data mode (b14 = 1) or Kalman filtered mode (b14 = 0)
b15 : bSingleTargetMode The most significant bit is a special status bit indicat-
ing whether the system is operating in single/primary
target mode (b15 = 1) or multiple target mode (b15 = 0)

CyScan Installer 46

Low temperature operation

CyScan is a precision electro-mechanical device with hardware components that, of
necessity, are mounted in an external position on a vessels superstructure. It is rec-
ognised that industrial marine operations may subject these components to harsh
environments, including low temperature.
The standard variant of CyScan is designed to operate within the temperature range
-10 to 55C. A low temperature variant of the hardware complies with the require-
ments of IEC60068-2-1 and is able to operate for prolonged periods at tempera-
tures down to -25C provided that certain operating conditions are maintained.

Operating conditions Technical considerations

The following recommendations are made for low temperature use: CyScan uses a sophisticated rotating infra-red laser range-finder to accurately
measure the distance and bearing to retro-reflective targets that are placed at
For operation below 5C the sensor should remain powered and running (i.e. specific locations in the working area. Movement sensors allow a mechanically
not suspended). However, where this is not possible and it is necessary for the driven base to compensate for vessel motion due to wave action. The internal
system to be switched on at temperatures below 5C (and down to -25C) the mechanism may become disabled if it is allowed to cool in a low temperature
sensor will require some time to reach optimum operating condition. environment.
When the system is not in use (i.e. un-powered or suspended) the sensor should A safety interlock prevents activation of the range-finder laser if the scanner
be protected by means of a suitable insulating and protective cover to prevent head stops or is prevented from rotating by ice build-up.
the external build-up of ice.
View of the retro-reflective targets will be obscured by a build-up of ice on
For operation below -25C additional forced air heating must be provided (nb. either the optical windows of the scanner or the surface of the targets (n.b. ice
not exhaust emissions as these contain particulates which will degrade the has poor reflective properties at the infra-red frequency used by CyScan).
The external PSU leads are rated for static operation to -40C but only to -5C
for flexing operation. The leads must therefore be adequately secured to pre-
vent flexing and the system should not be installed or de-installed at tempera-
tures below 0C.

CyScan Installer 47
CyScan installation checklist
Check Requirement Checked by Confirm / record setting System details
CyScan unit s/n: .....................................................
Sensor unit Free to rotate, free line sight, free area of tilt. Unit securely
bolted down with 4 bolts. Silicon grease and vulcanised PSU s/n: .....................................................
tape on 3 connectors.
Transit locking pins removed and stored in shipping case Vessel name: .....................................................
for re-use.
DP system no: .....................................................
Console PC Properly located.

Power supply unit Properly fastened, with cable glands on the long side
facing downwards. Silicon grease and vulcanising tape on
6 cable glands. Enclosure properly closed and sealed with
silicon grease.
Cables Properly installed away from power control cables and
fastened. Cable has service loops.
Power supply unit Supply with range 90-264VAC 47-63Hz and correctly
DP feed correctly wired.
Console feed correctly wired.
Bow/stern facing configuration correctly set with/without
RS-422 interface Proper wiring connection checked.

Console Set up
DP message type As appropriate. Seek advice from the DP supplier if
required settings are not known.
DP feed behaviour As appropriate. Seek advice from the DP supplier if
required settings are not known
Blanking zone Blanking zone set in relation to vessel superstructure.
Sensor information Serial number correct. Bearing offset correct. Vessel
dimensions and sensor position offsets correct. Software
version numbers reported as expected. Engineer level
Installation checked and approved by:
access switched off. Printed: .....................................................
Laser System operation confirmed using prism or reflective tape
Signature: .....................................................
target. Stable navigation confirmed with 1 or 2 targets. Date: .....................................................
Interface Laser reference sensor enabled in DP system. Seek advice
from DP supplier in required settings are not known.
Information Ships crew introduced to basic operation of the system This document should be sent to the
and the Operators Guide. Mention need to keep optical Project Manager.
windows clean.

CyScan Installer 48