Sublocus

Sublocus is an underwater inertial navigation system that provides accurate position, velocity and orientation at depths of up to 3000 metres. It features high accuracy north seeking fibre optic gyroscopes, accelerometers, an internal GPS receiver and a pressure depth sensor. It accepts external aiding from speed logs, propeller speeds, DVLs, USBLs, SBLs and LBLs.

 

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Features

High Accuracy
High Accuracy
Sublocus features very high performance inertial sensors combined with Advanced Navigation's revolutionary fusion algorithms. This allows it to provide highly accurate position, velocity, roll, pitch and heading. Sublocus can provide underwater position accuracy of 0.08% distance travelled.
Fully Integrated
Fully Integrated
Sublocus is a fully integrated navigation system and features both a pressure depth sensor and GPS receiver built in. It is supplied with a 6000 metre depth rated GPS antenna. The GPS receiver provides accurate pre-dive starting position without the hassles of surveying and manual entry.
Rapid North Seeking Gyrocompass
Rapid North Seeking Gyrocompass
Sublocus features an extremely fast north seeking algorithm that is able to provide accurate heading in as little as 10 seconds after power on from a hot start and 10 minutes from a cold start. Sublocus's north seeking algorithm runs continuously while in operation and is not effected by velocities or angular movements.
Reliability
Sublocus has been designed from the ground up for mission critical control applications where reliability is very important. It's software is built on top of a safety oriented real time operating system and it is designed and tested to safety standards with fault tolerance in place. The electronics are isolated and protected from reverse polarity, overvoltage, surges, static and short circuits on all external interfaces.
Low Maintenance
Low Maintenance
Sublocus's enclosure is machined from a single block of high grade titanium and it has only one triple sealed join. It is polished to make it resistant to biofouling. Sublocus uses FOG technology which means there are no moving parts.
Peripherals
Peripherals
Sublocus has support for a wide range of peripheral inputs including speed logs, propeller speeds, DVLs, USBLs, SBLs and LBLs. If Sublocus doesn't support the peripheral device you have, we will add support for it free of charge.

Applications

Oil and Gas
Oil and Gas
Sublocus can save significant money when used on ROVs in the oil and gas industry. Sublocus allows ROV operators to drive directly to underwater structures without having to search for them, saving time and money. Additionally the spatial awareness that Sublocus provides the operator allows for faster and safer operations with a lower risk of collisions.
Oceanography
Oceanography
Sublocus is ideally suited for oceanography and underwater surveying. It provides high accuracy absolute positioning which allows the user to map subsea features. Additionally the high accuracy orientation it provides allows for geotagging of projected camera footage.
Autonomous Underwater Vehicles
Autonomous Underwater Vehicles
Sublocus is an excellent choice for navigation of autonomous underwater vehicles. It's high accuracy and safety conscious design makes it ideal for control use. It provides the ability to perform stationkeeping, obstacle avoidance and fully autonomous waypoint control.
Research
Research
Sublocus is an excellent reference for underwater research vehicles. It's extensive peripheral support and guarantee to add support for any new peripheral means that experimental sensor technologies can be integrated in Sublocus's solution.

Specifications

Navigation
Position Accuracy
(With GPS)
0.8 m
Position Accuracy
(With DVL)
0.08 % of distance travelled
Position Accuracy
(With Log)
0.4 % of distance travelled
Depth Accuracy 0.4 m
Roll & Pitch Accuracy 0.01 °
Heading Accuracy 0.25 ° secant latitude
Heave Accuracy 5 % or 0.05 m
(whichever is greater)
Attitude Range Unlimited
Hot Start Time 2 s
North Seeking Time < 60 s
Internal Filter Rate 1000 Hz
Output Data Rate Up to 1000 Hz
Sensors
Pressure Sensor Range 4000 m
Pressure Sensor Accuracy 0.4 m
Acceleration ±10 g
Angular Velocity ±490 °/s
Gyroscope Technology FOG
Bias Instability 0.05 °/h
Communication
Interface RS232 or RS422
Speed 4800 to 10M baud
Protocol AN Packet Protocol, NMEA or TSS
Peripheral Interface 2x GPIO and 2x Auxiliary RS232
GPIO Level 5 V or RS232
GPIO Functions DVL Input
SBL Input
USBL Input
LBL Input
Log Input
Odometer
Stationary
NMEA input/output
AN Packet Protocol input/output
Packet Trigger Input
TSS Output
Simrad 1000 Output
Simrad 3000 Output
Custom inputs/outputs as required
Hardware
Depth Rating 3000 m
Operating Voltage 18 to 50 V
Input Protection -40 to 100 V
Power Consumption
(typical)
6 W
Hot Start Battery Capacity > 24 hrs
Hot Start Battery Charge Time 30 mins
Hot Start Battery Endurance > 10 years
Operating Temperature -40 °C to 75 °C
Storage Temperature -40 °C to 75 °C
MTBF > 50,000 hrs
Shock Limit 25 g
Dimensions 138x138x131 mm
Weight in Air 5.8 kg
Weight in Water 3.9 kg

Documentation

Document
Version
Date
Download
Sublocus Datasheet
2.2
29-08-2017
Sublocus Reference Manual
2.0
06-11-2015
Sublocus 3D Model PDF
1.0
21-05-2013

Software

Email Support
support@advancednavigation.com.au
Release date
19 June, 2018