4 TELEDYNE TSS A Teledyne Technologies Company Meridian Subsea Gyrocompass (4000M CRE Connector) User Manual he mana alert talon 9 ae LnA TELEDYNE TSS cones 4 CAUTIONARY NOTICES Your attention is drawing to the following cautionary notices thet apply ‘throughout this Product Manual, CAUTION NOTES Do not dispose of by fre or compacting, as toxic fumes, dust or li may be released. ‘The gyrocompass housing (including base plate) weighs approximately 32.6kg in ar. To avoid personal injury, obtain assistance Precautions whan you need to lift or move the equipment. ‘You will void the warranty if you open the gyrocompass housing. Do not ‘pen the gyrocempass housing for any reason. If you suspect a fault on the gyrocompass, contact Toledyne TSS Ltd for technical advice. The title page of this Manual lists the contact detalls for Teledyne TSS Ltd ‘The gyrocompass includes precision components and bearings. To avold causing damage to any part of the System, handle all items with care. Ensure the unit depth-rating is never exceeded. Retain the original packing cases so that you may use them to transport ‘the System when necessary. You will void the warranty if you use improper packing during transit You will void the warranty if you make any modifications to this, ‘equipment without prior permission from Teledyne TSS Ltd DO NOT modify this equipment in any way without obtaining permission ‘rom Teledyne TSS Ltd Severe damage can occur to the gyrocompass if you move the ‘yrocompass housing while the rotor fs spinning without the servo ‘systom in operction.. ‘Servos are inactive for one minute after power-on and the gyro rotor continues to spin for approximately five minutes after you power-off the System. ‘To avoid potential damage to the avrocompass, always allow a period of, {ive minutes aftr power-off forthe gyro rotor to come to rest before You. attempt to move the gyrocompass housing, Provided the user exercises all proper installation and maintenance focedures included in this manual, the gyrocompass housing wil retain Its specifiod depth rating throughout its full working if. During operation the gyrocompass must remain level to within 45°. If It experiences tit greater than 45° in any direction it will "topple. Safety routines in the gyro software will then power-off the gyro rotor and show ‘alarm conditions on the Surface Display Computer. To restore normal ‘operation, establish a level operating attitude and then power-on the yrocompass normally. DPN 060118 lesa 10 © Teledyne 735 Let2A TLUDINETSS ele Tecan Comper MerioiaN SuaseA GyRocoMPASS "over apply a tit of more than 45° with the rotor spinning or during the Units fitted with the battery backup option will be supplied with it’s batteries discharged. The Meridian Subsea Gyrocompase must be powered up for one hour under normal operating conditions to enable the batteries to recharge. Unite fitted with the battery backup option contain NIMIH cells and will provide a long service ife. The battery pack is not a field serviceable art. The unit should be returned to Teledyne TSS Ltd for battery placement if defective oF requiring replacement. ‘You will void the warranty if you operate the gyrocompass outside the ‘environmental conditions detailed in Chapter 4 and in BS EN 60: PN 060118 tesue 1.0 © Tolosyne TSS td Page 2 of 82GRD THEDINE TSS Contents ‘Twat Teche Company CONTENTS TINTRODUCTION- = - = === = = ry 1.1 System Deseription = = = = = = ener y 1.1.1 Gyroconpass Housing - - cote t tll ito 1.1.2 Gyroconpass Configuration == === 22222 tt 1.1.2.1 Auxiliary Inputs == 2 1.1.2.2 Data Outputs © = = = = = aren ry 2INSTALLATION --------------------------- 718 2:1 Unpacking and Inspection == == = =e od 2.2 Physical Installation - - eer eer e rene. 2.2.1 ForeiAtt Alignment Pill lillie 2.2.2 RoliPitch Alignment ~~ = = = +202 222 ener] 2.3 Electrical Comection - - - - eee cee to} 2.3.1 Umbilical Cable pin 991979) - = = 22-2 1 2.3.2 Gyrocompass Connector {p\n 931358) -- ----- ~~ ~~ -21 2.3.3 Umbilical Cable Connections - -- -----------~--22 2.9.3.1 RS232 TxiFx Communication Connections - - - - - - - -23 24 Optional Internal Battery Backup = = == se 2 OPERATION ---------------------- 2-2 - =~ -285 3.1 Gyrocompass Configuration - == = === 2-25 3.2 Surface Display and Control Software (SDCS} - -- -- ~~ - - - -25 3.2.1 SDCS hitiaisation = = = = Been 25 3.2.2 PC Communication Parameters ~ esnacadt) 3.2.3 Gyrocompass Configuration 27 3.2.4 View Decoded Gyrocompass Data = = = = sv no = 28 3.2.6 Terminal Interface - = -- == == 3-2 28 3.3GyroReset-- = == == cole t lll lee 34 RallPitch fer = = = = = = = cole s lll oe8 ATECHNICAL DATA === 2 22 a 4.1 Specifications === === = ene) 4.1.1 Power Requirements = = = = ee) 4.1.2 Performance (definitions as in ISO 8728) - ------- ~~ -31 4.1.3 Compensation = = eeeerrre rere rene | 4.1.4 Environment == == = = = = : : ail 4.1.4.1 Ervronment Rol Pitch option) == << ses see 82 4.4.6 Signal puts == === 2 ee BD 4.1.6 Signal outputs - -- ---------------------32 4.1.7 Dimensions and Weight - -- ------------- ~~ -32 4.1 Standards == 28D SDATAFORMATS -------- ~~ nes DPNosoT1a tue 1.0 © Teledyne TSS Led Page 3 of 52AR TELEDINE TSS Aedes Compoy Menioian Sussea Grrocomeass 5.1 Data Input t9 Gyro fromPC = == = ee Bopeee 5.1.1 PSRC Data Format 2-5 ee o 236 5.2 Data Outputs trom Gyrocompass --- +--+ +--+ 2 +--+ -37 '5.2.1 NMEA 0183 HOT Date Format -- -------~------37 5.2.2 NMEA0183 ROT Date Format -- - ~~ - - ~~ Beossdt) 6.2.3 KVH Dita Format - === 2 88 5.2.4 TSS1 Date Format ------ 2-2 eee 40 5.2.5 HHRP2 Data Format === = oO 5.2.6 Honeywell HMP3000 Data Format ~~ ~~ - eat 5.2.7 PSGC Data Format - = - = = « eenert GOPERATING THEDRY -- = -- 2-2-2222 eee eee eee 43 16.1 North-seeking Gyroscope = = == == 2s Dll lag 6.2 Gyrocompass Corrections «= = = Soll lll lili cas 16.2.1 Latitude Correction ~~ ~~ =~ ---- =~ ~~~ ooo -48 6.2.2 Gyro Damping - eee ooo. 48 6.2.3 Speed Error - - cee coo caB 6.3 Summary -- ~~~ === eee BO DPN 080118 sue 1.0 © Telesyne TSS Lt Page 4 ot 82TELEDYNE TSS es Heres comn st oF Fiau Figure 1-1: Meridian Subsea Gyrocompass = == == === ----- 19 Figure 2-1: 400M Gyrocompass and mounting plate - - - - - ~~ ~~ -218 Figure 2-2: Umbilical cable (pin: 931973) - ~~ ---------- ~~ 220 Figure 2-3: Pin detis for the gyrocompess Umbilical connector ~~ - - -2-21 Figure 2-4: Umbilical cable ong locations -- --------- ~~~ -221 Figure 2-7: 9 way D-type miniature socket -- -- ------- ~~~ -223 Figure 3-1: SOCS Product Selection Interface - - - - - - - - 3.25 Figure 3-2: SOCS Comms Interface - - ~~ - - - : 3.28 Figure 3-3: SDCS Configuration interface - - - - - - 327 Figure 3-4: SDCS Display Interface ooo erenenerr:s Figure 3-6: Terminal Interface = = . Cll ll lll l329 Figure 5-1: PSRC gyrocampass IP command sentence format - - - - - -5-36 Figure 5-2: NMEA D183 HOT sentence format -- ---------- -8.38 Figure 5-3: NMEA 0183 ROT sentence format -- -- ------- - -8.38 Figure 5-4: KVH sentence format -----------------~ -838 Figure 6-5; TSS1 sentence format - = = == = = 40 Figure 5-6: TSS HHRP2 sentence format - - = == = oo 5-40 Figure 6-7: Honeywell HMP3000 sentence format = = - = - eer Figure 6-8: RP Gyro Status sentence format =~ - ~~ ~~ ~~~ ~~~ 8-42 Figure A-1: Free-stinaing gyroscope - - = - ~~ - ~~~ ~~~ ~~~ -Aa3 Figure A-2: Gravity conteol of @ gyroscope -------------- -A46 Figure A-3: Gyrocampass speed error. - ~~ -- ~~~ -- ~~ ~~~ - Aa) PN 060118 sue 0 2 Teledyne TSS Lis Page 8 of 82a Gynocowrass DPN OsoT18 feve 10 © Teledyne T85 Led Page 8 of 82‘TELEDYNE TSS List oF Tastes ‘Tele Tectnloges Compeny Table 2-8: Umbilical power connections = = = == === = = ee Table 2-6: Umbilieal communication and water sensor connections - - - - 2-22 Table 2-8: 9 pin D-type miniature socket connection details - - - - - - -2.23 Table 5-1: Sign conventions for rate of turn and roll and piteh = = = = = = 5.37 DPN 060118 eve 1.0 © Telesyna TSS Ua Page 7 of 52#4 TELEDYNE TSS Tle Techies Company [MERIDIAN SUBSEA GYROCOMPASS ‘TABLE OF AMENDMENTS DPN 060118 sue 1.0 © Telesyne TSS Lt Page 8 of 82TELEDYNE TSS 1 - IntRopuCTION ‘Atty Teemologes Company 1 InTRoDUCTION Figure 1-1: Meridian Sibsaa Gyrocompaee ‘The Meridian Subsea Gyrocompass is 1 depth-rated heading reference. instrument that applies the characteristics of 8 dynamically tuned ‘gyroscope and the effects of gravity and earth rotation to provide a true orth reference, ‘The gyrocompass can also be optionally fitted with a battery backup to ensure the unit remains powered during power outages and a RollPitch measurement facility 10 assist, navigation. The Meridian Subses Gyrocompass specification makes it ideal for installation and operation on board remotely operated vehicles (ROVs), although the Syrocompass ie euitabe for use in 2 wide range of underwater and surface vessels applications ‘Among the standard features of the Meridian Subsea Gyrocompass are: 19, 4000m depth-ated housing. 2 A short settling time. 19 Operation from a 24V DC electrical supply. 9) Configuration via @ PC serial interface using the supplied Surface Display and Control Software {SDCS). 19 Following configuration, stand alone deployment or operation from a Sur- face Display Computer. 19 Optional internal uninteruptable battery backup ensuring the gyrocompass remains powered for spproximacely one minute untl the rain power SUBBIY is'returned, 9. Optional Rolifitch facility providing accurate roll and pitch m: ‘that can be utlised when navigating the subsea vehicle or ROV. DPN O6oT18 sue 10 © Telesyra TSS 9° 906 52‘TELEDYNE TSS Taleo Tealopes Company Merioian Sussea GyRocomPass 1.1 SysTEM DESCRIPTION ‘The Meridian Subses Gyrocompass System comprises the following pars: 19. 4000M Depth rated gyracompass housing. 1 Surface Display and Controt Software (SOCS} for gyrocompass configure tion 2 Powerlcamms umbilical connection cable. This short length of cable allows {heute to comect the gyrocompess Yo the usar-specie main umbieal cable, ‘The oyrocompass settles automaticaly to within 0.7° of its actual heading within 40 minutes of power-on. Due to the physical principles of @ north-seeking ‘yrocompass, achievable accuracy depends on the opersting latitude and the ‘vessel dynamics. To optimise its performance, the Gyrocompass is manually fided with latitude snd speed corrections supplied by the user via the Surface Display and Control Software (SDC Reter to Sections 2.2 and 2.3 for instructions to install and connect the ‘ayrocompass, Refer to Sub-section 3.1 for instructions to configure the gyrocompass communication and operating parameters. Refer to Appendix A for @ simplified explanation of the gyracompass theory of operation. 1.1.1 Gynocompass HousING a Ensure the unit depth-rating is never exceodet Provided the user exercises all proper installation and maintenance proce- dures included in this manual, the gyrocompass housing wil retain its Specified depth rating throughout ite Tull working fe ‘The gyrocompass rousing contains the following items: 19. True nerth eesking dynamieally tuned gyroscope and gimbal surper assembly. ©. Power supply and fiter assembly 9 Output interface circuitry 2 Optional unineruptable battery supply 2 Optional Roll Pitch transducer. ‘The top plate of the gyrocompass housing has one waterproof connection port utilised forall connections: 9 9-pin me CFE bulkhead connector port DPN 060118 ese 1.0 © Teledyne 758 Poge 10 0 52‘TELEDYNE TSS 1 — Inrropucrion ‘Tate Tecate Company 1.1.2 GyROCOMPASS CONFIGURATION ‘The Meridian Subsea Gyrocompass is configured using the supplied Surface Display and Control Software (SOCS). It configures all operating parameters Using a proprietary Teledyne TSS data format. Refer to Section 6.1.1 for details of the data format ‘The ayrocompass user configuresble parameters are: 2 QIP sentence ormat, baud rte, update Ne. , precision and checksum ena- 2 Speed, latitude and hemisphere, 9 Heading offset. ©. Directional Gyro (DG) mode. ifthe rlfptch option is fitted the folowing parameters will be ©. Rolland pitch affects. 9, Rol and pitch filter. 1.1.2.1. AUXIUARY INPUTS. ‘The Meridian Subsea Gyrocompass must be manually aided with latitude, hemisphere and speed corrections to maintain its specified heading accuracy. ‘These parameters must be set to appropriate values manually using the Surface Display and Control Sofware (SDC). If these parameters are incorrectly set, the ‘yrocompass perfomance willbe effected. ‘See section 3.2.9 for detailed explanation for configuring and manually siding the gyrocompass. 1.1.2.2 Data Ourpurs ‘The Meridian Subsea Gyrocompass outputs RS232 serial data containing heading and status informaton using the configured data format. Additionally if the Rell Pitch option is fitted, these measurements willbe included in the output data sentence. Refer to section 6.2 for details of the available data formats ‘The Surface Display and Control Software (SDCS} is used to configure and decode the gyrocompass output and display it on screen, Refer to section 3.2.4 to view the decoded data‘TELEDYNE TSS ‘Toate eerlogesComoay MerIolAN SuBsea GrrocoMmPass DPN 060118 tase 1.0 © Teleeyna 755 Page 12 of 522 INSTALLATION ‘Aaj Tetras Company GIR TELEDYNE TSs 2 INSTALLATION To obtain the best rerformance from the Meridian Subses Gyrocompass the user ‘must take care when installing and connecting i. This section of the Manual Includes all the information and instructions needed to complete these tasks successfully You should read ths section carefully and understand the important instructions that it contains befere you begin to install or connect the equipment. DPN 060118 eswe 10 © Teledyne TSS Ld Page 13 of 52A RP TELDINETSS ‘Tele eels Company Meniian SuBséa GYROCOMPASS 2.1 UNPACKING AND INSPECTION CAUTION NOTES ‘The Meridian Subsea Gyrocompass includes precision components and bearings. To avold causing damage to any part of the System, handle all toms with core, Retain the orginal packing cases so they can be used to transport the ‘System when necessary. The warranty will be void if improper packing is used for transportation. ‘Severe damage can occur to the Meridian Subsea Gyrocompass if the ‘yrocompass housing is moved while the rotor ls spinning without the ‘servo system in operation. ‘Servos are inactive for one minute after power-on and the gyro rotor ‘continues to spin for approximately five minutes after you power-off the System. To avoid potental damage to the gyrocompass five minutes after power-off for the gyro rotor to come to rest before attempting to move the gyrocompass housing. Engure o-rings ere correctly fited in the umbilical cable connector recess Wincorrectly fitted oF damaged, the depth-rating of the unit will be ‘compromised, ‘The Meridian Subsea Gyrocompass undargoes a full series of electrcsl and mechanical teste during manufacture and before dispatch, The packing case protects the contents against shock during transit so that the equipment should arrive without damage or defect. Upon receint of the System, check all items against the shipping documents. Inspect all sub-assembiles carefully to check for any damage that might have occurred during tansportation. If you see any damage, file a claim with the cartier and notify Teledyne TSS Ltd immediately. To avoid loss or damage to any components of the System, store all sub- assemblies safely in their packing cases until you need to install them. Obey the Storage temperature limits listed in sub-section 4.1.4. Notify Teledyne TSS Lid immadiatly if there are any components missing oF damaged. The title 3age ofthis Manual lists the contact details for Teledyne TSS re DPN O8oT18 sve 1.0 Teledyne TSS Lt Page 16 of 52A AR ELDINETSS 2 INSTALLATION olde Thc Company 2.2 PHYSICAL INSTALLATION a Ensure the gyrosompass depth-rating is never exceeded. Provided the user exercises all proper installation and maintenance procedures included in this manual, the gyrocompass housing will retain Its specified depth rating throughout its full working life During operation the gyrocompass must remain level to within = 45°. If it experiences tit greater than 45° in any direction it wil ‘topple’. Safety routines in the gyro software will then power-off the gyro rotor and show larm conditions on the Surface Display and Control Software (SDCS). ‘To restore normal operation, establish a level operating attitude and then power-on the gyrocompass normally. "Never apply a tit of more than 45° with the rotor spinning or during the ‘yrocompass intialisation procedure. Note that the gyro rotor continues {0 spin for approximately ton minutes after you power-off the System. “The care taken installing and aligning the gyrocompass with the surveyed fore-aft ‘axis of the vessel or ROV will have a direct effect on the accuracy of heading measurements delivered by the System. Therefore, perform this operation carefully. The subsea housing includes markers to indicate the correct fore-att alignment orientation ‘The Surface Display and Control Software (SDCS) includes simple controls that allow minor adjustments to be made to the heading alignment. Ifthe optional rol pitch facility i fittc to the gyrocompass, minar adjustments can also be made to ‘hese mounting angles. These alignment adjustments should only be utilised ‘when any physical misalignment have been minimises. Prior to installing the gyrocompass, consider the following points: 12 Physical leveling of the gyrocompass is important because it affects the ‘operating range of the System. The ayrocompass is specified for operation Upto tit angs of 245°. Ifyou Install the gyracompass whe ‘experiences. significant steady state tlt, then this wa ange of operation. 19 The standard gyrocompass housing weighs approximately 32.6kq in ai. Choose 8 mosnting location that Is level, flat and sufficiently strong to support the unit without flexing or experiencing extreme vibration. 19 Choose a location that protects the gyrocompass housing from damage. 19 Choose a location that allows easy access to the connection port 1 Do not install or operate the gyrocompass housing where the ambient {emperature might fal below 0°C or fise above = 45°C, or whore rapid changes of temperature might occur. PN 980118 sue 1.0 © Tetedyne T85 Le Page 15 of 52‘TELEDYNE TSS Tels eeloges Company [MERIDIAN SUBSEA GyRocoMPASS 2.2.1 FORE/AFT ALIGNMENT Figure 2-1 shows tre gyrocompass and mounting plate dimensions along with ‘machined hole locations to assist the installation process, ‘The folowing steps provide guidelines to mount the gyrocompass at the required location end remove any mechanical offsets between the vessel or ROV fore-aft line of reference. 1. Set the gyrocompass housing and the mounting plate at their intended installation locatan and align them so that the heading indicator arrow on the top plate points in the forward direction. Mark the positions of the securing holes on the sumporting deck. 2. Remove the gyrocompass and mounting plate assembly and store them safely. Drl holes at the marked positions on te deck to take the securing Serews or bolts, which are not included with the shipment.,You must make Certain the seeuiing screws or bolts are sufficient strong for the intended {ask and that they are impervious to corrosion when deployed underwater 3, Fit the gyrocompass housing and mounting plate and secure the assembly in place. Use fat and shake proof washers on the fixings to prevent them from Vibrating loose during operation. ‘The fat washers must be in direct contact ‘with the mounting le 4, Attach the suppfed Umbilical cable to the subsea connector on the top plate Run the gyrocompass umbilical betwoen tha intended locations for the ‘Surface Bioplay and Cantrol Software (SDCS) PC and the gyrocompass hhousing. Do not apply unacceptably sharp bends or other machanical stressos to the cables, Secure the cables at frequent intervals using sultable clips to ‘ensure they do rot present a hazard to personnel or equipment ‘The heading output has been accurately adjusted to read correctly when the heading offset value is set to zero. The reference marks on the gyrocompass housing should be zccurately aligned to the fore and aft line of the vessel or OV. If close physical alignment of the gyrocompass housing to the vessel or OV is not achieved during the installation process, the Surface Display and Control Software {EDCS) allows the user to eorrest any alignment errora by adjusting the heading offset parameter (in the range =5.0°) which is stored in on-volatle memory for future use, Roter to Section 3 for instructions to remove any heading alignment offset. DPN 60118 sve 10 © Teledyne 785 Ld Pago 18 of 62‘TELEDYNE TSS 2 — InsTaLaTION ‘Tete Teale Co 2.2.2 ROLLIPITCH ALIGNMENT a ‘The Roll/Pitch alignment will only be available if the optional RollPitch facility is fitted to the gyrocompass ‘The zero calibration parameter should not normally need to be changed. Ifthe optional Roll end Pitch facility has been fitted to the gyrocompass, it will have undergone factory caliration to accurately read zero correctly when the ‘gyrocompess housing is placed on a perfectly level platform and the Roll and Pitch offsets have teen set to zero If the physical oll end Pitch alignment of the gyrocompess housing to the vessel ‘oF ROV is not achieved during the installation process, the Surface Display and Control Software (SOCS) allows the user to correct any alignment error by adjusting the Roll and Pitch offset parameters (in the range +9.99°). These valued are stored in non-volatile memory. Reter to Sub-section 3.2.3 for instructions to remove any Roll/Pitch offsets. DPN o60t1e ene 0 © Teledyne 185 Ld Page 17 of 52PRP TLADINETSS ‘else een 7 MenDiAN Sussea GynocoMPAss Fgure 2-1; 40000 Gyocompass and me DPN o60118 emue 10 © Teledyne TSS Let Poge 18 of 52‘TELEDYNE TSS ~ INsraLLanion ‘Tele Tectnologes Company 2.3 ELECTRICAL CONNECTION NOTE power is removed from the Gyrocompass it will be necessary to re- ign the gyrocompass, This could take up to 48 minutes before the ‘Syetem again achieves operational readiness, This process ls automated "upon application of power to the gyrocompass. The Meridian Subsea Gyrocompass includes one cable set 9 Umbilical cable (pin: 931373) 2.3.1 UmBiuicaL Caste (P\wW 931373) ‘The Umbilical cable. shown in Figure 2-2, provides connections for the ser RS282 communication signals, 24V (18 - 36V) DC power supply and water ingress alarm during deployment on the ROV. DPN 060118 tsue 10 © Teledyne TSS Lt Pago 19 of 82APR TDINE TSS AN dtie ecole Company IMERoIan SuBsta GyRocowPAss Figure 2-2: Ubi! eb (pin: 991973) DPN 060118 seve 1.0 Teledyne TSS Let Page 20 052TELEDYNE TSS 2 INSTALLATION Toye Teng Company 2.3.2 Gynocompass CONNECTOR (P\N 931358) ‘The umbilical cable fits to the subsea CRE connector (p\n: 931358) mounted on the gyrocompass housing top plate, shown in Figure 2-1. The pin locations of the connector are shown in Figure 2-3. Figure 2-3: Pn details forthe gyocompass Umble connector When fitting the umbilical to the gyrocompass connector, ensure the two o-rings supplied are correctly fitted in the umbilical connector recess and are not ‘damaged, If the o-ings are incorrecty fitted or damaged, the depth rating of the Unit wil be compromised. Refer to Figure 2-4 prior to fitting the umbilical Figure 2-4: Unbilel cable oving locations DPN 060118 ese 0 © Telesyne TSS UdTELEDYNE TSS {elt Fechoiepe Company Menioian Sussea GyRocoMPAss 2.3.3 UMBILICAL CABLE CONNECTIONS ‘The Umbilical connector on the gyrocompess top plate provides connections for: © Power, 18 to 36V DC. 19 Communication, RS 232 Transmit and Receive. 9. Water ingress alarm. Table 2-5 outlines all the umbilical power connections. Table 2-6 outlines all the umbilical communication and water sensor connections. Toble 2-5: Umbical poner connections + 24y 0 LACK 1.0mm" 28 cuassis BLACK —0.22mm? CHASSIS EARTH (SCREEN) EARTH ‘SOREN 100mm! ‘ABLE ScREEN Table 2-6: Unicel communication snd wster sansor connections R232 7 BLUE 022mm S232 Re YELLOW 022mm? Waren WHITE 0.22mm? WATER ALARM 1 SENSOR DPN 060718 tswe 10 © Tesedyne 155 es Page 22 052‘TELEDYNE TSS 2 stawarion ‘Tete Technolog Company 2.3.3.1 RS232 TxIRX COMMUNICATION CONNECTIONS ‘The RS232 Tx/Rx sari comms connections are terminated to a 9 way D-type miniature socket, stown in Figure 2-7. This allows direct connection to @ PC for system configuration and to view gyrocompass data prir to operation. See Table 2-8 for 8 pin socket connections. gure 2-7: 9 way ype miniature socket “Toble 2-8: 9 pin Dtype ministre socket connection dete 2 6 RS 232 Tx ommen is 222 Rx a : DPN 060118 tue 10 © Telesyne TSS Let age 23 0f 52Teleco Company Menioian SuBsta GyRocowPAss SR UDINE TSS 2.4 OPTIONAL INTERNAL BATTERY BACKUP Units fitted withthe Battery Backup option contain NIMH cells which must be charged before the Syrocompass operation can be maintained during power: ‘outages. Battery charging is fully automated while the Gyrocompass is powered {rom an external supply If power is removed from the Gyrocompass the optional Battery Backup will maintain fll operation of the gyrocompass for one minute. To avoid poten ‘damage to the gyrozompess, always allow @ period of 5 minutes after power-off {or the gyro rotor te come to rest before you sttempt to move the gyrocompass housing, DPN 080118 ewe 0 © Teledyne TSS Lt Page 28 of 52‘TELEDYNE TSS 3 OPeRarion ‘Tele Tectnologes Company 3 OPERATION This section explains how to configure the Meridian Subsea Gyrocompass after it has been intalled and signe. 3.1 GyrocomPass CONFIGURATION Prior to deployment, connect the umbiiesl RS232 9 way D-type connector to a suitable PC to configure the gyracompass operating parameters, The Configuration ofall operating parameters is carried out using the Surface Display and Control Software (SDCS) provided with the unit. 3.2 SURFACE DisPLAY AND CONTROL SoFTWaRE (SDCS) ‘The Surface Display and Control Software (SOCS) Is provided on a CD as part of the customer package. The software is operated on a PC with Windows 95, Windows 98, Windows 2000 or Windows XP. The PC also requires serial communication port avaiable to connect the S232 cable between the Meridian ‘Subsea Gyrocompass and the PC. 3.2.1 SDCS InimiausaTioN ‘To begin configuration of tha Meridian Subsea Gyracompass, launch the Surface Display and Control Software (SDC Wen the software i launched, the Product configuration interface wil be displayed, as shown in Figure, Figure 9-1: SDCS Prodct Saeco Interface et cn ut ag ewe ‘This soreen requires the user to specify the TSS product connected to the software, This can be: 9 MAHRS/Marinus OPN 060118 ewe 10 © Teledyne TSS a Page 25 of 52SPR TDINETSS Teles Company Menioian Suesta GynocomPass © Meridian Subse, 2 Meridian Subsea RP. The selection made wil dictate the configuration options provided to the user. Following product selection, click the Comms tab to spay the Communication interface to configu the PC communication paremetrs. Upon novigeton ewey {tom the Product ierface, product selection willbe disabled. To re-enable the Product selection Interface, the SDC software will nee to be restarted 3.2.2 PC COMMUNICATION PARAMETERS Figure 9-2: 80¢8 Corns intrtace = Prat Gem ita Cente) Temi Peace Fors] || fens) || fool fe | || feed ||| fem Fe] || Fee) || fem ol ‘The Comms interface, shown in Figure 3-2, allows the user to configure the PC communication parameters used to Interface to the gyrocompess and sets the data sentence format to be received from the gyrocompess. These parameters do not configure the gyrocompass unit and must be configured ‘0 the current gyrocompass configuration to eneble communication withthe unit. To verity the SDCS is correctly connected to the gyrocompass, navigate to the Torminal interface (see Figure 3-5) If communicating correctly, intelligible scrolling data will be shown on screen. If the displayed data is unintelligible, the communication settings between the SDCS and gyrocompass are conflicting and need to be established priar to progressing any further. DPN 060118 sue 1.0 Teledyne T85 ea age 28 of 62e OTE Ensure the speed, hemisphere and latitude Meridian Subs AP DINE TSS 3 ~ OrenaTion elo TetrlginsComasy NOTE Hf using a binary output, the data will be displayed on screen as unintel sible characters ‘When communication has been successfully achieved between the SDCS and ‘gyrocompass, navigate to the Configuration interface to set the gyrocompass ‘operating parameters as required 3.2.3 GYROCOMPASS CONFIGURATION Figure 2-3: SOCS Configuration Interace [55 Stace Daa ond Con Sa Pest | emma) ity Catalin | Temi] Seta eee Soaitoa) i Los | nde ora | Sermo te foarte Pst Oud Ra: seateore "When communication has been established between the gyrocompass end PC, ‘the Configuration screen allows configuration of the operating parameters required from the gyracompass. The available aptions will be dictated by the product type selected on the Product interface. racy. Set the required operating parameters and click the ‘Send To Gyro" button to transmit the settings to the Gyrocompass at the current baud rate set in the Comms interface, DPN 080118 fsue 1.0 © Teledyne TSS Lt Page 27 of 62AIRE TLEDINE TSS Toate ‘eras Compy Menioian Suasta GvaocomPass If communication has not been established between the SDC software and Gyro prior to transmitting the Gyro Configuration, the command will nt be interpreted Correctly by the Gyrocompass. Therefore, always ensure comms has been established before transmitting the configuration to Gyro, Verity the operating parameters have been configured correctly by navigating to ‘the Terminal screen, Refer to Appendix A for use of the Directional Gyro mode. ‘To view the decoded ayrocompass dats, navigate to the Display interface, shown in Figure 3-4. 3.2.4 View Decoveo GyrocomPass DATA Figure 3-4: SOCS Dp Interface = Pret | Comme Diy | Coniaatin | Tei] ~~ 0.0°%m || 286.78° 0.02" |[ 51.0° 0.00° 0.0 Kts emOSyNOKAOGNNeISD The Display interface, shown above, will display the decoded gyrocompass data received in the specified data format. If no data is displayed, verify the data format received from the gyrecompass corresponds to the data format set on the Communication interface, Any data fields not utilised will be greyed out. ‘The current SDCS rettings can be saved by clicking the ‘Save Configuration button, They are stored inthe System Registry and will be restared when the SDC program is restarted, DPN osoT18 teve 10 © Teledyne T85 ed Pogo 28 of 824 TELEDYNE TSS 3 - Orenanion ‘else Telos Company ‘To view the data transmitted by the gyracompass prior to decoding, navigate to ‘the Terminal interface, 3.2.5 TERMINAL INTERFACE Figure 3-5: Terminal lnrtace [5 Suvace Display and Contd Sota Fret | Comms | Diy | Corfiguaion Temina | Sect Pat f Pinay © Fie || eee | (SESE 26677 00000. SiM, 00 0000 01C303, 183. +0000, +0002—aF Jsps0C. 28677, +0000, S4NM- OD; ODD0, 03309. 189.0002. +0002e4B lspsoc. 20677, 400000, S1NM- 00,0000: 01c309. 183. ~0002. space, 2067, 400000, g4¥M 00; O00, 03C303, 163, -0002. +0002%4B jePsoc 28672400000, S1M 00 0000 05C303 183, -0002 s0000e43 jSeS0C. 20677, 400000, S1¥M. 00,0000: 03309. 183. ~0002 +0000~43 jsPsoc_ 20670, 400000, S4¥M, 00,0000, 03C303, 163, ~0002, +0000% The Terminal Interfece, shown above, displays all data transmitted by the yrocompass in a serling display. This allows tho user to identify if the ‘yfocompass is tarsmitting data and if iis in the expected format. ‘once contigured, the Gyro wil operate without connection to the SDC sofware, 3.3 Gyno Reser ‘Should the Gyro fail, which will show in the Status box when the gyroscope is transmitting the Status sentence, it can be remotaly reset without removing ower by checking the Reset Gyrocompass button on the Configuration Interface. 3.4 ROLL/PITCH FILTER ‘The Configuration interface (see Figure 3-3) provides three levels of rlipiteh| filtering to the user; Low fiter {100ms), Medium filter (500ms) and High filter [1000ms). The filter can also be disabled to provide unfitred rollipitch data from the sensor. DPN 060118 ese 10 © Tesedyne 185 es Page 29 of 52GRR TELEDYNE TSS ‘Tete eels Company MeniiAN SuBsEa GyRocoMPASS When enabled, the ‘iter is only applied to the rollipitch data, The Heading data is, Unaffected lrespectve of the rallpteh fer being enabled or disabled. DPN 080118 eswe 10 Teledyne 185 es Page 30 of 82GRR THUDINE TSS 4 Tecucat DATA ‘Teste Techies Company 4 TECHNICAL DATA 4.1 SPECIFICATIONS 4.1.1 POWER REQUIREMENTS Voltage 24V De (18V - a6v DC Maximum power consumption 60VA at power-on Power outages (battery backup only) Maximum of 5, 1 minute periods Recharge time (battary backup only). hours. 4.1.2 PERFORMANCE (DEFINITIONS AS IN ISO 8728) Sette point error 0.18 soe latitude Static error 0.05° sec latitude RMS Dynamic eccurecy 0.28 see latitude (Scorsby and Intercardinel motion tests) Follow up speed $200°%8 ‘Time to settle within 0.7° Less than 40 minutes Rol (rlpiteh option oni) Positive is port up, starboard down Pitch (roliiteh option oniy) Positive is bow up, stern down Static error on # level surface 20.19 Accuracy £0.19 or 1% up to 245° 4.1.3 Compensation Latitude compensation range 80°S to 80°N, ‘Speed compensation range 0 10 20 knots Heading manual offset renge +£5,00° Roll Pitch zero offset range (olipitch option only) £2,008 Roll manual offset range (rollipitch option ont) +9.99° 4.1.4 EwviRoNMeuT Operating environment 4000 metres depth rated Operating temperature 0°C 10 +48°C (to 180 8728) “15°C to + 55°C [with reduced accuracy) Operating temperature lralipiten option’ orc 10 +30°¢ Storage temperature 25°C 0 +80°C Installation category (overvoltage DeNoso11@ tue 10 © Teledyne TSS Ls Page 21 of 62‘TELEDYNE TSS ATs eebrloges Company MERIDIAN SUBSEA GyROCOVPASS category) 4.1.4.1 ENVIRONMENT (ROLL PrrcH OPTION) Operating temperature 0°C to +30°C 4.1.5 SignaL Inpurs Serial Data Input protocol 8232 Serial data formats PSRC proprietary command 4.1.6 Sigwat outPuTS Serial data output protocol S292 Serial data formats NMEA 0183 HOT. NMEA 0183 ROT KV PSGC proprietary status "tsi *Honeywell HMR3000 onty a fitted lable when rollpitch option is 4.1.7 DimENsIONs AND WeIGHT Dimensions *461.2 x 0241.2mm{18.61 x 09.49 inches} Weight 32.6kg (71.70 poundls) “not including mounting plate. 4.1.8 StanDARDS The Meridian Subsea Gyrocompass is designed to meet the requirements of the following: 9 IMO Resolution A.424 (XI), Performance Standards for Gyrocompasses 9 BS EN 60945 (January 1997), General Requirements - Methods of testing and required test results 2 BS EN ISO 8728:1989, Shipbuilding ~ Marine Gyrocompasses 2 Electromagnetic Compatibility (EMC) Directive (CE merking DPN o6or1e tau 1.0 © Teledyne TSS Ls Page 32 of 52GIR TELEDYNE TSS 4 — Tecuwcat Dara _ Tse Tetmlges Campy Disposal CAUTION Do not dispose of by fre or compacting, as toxic fumes, dust or liquids may be release. 19 Units contain electrical and electronic components which should be disposed of in accordance with current waste disposal practices, 5 Units fitted withthe Battory Backup option contsin NIMH batteries that should be disposed of Ir accordance with current waste disposal practices 12 Units may be returned to the manufacturer for safe dispossl DPN050116 tue 10 © Teiedyne T8523 Poge 35 o 52BRR TEDINETSS MerIo1AN SuaseA GyRocoMPASS DPN osor1@ — tesue 1.0 © Telesyne 785 Le Page 38 of 52GRR TELEDYNE Tss 5 - DATA Formats elt Tetnlges Compony 5 DATA FORMATS “The Meridian Subses Gyrocompass uses a proprietary RS232 serial data format to configure the operating parameters. Using the supplied Surface Display and Control Software (SDCS), the user can configure the operating parameters to meet their specific requirements, Refer to Sub-section 6.1 for input data format details ‘The gyrocompass can be configured to output various RS232 NMEA 0183 and proprietary data formats. Refer to Sub-section 5.2 for specifi output formet scriptions, PN 060118 tase 1.0 © Telesyna TSS Let age 25 of 52ARP TELEDINETSS Nolet ais Convery MeRIoiAN SuaseA GyROCOMPASS 5.1 DATA INPUT To Gyro FROM PC ‘The Surface Display and Control (SDC) software, transmits a NMEA $PRSC data sentence to control the settings and output sentence format of the ayrocompass. Once settings have been established, the PC may be disconnected and the ‘yrocompass will continue normal operation using the applied settings. NOTE To maintain the gyrocompass specified performance, the latitude and speed aiding wil need to be updated during operation using the Surface Bisplay and Control Software (SDCS) 5.1.1 PSRC Data FoRMaT 1 Latitude in degrees: Field width fixed at 2 characters. For exemple, a value of O'willbe transmtted a "00" and a value of 5 will be transmitted a "05" Homisphore: ‘N’ for North, 'S' for South DG Mode: ‘N’ for none, ‘M' for manually set. 19 Speed in knots. Feld width fixed at 2 characters. For exemple, @ value of O ‘il be transmitted a "OO" and value of 5 will be transmitted 2 "05" 9 Configuration. Fold width fixed at 6 characters 0-9 and AF. 12 Heading Offset. Field width fixed at 4 characters. The first characteris ether ‘tor ©. the remaining three characters are the offset in S60°/65835 units. 2 Roll Offset in 1/100°, Field width fixed at 4 characters. For example, a value ‘of minus 5,00" will be transmitted a "800" and 8 value of +0.12° wil be ‘ansmitted as +012" 2. Pitch Offset in 1!100®. Field wicth fixed at § characters. For example, a value of minus 8.43° aill be tansmitted a'-0543" and a value of #12.34° will be transmitted ae 11234". sPSTCLLM. Wy, COCCCK, + HHH, RAR, + PPP“HN/CRL Stor character ; Poh ote ©1100) ending ost (960765595) DPN osoTI8 — Iesve 1.0 Teledyne TSS a Page 36 of 52TELEDYNE TSS 5 ~ DATA Foruars else Teele Company 5.2 Data OuTruTs From GyRocomPASS ‘The Meridian Subsea Gyrocompass outputs NMEA 0183 data formats end other common proprietary formats through a single RS232 serial date channel. The ‘available formats ars 5 NMEA 0183 HOT - ro 9. NMEA 0183 HOT+ ROT - refer to Sub-sections 5.2.1 and 6.2.2 for details, © KVH-refer to Sub-seotion 5.2.3 for detalis. 9 NMEA 0183 HOT + TSSI - refer to Sub-sections 5.2.1 and 6.2.4 for details 3 to Sub-section 6.2.1 for detail HHRP2 - refer to Sub-eoction 6.2.6 for detail Honeywell HMP3000 - refer to Sub-sectian 5.2.6 for details. PSGC - refer to Sub-section 6.2.7 for details. “The output baud rate can be configured to 4800, 8600 or 38400 baud. “The update rate can be configured to 1, 8, 10, 20 or 60 Hz. The higher update rates may only be azhievable when using the higher baud rate settings, ‘The sign conventions used for rate of turn and roll and pitch fields for all data formats are outlined in Table 5-1 ‘Teble 5-1: Sign conventions for at of tum ad al and pth 5.2.1 NMEA 0183 HDT Dara Format 9. Talker ID is transmitted a "HE". (> Packet ID is transmitted as 'HOT’ 2 Depending on user setings of decimal precision, the ASCII coded Heading id wil bo transmitted as five. characters (xx %) OF six characters (xx XX. th Wong Chatocters set 10'O" as secessony” © If the user has cenfigured the optional checksum field to be included, it will be ‘appended tote date packet before the cage etrn ine foes packet, Terminator. 9 The Heading field will be empty when a Gryo Fail concition exists, ‘DPN 050116 tase 1.0 Teledyne T85 Ld Page 37 of 52‘TELEDYNE TSS 1p dip, MeRIOIAN SUBSEA GyROCOMPASS Figure 5-2: NMEA 0189 HOT sentence formst ‘MEMOT 2006. T“nCRRE) i Pocket entifr DPN oBot1# tee 1.0 © Teledyne 185 Ls Page 38 of 52GNP TELEDYNE Tss Tels Tetras Comp 5 ~ Dara FonMArs 5.2.2 NMEA 0183 ROT Data Format 19 Talker ID is tranemitted as "HE 9. Packet ID is transmitted as ‘ROT’ 5 ASClL-coded Rats of Turn field will always be six characters in length, formatted 48 0000.0 forall positive values including O°/min, and always seven characters in length, formatted 98 -0000.0 forall negative values, The maximum value transmitted ie 1200° min, 5 Anomaty Rate of Turn field is transmitted when Gryo Fail concition existe br tor values in excess of 1200 /min. Fgure 5-3: NMER 0189 ROT ssntenes fom SHEROT XXX.X-TpHICRLE ‘Optional ehacksu fate of Turn 5.2.3 KVH Data Format 9) Packet start character ie "9 9. ASClI-coded True Heading in 1/10°. Field width may vary from 140 4 Characters. For example, a heading of 0.0° will be transmitted 8 0" and @ heading of $59.€° will bo transmitted a8 3599, 9 ASCiI-coded Rate of Turn in 1/10° par second in the range -20.0 to +20.0. Field width may vary from 1 to 4 characters. For exemple, a value of 12.0 willbe transmitted a°-120', @ value of O willbe transmitted a5 0" and a value of +2.0 willbe vansmitted as 20" Figure 5-4: KVH “ehnnhatcRLF i ‘Start characte. Canine retufine foed DPN OBOTIE —tesve 1.0 © Teledyne TSS Les Pogo 39 of 62PR EuDINETss ‘Tle eensopies Company Merioun Sussea GyRocoMPASS 5.2.4 TSS1 Data FoRMaT Packet contains 27 cheracters in five deta fields. The first two data fields are not utlised and padded with zeros, Packet start character ie“ [ASClI-coded decimal Roll and Pitch measurements in 1/100°, Formatted four Character fixed width fed length. For example, a value of 0.00" will be ‘ranemitted @ 10300" and a value of 12.34° willbe transmitied as "1234" Figute 5-5: TSS1 sentence formet _eaBAA SeamaNNy anon TyoCpOIES FL sae cnn ene o 5.2.5 HHRP2 Data FORMAT Packet contains 27 characters in four data fields. ASCll-coded decimal True Heading in 1/100°. Formatted five character fixed ‘width fet longi. For example, a heading of 0.0° wil be transmitted "90000" and a heading of 369.95° will be tranemitted as “36995) 4 ASCItcoed desma ol nd ich n 1/100, Formatted four charactor ed ‘ir held oop Por ore vous of 0.60" wel ranarfted "0000" TOTES SP $26 rence 4238" Heading sttus se to when gyro ha etd, therwie “y Fe 8 TS 02 von ome ono poeeanoepyonsen 100) start chwacterg ro Space if postal 9S a DPN 080118 Issue 1.0 © Teledyne TSS Ls Page 40 of 52AGAR TELEDINE TSS 5 ~ Dara Formats ‘Tato Teetoges Company 5.2.6 HoneyweLL HMP3000 DATA FoRMAT 19 ASClI-coded True Heading in degrees. Field width variable from 4 to 8 charactors. For example, a heading of 0.0° wil be transmitted 8 "0.00" and heading of 369,95° will be transmitted as ‘359.95 9 ASClI-coded Rollin degrees. Field width variable from 4 t0 6 characters, For ‘example, value of 0.80° willbe transmitted a'0.50' and a value of minus 42.34° will be tansmitted 28 "12.34" 1 ASClI-coded Pitch in degrees. Field width variable from 4 10 6 characters. For ‘exemple, value of 0.80° will be transmitted a "0.50" and a value of ‘minust2.34° wil be transmitted as "12.34" Fre 8-7: Honeywell HMP3000 sotence format SPTNTHPR xx NAN “RMCRLE) Pa Gbeiere 3 1) indi gé : 5.2.7 PSGC Data Format 9 ASCiLcoded True Heading n 1/100°, Fela with fed at 6 characters, For ample, 8 heading of 0.0° wil be transmitted 00000" and a heading of 359.98" wil be transmitted as 35098, 9 ASClL-coded Rate of Turn in 1/10° per minute in the range of -1200.0 to “1200.0. Field width fixed at 8 charactors. For example, a value of 50.0 will be transmitted a'-00500", and value of O willbe transmitted as "+0000" fand a value of +1200.0 will be transmitted as "+ 12000" 9 ASClI-coded Latitude in degroes: Field width fixed at 2 characters. For bare, 9 value of © wil be ranamited a "00" anda valve of 8 willbe transmitted 2/05" Hemisphere: ‘N’ for North, ’S’ for South DG Mode: 'N" fer none, ‘M for manually set ‘Speed in knote. Held width fixed at 2 characters, For example, 2 value of O Will be transmitted a °O0" and a value of 5 will be transmitted a "08 9 Gyro Status. Field width fixed at 4 characters and contains cheracter 0-9 and a Configuration. Field width fixed at 6 cheracters 0-9 and A, Version Number. Feld width fixed at 3 characters 0-8. ASCll-coded Rolin 1/100°. Field width fixed at § characters. For example, @ Value of -5.43° will be vansmitted @ 0543" and a value of + 12-84° willbe transmitted ag $1234", ‘9. ASCll-coded Pitch in 1/100°. Field width fixed at 5 charactors. For example, ‘ value of -5.43° will be transmitted @ 0543" and # value of +12.94° wll be transmitted ae "1234" DPN 080118 teswe 1.0 © Teledyne TSS Lit age 41 of 82AG TEEDINE TSS ‘Toye lees Company MeRIoiAN SuBseA GyRocOMPASS Foute 5-8: AP Gyro Status sentence format 49S, 00000,» RRRRR.LLHNl,VV.S8SS,CCCCCC VVV, + RRR, + PEPP*»NICRLE] OPN 050118 ese 1.0 © Teledyne TSS Ls Pogo 42 0 52‘TELEDYNE TSS ‘A-~ OFeRATING THEORY ‘ATs Tecate Company A OPERATING THEORY A gyracompass is @ navigational instrument that provides 2 true north indication ‘without reference to the earth's magnetic field. For its operation, the yrocompass deperds upon the folowing 19 The inertial properties of afr ly spinning gyroscope. 9 The rotation of the earth about its own axis, 9 Gravity Figure A-1 shows a free-spinning gyroscope mounted in a balanced gimbal Suspension. The suspension allows unrestricted movernent about the vertical and horizontal axes 60 that the gyro rotor can adopt any orientation. With the gyro rotor stationary, its easy to turn the gimbal suspension about ‘either axis and allow it to remain there in balanced condition, However, when its sinning, the gyro rotor exhibits 8 property calle gyroscopic Inertia. This property causes the spin axis of the rotor to remain pointing in the ‘same arbitrary direction in space and to resist any Influence that wes to redirect that axis, For simplicity, this explanation assumes the gyro rotor continues to spin perpetually at a constant speed. In a practical gyrocompass, the gyro rotor is the ‘specially designed epindle of a motor that rotates at a constant speed. ‘To an observer on the surface of the earth, the free spinning gyroscope would ‘appea” to “tumble” in its gimbal suspension once in every 24-hour period. This ‘apparent deviation occurs because, slthough the spin axis actually remains fixed in space, the earth rotates relative to it. DPN 080118 tue 1.0 © Tolesyne TSS Lt Page 43 of 52AGRE TELEDYNE TSS [Toye acon Conoany [Menioian SuBsea GyRocomPass The apparent movement seen by the observer would depend on the location of the gyroscope and the initial direction of the spin axis, observer at the equator 3 With on intial sein axis alignment level and parallel to meridian (so that points ina true rortrsouth direction), there would be no observable effect on the eyroscope during the 24-hour period ‘9 With an intial spin exis alignment level and perpendicular to meridian (so that it points in the eastvest direction), the spin axis would appear to tumble about Its horizontal axis with the eastern ond of the spin axle reing. Ater 24 hours, the gyroscope would complete a single revolution in its gimbal Susponsion 0 tat the spin axis would again point in the orginal direction Folative to the observer. 19. With an initial sein axis alignment somewhere between these two extrem the gyroscope would appear to tumble about its horizontal and its vertical axes to complete ane single revolution in 24 hours ‘an observer at one oft geographic pol ‘9. With an intial sin axs alignment vertical (so that it aligns with the axis of earth rotation}, there would be no observable affect on the gyroscope during the 24:hour pero, 9 With the initial soin axis evel, the gyroscope would appear to turn clockwise {at the north pol) or anticlockwise fat the south pole) about its vertical axis fonce in 24 hours To an observer at some intermediate latitude with the gyroscope oriented in some arbitrary inital direction: 19. The gyroscope would tumbla about the north-south direction at —Acosh and about the east-west direction at Qsini, where W is the earth rotation rate (18° por hour! and is the latitude of the gyroscope. A.A NoRTH-SEEXING GYROSCOPE Given a constant spin rate and frictionless gimbals, the gyroscope described {above will slays maintain its inital alignment relative to free space. To an ‘observer on the sur'ace of the earth, the revolutions that such a gyroscope performs mvary 24 hours wot make it difficult ta use ae an inetrimant of navigation, The ideal situation is for the gyroscope to align perfectly with the spin exis of the ‘earth 0 that it maintains @ north-south orientation with no apparent tumbling ‘during each 24-hour period ‘To make the gyroscope north seeking, the gyrocompass uses gravity control end. ‘an affect called precession, Consider the example shown below where the gyrascope rotates about its spin ‘axis in the direction shown, ‘When an externally applied torque acts on the gyroscope suspension in the direction shown, a point on the circumference af the roter at °O" will attempt to move in two directions simultaneously: DPN 060118 fave 1.0 © Telesyne TSS Ud Pogo 44 of 82‘TELEDYNE TSS ‘A~ OrenaTING THEORY AToatye Technolog Canoany 'e will accelerate in she direction OA under the influence of the applied torque. It will continue to rove in the direction OB as the rotor spins. “The net resuit ofthese tiwo movements actually starts to move the point on the circurntaronce of the rotor in the draction OC, which is the resultant of the two perpendicular influences. Since every point on the circumference of the rotor experiences the same effect it passes through point 0, it follows that the rotor will rotate about an axis ‘that lies at right ancles to the axis of applied torque. This isthe axis of precession. In this example, precession will actin the direction shown. Eventually, the spin axis of the gyroscope will tun sufficiently so that its spin axis coincides with the axis of applied torque, at which point there will no further tendency for the gyroscope to rotate about the precession axis ‘Summary Ifa free spinning gyroscope comes under the influence of a torque whase axis is perpenaicular to tne spin of the gyro fotor, a precession results that tends 10 align the spin axis with the axis of applied torque. The direction of this precession is such that, should alignment occur, the gyroscope spin direction wi be the eame a8 the section of applied torque. CConsider the example shown in Figure A-2(a), which shows a free spinning ‘yroscope aligned s9 that its spin axis is level with the horizon. In this example, the spin axis of the gyroscope aligns with the local meridian so that its north end points north In the balanced condition shown, the weight suspended from the ‘gyroscope beerings hes no effect on operation and the gyroscope will maintain Its alignment with the meridian. DPN O6oTI8. Isu0 10 © Teledyne TSS Lut Page 45 of 52tees Campany Menioian Sussta Gynocomass APR TEDINETSS Figure A-2: Gravy contol ofa gyroscope It is more common for the initial alignment af the gyroscope to be at some angle away from true north. Two conditions are therefore possibie: 1. Gyroscope initialy level and aligned to the west of north With the spin axis ef the gyroscope Intally level but with the north end pointing to the west of true north, the arrangement would briefly be balanced as shown in Figure A-21a) However, over time the north end ofthe spin axis would begin to tit downwards. This is because the earth rotates while the gyroscope maintains a fixed orientation in space. In this off-belanced condition, shown in Figure A~2(b), the ‘weight would try to return to its central location and, in doing s0, would apply an anticlockwise torque to the gyro suspension, \With the gyroscope spinning in the direction shown, precession arising from the anticlockwise torque would move the north end of the rotor eastwards. Therefore, because this condition arises from a westerly misalignment between the gyroscope and she meridian, the effect of the bottom weight Is to dive the {fo rotor towards closer alignment with the meridian 2. Gyroscope initaly level and aligned to the east of north With the spin axis ofthe gyroscope intialy level but with the north end pointing to the east of true north, the arrangement would briefly be balanced as shown in Figure A-2ia). However, over time the north end of the spin axis would begin to tit upwards ‘with rotation of the earth. In this off-balanced condition, shown in A~Z(c), the ‘weight would apply a clockwise torque to the gyro suspension. recession arising from the clockwise torque would mave the north end of the rotor further weet end therefore into closer slignment with the meridian, In practice, modern gyrocompasses, such as the Meridian Subsea Gyrocompass, ‘exercise gravity contro by an indirect method. Tit is detected by an electronic, PN 060118 lee 1.0 © Teledyne TSS Lt Page 46 of 52‘TELEDYNE TSS ‘A~ OFERATING THECRY Alte Technol Co Pendulum or accelerometer and the resultant electrical signals aro used t0 produce torques that have the same effect as a suspended weight. DPN 060718 luo 1.0AGRE TELDINETSS Tole Techno Compa ‘Meno1an Sunsea Gyrocompass A.2 Gyrocompass CORRECTIONS A214 LATITUDE CoRRECTION Sub-section A.1 explains how the addition of gravity control to the gyroscope Gives it the north-seoking characteristic necessary for use in @ gyrocampass. ting at the equator, such o simple gravity control would be sufficient ignment with the meridian with no further need for corrections. However, 2s the opzrating latitude increases towards either of the poles, there is 8 greater tendency ‘or the gyroscope to experience azimuth drift with time. The rate of change of azimuth due to the earth's ratation is constant for a given latitude, Therefore, the gyrocompass must apply @ controling correction toraue perpendicular to the spin axis, to cancel the drift caused by the earth's rotation To generate this correction torque the gyrocompass needs to know the operating latitude, A.2.2 Gyro DAMFING Whenever the gyroscope dos not align perfectly with the meridian, precession caused by gravity control and the horizontal component of the earth’s rotation will cause the north and of the gyro rotor to trace out an anticlockwise elliptical path, ‘The application of latitude correction causes this eliptical path to be symmetrical ‘about @ point projected from the north end of the gyro rotor when horizontal and aligned with the meridian. For a given gyroscope, the ratio between the major and minor axes of this eror elise is constant. The size ofthe elipse depends on the intial displacemant of the gyro axis away from the meridian and the horizontal plane. By reducing the amplitude of eipsoidal excursion in one plane, it follows thet the amplitude of excursion in the other plane reduces proportionately to settle the {yr horizontally and in the meridian, In the gravity controlled gyroscope, @ tilt ofthe rotor spin axis produced a torque about the horizonta axis to drive the spin axis towards alignment with the meridian, However, to produce a workable gyrocompass, there must be some {orm of damping. One practical method for doing ths isto include slectrcal feedback so that a tit in the rotor spin axis also produces a torque about the vertical axis. The sense of this torque would bs to cause a precession that would drive the spin axis ‘towards the herizortal. ‘This would cause the vertical axis of the error ellipse to reduce progressively towards zero, reducing the horizontal exis simultaneously. This process results in ‘the north end of the gyro rotor tracing @ decreasing spiel path, eventually settling with the gy'oscope horizontal and aligned with the meridian. A.2.3 SPEED ERROR Figure A~3 shows tat the north end of a meridian-ligned free spinning gyro wil ‘appear to rise as it moves northwards from the equator. This upward til is independent of the esrth’s rotation. If left uncorrected, this effect would interfere DPN 060118 fave 1.0 © Teledyne TSS Ls Page 48 of 52TELEDYNE TSS ‘A-~ OPERATING THEORY ‘Tale Tele Company with the north-seekng properties of the gyrocompass because the compass ‘would be unable to determine whether the tlt eame from a misalignment or from the northward motion, IW left uncorrected therefore, the northward travel would cause an upward tilt that would cause the gyroscope to precess towards the west and then to go into a settling spiral. Eventually, given a constant speed of northward movement, the Gyro would sete sightly fo the west of tue north, pure A-3: Gyrocompass sped eror Nie et Specd-related error s directly proportional to the north-south component of speed, and inversely proportional to the cosine latitude. This means that any terror when the comoass is on the equator would become twice as large at latitude 60°, three ties as large at latitude 70°, and near six times as large at latitude 80°. At latitudes above 80° the gyrocompass becomes virtual unusable as a north seeking instrument. ‘The north-south component of speed isthe product of actual speed and the cosine of the course made good. Speed related errors are therefore greatest ‘when traveling in 8 northerly or @ southerly direction. To correct for these effects, the compass must know the direction and speed of travel. While it uses ils own self-generated heading inforation to Ueto te direction of travel, speed information must come from an external source such 2 speed log or a GPS receiver, or be applied manually DPN o6oT18 laue 10 Teledyne 155 es Page 49 of 52‘TELEDYNE TSS ‘Todas ecnloges Company (MeRioian SuBsta GyRocomPass A3 SUMMARY 19 A.gyrocompess will indicate the true north direction after an appropriate setting perio, 19 To maintain correct true north alignment, the gyrocompass must receive additional inforration concerning its operating latitude. 19 Also to maintain accuracy the gyrocompass needs to know its direction of travel, which It generates self. and the speed of travel. Speed information ‘must arive from an external source, or be applied manvally. 1 A gyrocompass secomes progressively less effective as a north seeking that the Mercian Subsea Gyrocompass scted in this ‘mode, the gyrocampass acts ae drectionel gyro. A crectionel gyro does not ‘orth seek, but ean maintain a reference heading for 8 short pened DPN 060118 tue 1.0 © Tesedyne 185 es Page 50 0 52‘TELEDYNE TSS A ‘Azimuth drift A-48 © Corcection Speod A-48 Corrections Latitude A-48 6 Gravity control A-44 Gyro damping A~s Gyroscopic inertia A-43, L Latitude correction A~8 N North-seeking gyroscope A-44 Pp recession A-44 s Speed correction A-48 ‘pn o6o118 © Teledyne TSS Lit Poge 51 of 52ARR HUDINETSS ‘Tage fects Con Merioian SuBsea GrRocovPASS Page 82 of 32 Teledyne TSS Led ewoso1 18