GUIDANCE MARINE SceneScan, 20-0253 User Manual

SceneScan User’s Guide

YEAR

Guidance Marine Ltd, 5 Tiber Way, Meridian Business Park, Leicester, LE19 1QP, UK

T: +44116 229 2600 E: sales@guidance.eu.com

Targetless position

reference sensor

www.guidance.eu.com

www.marine.direct

SceneScan User’s Guide

LASER

Print Colour

Black

Print Colour

Yellow

100.00 mm

Scale 1:1

Material

White

Issue Date: 11/10/2018 Document No: 94-0561-A

Serial No:

Sensor Software Version: Client Software Version:

Date of Shipment from UK:

Guidance Marine Ltd, 5 Tiber Way Meridian Business Park Leicester LE19 1QP UK

Tel: +44 116 229 2600

UK Support: +44 116 229 2665 (365 days a year, 08:00 - 20:00 hours UTC) customerservices.uk@guidance.eu.com

USA Support: +1 504 305-1120 customerservices.us@guidance.eu.com

Asia Support: +65 6734 6365 customerservices.sg@guidance.eu.com

Web: www.guidance.eu.com/customer-support

Class 1M Laser Product

Complies with EN 60825-1

Complies with USA CFR 1040.10 & 1040.11

except for deviations pursuant to Laser Notice

No 50 26 Jul 2001

Copyright in the whole and every part of this document belongs to Guidance Marine 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 Owner’s Agreement or otherwise without the prior written consent of the Owner. “SceneScan” is a registered trademark of Guidance Marine Ltd. All other brand or product names are trademarks or registered trademarks of their respective companies or organisations.

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Table of Contents

Introduction ......................................................................................................5

Welcome ��6

System Overview ��7

SceneScan Sensor Part Names �� 8

Getting Started.................................................................................................9

Start Up and Shut Down ��10

Start Up �� 10

Shut Down �� 10

Targetless Tracking �� 11

Overview of Targetless Tracking ��11

Blanking Zones �� 11

Tracking Overview �� 12

Screen Layout ��13

Main Screen and Bird's Eye View (BEV) ��14

Side Bar �� 16

Hotkey Buttons �� 17

Menu Pane ��18

Tracking Information Quality �� 19

Display Settings ��20

Vessel Orientation ��22

To set Vessel Orientation ��22

1� Navigate to Advanced > Display Options > Layout� ��22

2� Click on the vessel outline that points in the required direction� ��22

Tracking Basics .............................................................................................. 23

Operating Blanking Zones �� 24

Dynamic Blanking Zone ��24

Setting the Dynamic Blanking Zone �� 24

Scanner Tilt Controls �� 25

Scanner Tilt Modes ��25

Spirit Level �� 25

Tracking �� 26

To Start Tracking �� 26

To Stop Tracking �� 26

Adjusting the Scene Reference Point �� 27

Enabling DP Output �� 28

Tracking Lost �� 28

Manual Tilt Mode �� 28

Positional Display Modes �� 29

Range, Bearing & Heading �� 29

A and B Axes (A Pos and B Pos) �� 30

Multi-Dashboard SceneScan Systems .................................................. 31

SceneScan Dashboard - Monitoring Mode �� 32

SceneScan Dashboard - In Command Mode ��33

Support Information ................................................................................... 34

Low Temperature Operation ��35

Working with Alarms ��36

Filtering Alarms �� 36

Dynamic Positioning Feed ��37

Network Communications Settings ��38

Data Logging �� 39

Serial Numbers & Software Versions �� 41

Product Label �� 41

Software Version Information ��41

Troubleshooting ........................................................................................... 42

Contact Details �� 42

How to report issues ��42

Problems and Possible Remedies��43

SceneScan Fuse Information ��44

Installing the SceneScan Hardware ....................................................... 45

Table of Contents (continued)

Where to Mount the Sensor ��46

Sensor Dimensions and Mounting Template ��47

Installing the Cables .................................................................................... 48

Cable Speciﬁcations ��49

UPS Speciﬁcations �� 50

SceneScan Sensor Connections ��51

To Connect a Cable to the SceneScan Sensor �� 51

Connecting the Power Cable ��51

SceneScan Client and DP Feed Connections �� 52

Cable Routing Diagrams ��53

Installing the Control PC ............................................................................ 55

Installing SceneScan Client Software onto a Computer ��56

Upgrading the Sensor Software �� 57

Conguring the SceneScan System ..................................................... 58

Using the Service Interface ��59

Network Communication Settings ��60

Vessel Parameters ��62

Static Blanking Zones ��65

Dynamic Positioning Feed Conﬁguration �� 66

DP Feed Behaviour ��67

System Parameters �� 69

DP Message Types ��71

NMEA0183R Format ��71

NMEA0183P Format ��71

ASCII17 Format �� 72

Kongsberg Standard ��72

MT Custom DP String ��73

Rolls-Royce Custom DP String �� 74

Kongsberg (Custom) ��75

Service Schedule ��76

SceneScan Installation Checklist �� 77

Index �� 78

Document History ��80

Introduction

This section provides an introduction and overview of the SceneScan system. It contains the following sections:

Welcome (page 6)

•

System Overview (page 7)

•

SceneScan Sensor Part Names (page 8)

•

Welcome

Welcome to the SceneScan User Guide. It explains how to:

• Use the SceneScan system

• Physically install the system

• Install and operate the Dashboard software

• Install the Service Interface

Note: Installation of a SceneScan system should be

carried out by a suitably qualied and competent

engineer.

System Overview

The SceneScan System is a high accuracy rotating laser Sensor that provides positional information to allow automated approach and/or station keeping relative to a structure or vessel. It is designed to be semi-portable and straightforward to operate.

Its key elements are:

The SceneScan Sensor: The marine grade SceneScan Sensor is mounted on the

•

vessel (typically on the wheelhouse) as required. The SceneScan Sensor emits eye-safe infrared light and detects the reections received back from one or more designated structures or vessels.

The SceneScan Client Software: There are two key pieces of software:

•

The SceneScan Service Interface: The SceneScan Service Interface is used

•

for system installation and maintenance.

The SceneScan Dashboard: The SceneScan Dashboard generates a visual

•

representation of the scene detected by the SceneScan Sensor. It gives the DP Operator control of the system and the data stream being fed to the DP system.

Both pieces of software run under Windows™ on a Type 3 Marine Processor or other computer providing the minimum system requirements (See page 55).

The SceneScan system operates dierently to other local position reference systems in that it does not require any type of target to be placed on the asset that is being approached or used for station keeping.

It scans the vessel or structure and produces a map. This map is compared to the current scan by the SceneScan Sensor navigation algorithm, which is used to track a local position.

SceneScan Sensor Part Names

The diagram below shows the key parts of the Sensor unit and the various names that are used throughout this guide:

Rotor

Optical Window

Power

DP Feed 2 DP Feed 1

Client Data

Base Plate

Access Plate

Sensor Information Display

Cable Gland Plate

Getting Started

This section contains the following pages:

Start Up and Shut Down (page 10)

•

Targetless Tracking (page 11)

•

Screen Layout (page 13)

•

Tracking Information Quality (page 19)

•

Display Settings (page 20)

•

Vessel Orientation (page 22)

•

Start Up and Shut Down

Start Up

To Start SceneScan Dashboard

1. Ensure that the SceneScan Sensor is powered on.

2. Double-click on the SceneScan Dashboard icon. (Or run the SceneScan Dashboard from Start > All Programs > Guidance Marine Ltd > SceneScan > SceneScan Dashboard).

3. The Dashboard display screen will appear. If the Sensor is currently suspended, the main part of the screen will be greyed out. Click on the Resume button in the side bar in order for the Sensor to begin scanning and for the results to be displayed on the screen. If the Sensor was already scanning, then the current scene will be displayed.

Shut Down

Dashboard screen with Sensor suspended Dashboard screen with Sensor scanning

To Suspend, Exit or Disconnect

1. Click on the Guidance button in the lower left corner of the screen.

This will reveal buttons in the side bar as follows: (see right).

Suspend - Places the Sensor into a ‘sleep mode’. The rotor ceases spinning and the

•

scanner tilt returns to a xed state. The unit can be returned to full operation via a Resume command from the Dashboard. This mode is suitable for use when travelling between locations.

Disconnect - Ceases communications between the Dashboard and Sensor and

•

causes the main part of the screen to be greyed out. Does not cause the Sensor to stop spinning or tracking the scene.

Suspend And Exit - Places the Sensor into the same ‘sleep mode’ as the suspend

•

command (discussed above) and also closes the SceneScan Dashboard program.

Exit - Closes down the Dashboard without aecting the Sensor.

•

Dashboard In Command

Dashboard Monitoring

See Multi-Dashboard SceneScan Systems (page 31) for information on In Command/Monitoring functionality.

Targetless Tracking

Overview of Targetless Tracking

Traditional relative positioning Sensors rely on placing targets on the structure or vessel which the Sensor then detects and can report a position relative to. SceneScan removes the requirement to place targets into the scene and instead provides tracking information relative to natural or man-made structures within the Sensor eld of view. It achieves this by matching its current observation of the scene against previous observations of the same scene, in order to determine the motion of the Sensor between observations.

In order to maximise the performance of this approach, the Sensor rst calculates the most reliable and informative section of the scene to track o. This step is called tilt optimisation, and involves the Sensor scanning through various sections of the scene to work out which tilt angle to track at.

Once a suitable section has been selected the system starts tracking and reporting the position of the Sensor within the scene. As the Sensor moves and the view of the scene changes, the Sensor will automatically update its model of the scene while tracking without any need for user intervention.

Blanking Zones

Warning: Before starting tracking it is critical that Blanking Zones have been

correctly congured to mask out regions of the scene that we do not wish to

track.

Two types of blanking zone can be congured on a SceneScan system:

Fixed Blanking Zones – These can be exclusively congured using the SceneScan

•

Service Interface. Fixed blanking zones are the Vessel Blanking Zone (Vessel Parameters) and the Static Blanking Zones.

Operating Blanking Zones – These can be amended in the Dashboard when the

•

system is running, even during tracking. Operating blanking zones are the Dynamic Blanking Zone and the Minimum Range Filter.

For information on how to set Blanking Zones see the following sections:

Operating Blanking Zones on page 24

•

Vessel Parameters on page 62

•

Static Blanking Zones on page 65

•

Targetless Tracking (Continued)

Tracking Overview

Start Tracking

Once Blanking Zones have been congured the operator can command the Sensor to start tracking.

SceneScan Tracking is inuenced by the operator’s choice of tilt mode (see the Scanner Tilt Controls section on page 25 for further information):

Auto - When starting tracking, the scanner will automatically “sweep” through a

•

range of angles to determine the most stable scene for tracking purposes.

Manual - This mode is used to manually tilt the optics to point at the desired part of the

•

scene. When starting tracking, the scanner will use the currently selected angle and no “sweep” will be performed.

Once a suitable tilt angle has been chosen tracking will start and the scanner tilt angle will automatically adjust as the range to the asset changes. This is to ensure that the same part of the scene is used throughout the tracking session.

Scene Reference Point

Once the Sensor has started tracking, it will start reporting its position relative to the Scene Reference Point.

By default SceneScan will select the centre of the tracked scene for the scene reference point, with a heading of 0°.

This behaviour should be sucient for most users. However users are also able to edit the Scene Reference Point, altering both its position and heading. This might be done to align to the heading of a tracked vessel, or to position oneself against the edge of a platform or quayside.

Enabling DP Output

Once tracking, the Dashboard will display tracking and scene data, but the Sensor will not output a DP feed. The reason for this is to allow the operator to review the detected scene, and to set a Scene Reference Point of their choice before enabling DP Feed output.

When the operator is happy with the tracking data displayed on the Dashboard the DP output can be enabled and the Sensor will start to report valid position telegrams to the DP system.

Warning: Changing the Scene Reference Point will disable the DP Feed. This is done because altering the point can dramatically alter the output from the DP

Feeds. The DP Feeds must be re-enabled by following the below procedure.

Screen Layout

The SceneScan Dashboard screen is split into three distinct sections, these are:

1. Main Screen and Bird's

•

Eye View (BEV) (see page

14)

2. Side Bar (see page 16)

•

3. Menu Pane (see page

•

18)

Screen Layout (Continued)

Main Screen and Bird's Eye View (BEV)

The circular BEV shows the observable scene and Scene Reference Point relative to the Sensor and vessel.

The Figure on the right labels elements on the BEV and its periphery.

Vessel Outline

The Vessel Outline in the centre of the BEV represents the ship on which the SceneScan system is located, and the red dot denotes the SceneScan Sensor. The rotating fan-shaped symbol represents the laser beam emitted by the rotor as it turns.

The whole BEV can be rotated in steps of 90° to allow for dierent positions of the monitor. The size and shape of the vessel outline and the position of the Sensor’s red dot within it can be congured using the SceneScan Service Interface.

Blanking Zone

The Blanking Zone is an area dened by the user in order to blank-out parts of the scene that should not be used for tracking. During each revolution of the Sensor, when the rotor enters this sector the laser stops pulsing. The Blanking Zone is adjusted to suit the current operating conditions.

Range Circles

The Range Circles are a visual guide that help to show the distances between the Sensor vessel and the detected reections. Distances are given in metres from the centre of the Sensor.

Radial Markers

Around the circumference of the BEV are marked angles in degrees, clockwise from the bow of the vessel.

Screen Layout (Continued)

Scene Data

The Scene Data shows the scene detected by the SceneScan Sensor.

Note: The Scene Data can be constrained to a traditional circular BEV, or expanded to ll the central area using the Toggle BEV Shape button on the Hotkeys Tab, or by pressing F8.

Scene Reference Point

The Scene Reference Point shows the point within the scene about which SceneScan is tracking.

Bearing and Heading Tags

The bearing tag and the heading tag are displayed when tracking is in progress, to indicate the target’s bearing and the vessel heading on the Radial Marker.

Data Logging Indicator

This symbol is displayed when data is being logged to disk.

Zoom Control

Allows a user to zoom in (+) and zoom out (-) of the BEV. Click on the left-hand side of the control (marked '-') to zoom out of the display and on the right-hand side ('+') to zoom in.

Hotkeys Tab

The Hotkeys Tab is located on the right hand edge of the main pane. Clicking on the tab will open the Hotkeys Menu.

System Status

This consists of two elds:

Primary

The primary status display is positioned in the upper-right corner of the main pane. It indicates the current status of the system, for example System Running Normally or System Suspended.

Secondary

The secondary status display is positioned in the lower-right corner of the main pane. It displays a ashing message for a number of seconds in order to conrm an action taken by the user. It can also display a persistent, static message if there is a communications problem.

Screen Layout (Continued)

Side Bar

The Side Bar, the black pane on the left of the BEV, contains control and display components in addition to the coordinates panel.

Toggle Coordinate Type

Signal Quality

Coordinate Data

DP Message Format

Current Tilt Mode and Command Mode

After pressing the Guidance button:

Start/Stop Tracking Button (It is always visible for SceneScan)

Guidance Button

Screen Layout (Continued)

Hotkey Buttons

Selecting the Hotkeys tab on the right-hand side of the main screen activates the Dashboard Hotkeys menu.

The following keys - and the corresponding buttons on the Dashboard Hotkeys menu - act as shortcuts to application functions.

F1 Display Help Menu

F2 Toggle between the About System pane and the BEV display

F3 Rotates the Vessel Clockwise

F4 Rotates the Vessel Anti-Clockwise

F8 Toggle between displaying a traditional circular BEV or Full Scene mode

F9 Toggle between the day view and night view

F10 Capture a screenshot of the Dashboard interface and save it to disk

F11 Toggle between normal window layout and full screen layout

F12 Toggle between enabling and disabling the on-screen keyboard

Hotkeys Tab

Alt+L Start Manual Data Logging (available when no tracking operation is in progress): Starts data logging and changes the button to Stop Data Logging

Ctrl + Zoom-In

Ctrl - Zoom-Out

Esc When in operation conrmation mode, cancel the current operation request

Enter When in operation conrmation mode, conrm the current operation request

Screen Layout (Continued)

Menu Pane

The Menu Pane, located across the bottom of the SceneScan Dashboard Screen, is not always visible. It appears when one of the Tracking, Tilt or Advanced buttons near the foot of the Side Bar are pressed, which causes the Bird's Eye View (BEV) to contract towards the top of the screen. Clicking the same button for a second time causes the Menu Pane to disappear and the BEV to be restored to full size.

Tracking Information Quality

Once tracking is under way the Data Quality Bar indicates the level of condence the system has in the quality of the scene data that is being acquired. The greater the size of the lled portion of the Data Quality Bar, the greater the level of condence in the information.

The colour of the Data Quality Bar and positional data also reects the level of condence: RED, YELLOW or GREEN, with GREEN meaning highest condence.

When tracking, the Data Quality Bar and positional data disappear and are replaced with a warning message if the system loses track of the scene.

Display Settings

To provide ample visibility during daytime operation and to limit glare during night shifts, SceneScan Dashboard oers two display settings: Day Mode and Night Mode. In either mode the brightness can be further adjusted by the Screen Brightness control.

To change day/night mode and adjust brightness:

1. Navigate to Advanced > Display Options > Display Settings.

2. Click on one of the Day / Night Mode symbols.

3. Click on the left side of the Screen Brightness control to dim the screen and on the right to make it brighter.

Alternatively, to toggle between day and night mode, use the keyboard shortcut F9 or the Toggle Day/Night Mode button in the Dashboard Hotkeys panel.

Day Mode

Night Mode

Display Settings (Continued)

The central BEV can be toggled between a traditional circular BEV, and a full scene mode. Press F8 to toggle modes, or use the Toggle BEV Shape hotkey. The latter is useful when viewing complex scenes such as harbours.

The BEV can be further expanded to a full screen mode by pressing F11, or using the Toggle Full Screen hotkey

This mode maximises the space available for tracking. Whilst this removes the Side Bar from view, it can be restored by pressing F11 again, or clicking the Tab along the left edge of the screen.

Vessel Orientation

SceneScan Dashboard supports four dierent layouts of the Bird’s Eye View so that the operator can choose the one which best represents the vessel’s surroundings.

To set Vessel Orientation

1. Navigate to Advanced > Display Options > Layout.

2. Click on the vessel outline that points in the required direction.

Note: Changes made to the vessel orientation using the Dashboard are temporary and will revert back to the default setting when the Dashboard is restarted� The default orientation can by changed from within the SceneScan Service Interface�

Note: This is a Dashboard display function only and will not affect the DP output�

Tracking Basics

This section contains the following pages:

Dynamic Blanking Zone (page 24)

•

Scanner Tilt Controls (page 25)

•

Tracking (page 26)

•

Positional Display Modes (page 29)

•

Operating Blanking Zones

Dynamic Blanking Zone

The Dynamic Blanking Zone is used to mask a segment of the scan rotation. When the scanner passes through the dynamic blanking zone, the laser is switched o to prevent any unwanted reections.

N.B. Even if the Sensor has a clear 360° view, there must be a dynamic blanking zone of at least 23°. The user interface will not allow smaller blanking zones.

Generally the dynamic blanking zone will not need to be changed. However, there may be occasions when it is necessary to adjust the dynamic blanking zone, for example to mask out another vessel in the Sensor eld of view..

Note: Up to four additional static blanking zones can be congured from within the SceneScan Service Interface. These are used to mask segments of the scan rotation that are obscured by the vessel’s superstructure. See the Static Blanking Zones section on page 64 for further information.

Setting the Dynamic Blanking Zone

The start and end of the zone can be set to any positions around the circle to the nearest degree, subject to the minimum and maximum sizes of the zone (see red box below).

To dene the Dynamic Blanking Zone

The Dashboard needs to be in Command Mode to make changes to the dynamic blanking zone.

1. Click one of the dynamic blanking zone handles and, holding down the left mouse button, drag to the desired position. Alternatively - on a touchscreen - touch and drag. As the handle is moved, its current position (in degrees clockwise from the vessel bow) is displayed in blue numerals outside the perimeter of the circle.

2. If required, drag the second zone handle in the same way.

3. The Apply-Cancel buttons will have popped up after step 1. Click on the Apply button to set the dynamic blanking zone, or on Cancel to restore the dynamic blanking zone to its previous state.

The Dynamic Blanking Zone must cover at least 23° but no more than 337°. The user interface will not allow larger blanking zones. It is not possible to change the blanking zone when in full screen mode.

Range Filters

The Range Filters function on the Power menu allows the user to set minimum range. Any objects at a shorter range than the range threshold will no longer be visible to the Sensor and so will be excluded from tracking. This mechanism is useful when a structure/vessel other than that being used for tracking cannot be eliminated by means of the dynamic blanking zone function alone. It can be used at any time, even during tracking.

The range threshold can be adjusted between 1 and 70 metres by clicking on the end of the lter bar marked ‘+’ or ‘-’ as required. A corresponding exclusion zone is shown in the centre of the BEV.

Scanner Tilt Controls

The scanner tilt mechanism automatically compensates for the pitch and roll of the vessel caused by wave motion.

Motion Sensors and a tilting optics mechanism ensure that the scanning optics remain at the correct level to see the scene.

16° Scanner Tilt

Scanner Tilt Modes

The scanner can be operated in either of the following tilt modes:

Auto - When starting tracking, the scanner will automatically “sweep” through a range of

•

angles to determine the most stable scene for tracking purposes.

Manual - This mode is used to manually tilt the optics to point at the scene. For

•

example, when station-keeping close to a platform where the superstructure is high up and the SceneScan beam must be tilted upwards. When starting tracking, the scanner will initially use the currently selected angle. No “sweep” will be performed. Manual Tilt can also be used to visually survey the scene around the vessel without tracking.

When the Sensor is rebooted the tilt mode defaults to Auto.

The current tilt mode and leveller angle are displayed in the ‘Tilt Mode’ section of the Side Bar.

To change the scanner tilt mode and leveller angle

1. Click on the Tilt button in the Side Bar.

2. Select the required mode and click on the Apply button to conrm.

3. Click on the +/- buttons to adjust the angle.

4. Click on the Apply button to conrm your changes.

Once the scanner starts tracking, it is not possible to change the tilt mode or leveller angle

Sidebar Tilt Mode section

Tilt Mode Selection

Spirit Level

The Spirit Level control, on the left hand side of the Tilt pane, displays the roll and pitch of the vessel as measured by the Vertical Reference Unit within SceneScan. The graphical display represents the roll and pitch angles in the same manner as a bull’s eye spirit level. The current values are displayed in text at the bottom of the control. A ship outline is shown in the background to indicate orientation relative to the vessel.

20° Scanner Tilt

+ 56 hidden pages

GUIDANCE MARINE SceneScan, 20-0253 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual