5th generation MRU

Kongsberg Seatex
5th Generation MRU Products

Roll/pitch Heave Period Acceleration Internval

[s] [m/s2] Recalibr.
MRU 5+ 0.01° 5 cm 25 0.001 2 years
MRU 5 0.02° 5 cm 25 0.01 2 years
MRU E 0.05° 5 cm 25 0.01 3 years
MRU H 0.05° 5 cm 25 0.01 4 years
MRU 3 0.08° 5 cm 18 0.02 2 years
MRU 2 0.10° 0.01 4 years
MRU D 0.35° 0.04 3 years

• All models available from October 2012

• The MRU E is a new model with extended temperature range
(-25 to +70°C). For mounting outdoor below the helideck.
• MRU 3 replaces the MRU Z.
• For MRU 3 and D are no export license required
• We are now able to export MRU 5+ to Singapore, Malaysia
and China
See: PPT_MRU_Export_License
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5th Generation MRU benefits:

• 0.01º roll and pitch accuracy

• Two separate serial lines and Ethernet
• Data available in two different
monitoring points
• 200 Hz output data rate
• High MTBF (>50 000 hours) due to use
of MEMS gyros (no reason to power off
the unit, meaning: no ageing of sensor
whether powered or not)
• Precise heave at long wave periods
(0-50 seconds) is achieved by the new
developed PFreeHeave® algorithms
• Output the Seapath binary format for
use in EM-710 for the Doppler
compensation.

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Differences over Generations – MRU 5
Functionality MRU 5 MRU 5 - 5th Gen
Roll/pitch accuracy 0.02° 0.01°
Output serial lines 1 (RS-232 / 422) 2 (RS-422 & 232)

Analog output channels 4 0

Ethernet ports (in/out) 0/0 1/3
Monitoring points MP1 or MRU MP1, MP2, MRU & CG
Output data rate 100 Hz 200 Hz
Re-calibration interval 2 years 2 years
Export restrictions Yes Yes

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Differences over Generations – MRU D

Functionality MRU D MRU D - 5th Gen

Roll/pitch accuracy 0.35° 0.35°
Output serial lines 1 (RS-232 / 422) 2 (RS-422 / 232)

Analog output channels 4 0

Ethernet ports (in/out) 0/0 1/3
Re-calibration interval 1 year 3 years
Export restrictions No No

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 Junction Box for 5th Generation MRU

6 30 January 2013
Interface cable 5th gen.

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Junction Box for 3rd and 4th Generation MRU

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Interface cable 3rd and 4th gen.

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5th Generation MRU – Floor and Wall Mounting
Bracket

MRU-M-
MB5

MRU-
M-MB4

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5th Generation MRU – Subsea Bottles

4000 meter bottle (MRU-M-SB9):

• Produced in titanium

1000 meter bottle (MRU-M-SB10):

• Produced in aluminum

50 meter bottle (MRU-M-SB11):

• Produced in stainless steel

Note! All bottles are re-configuable.

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The connector board inside the subsea bottle

Note! All bottles are re-configuable.

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50–metre bottle MRU-M-SB11
Connector A: Default pin configuration, Seapath 200/300 compatible

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LED
A LED indicator is located next to the connector of
the MRU. This LED indicates
operation mode, software and configuration status.
The LED function is described with
a sequence of colours.

Each second is divided into 3 slots of respectively

200, 300 and 500 ms.

• Sync: the first slot (200 ms) in the sequence

shows information about time
synchronisation

• Adding: the second slot (300 ms) in the

sequence shows status on external inputs

• Mode: the third slot (500 ms) in the sequence

shows the MRU mode of operation

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LED

If default IP is selected,
every 4th second the LED
is yellow.

If there is something wrong

with the MRU, a flashing
red light flashing at 4 Hz
is observed.

Pressing the ALERT button

changes the light to blue.

By holding the ALERT

button for more than 8
seconds, a red light
indicates that the unit is
reset to default
IP.

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 5th Generation MRU – Less components
Power & Communication boards

Gyros & Accelerometer (cluster)

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Installation requirements - Were to install a MRU
Pitch and Roll results will be
best if MRU is placed in CG.

Heave will be best if MRU is

placed next to the equipment
that need to be compensated.

The MRU need constant

temperature
Avoid locations with vibrations
Areas with less traffic are preferable
Install indoor
Easy access for survey

DP Computer room
17
Yaw misalignment

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Measurement theory

The orientation angle of the accelerometer according to g, is

directly given as:

• δφ = arcsin (a/g)

a: measured acceleration by the accelerometer

g: the gravity

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Measurement theory

Six degrees of freedom motion:

• Linear translations in three perpendicular axes

directions (x, y, z)

The inertial linear translation measurement

requires acceleration measurement.

• Rotation about three perpendicular axes (shown

Θx, Θy, Θz)

Inertial orientation measurement requires a

gyro-like device which physically measures
angular acceleration, angular velocity or angular
displacements.

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Measurement theory

Single axis rate gyro based device

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Measurement theory – Velocity/Position computation

Velocity and position are found by integrating and

double integrating the acceleration.

The g- component of the measured acceleration has to

be subtracted first. Done by using the orientation
given by the angular rate sensors.

Because a small error in the acceleration will be

integrated over a long period, it is necessary to low
pass filter the integration. The filter controller has to
be tuned by the user to fit the application.
One fundamental property to be aware of is that it is
much easier to remove the g-influence in the vertical
component than in the horizontal component of the
acceleration vector. A small error in roll/pitch angle 
results in the following horizontal acceleration error:
aerr = g [rad]
For the vertical direction the same influence is
approximately:
aerr = 0.52 [m/s 2]

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Heave filter
• Automatic.
To be selected when the vessel is operating in various sea states
or when the average heave period is unknown.

• General purpose.
Is selected when optimal heave amplitude is to be measured and
the heave phase is of no importance. This mode is typically
selected when the system is to be used for measuring the heave
height and period on oceanographic buoys.

• Hydrographic survey.
To be selected when the heave phase and amplitude have to
be output correctly in real time. This mode is typically selected
when the heave output signal from the system is to be used for
heave compensation of echo sounders, hydro acoustic positioning
systems and offshore crane systems.

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MRU Heave Filter Settings

• The selection To = 3 is recommended for vessels performing surveys with a lot of turning. The
settling time in heave will be about 30 seconds.

• The selection To =10 is the default setting for the heave mode and covers most surveys, except long
period heave motions.

• The selection To =20 is recommended used for vessels operating in deep waters or vessels that
frequently operates with following sea.

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MRU Heave Filter – Residuals

• Residuals (remaining error)

depends on filter settings vs.
wave periods.
• Relative heave residual in
percentage of amplitude for
"Hydrographic survey" filter
with damping 0.7 and
various average heave
periods 5, 10, 15 and 20
seconds

25 © KONGSBERG 30.
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 survey" filter with
damping 0.7 and
MRU Heave Filter – Step response various average heave
periods 5, 10, 15 and
Settling time normally 10 times filter period time 20 seconds

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MRC
The MRU is set up with a default Ethernet
address 192.168.1.20.

Then the PC with the MRC+ installed has

to be set up with the address in the range
192.168.1.xx, except for the same address
as the MRU.

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