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HAIN Subsea

The HAIN computer receives the aiding positions (latitude and longitude) from an acoustic positioning operator station via an Ethernet interconnection and will limit the position drift that is inherent in inertial navigation systems. ROV position

Kongsberg Maritime
Strandpromenaden 50
3191 Horten
Norway
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Description

The HAIN computer receives the aiding positions (latitude and longitude) from an acoustic positioning operator station via an Ethernet interconnection and will limit the position drift that is inherent in inertial navigation systems. ROV position, attitude, speed and expected accuracy of the data are sent to the acoustic positioning operator station, at a 1 Hz update rate. The source of the aiding position can be SSBL, LBL or both.

Specifications

  • Year of initial development
    2003
  • Height [m]
    0.28
  • Width [m]
    0.24
  • Length [m]
    0.24
  • Weight [kg]
    30
  • Min. Voltage (DC)
    16
  • Max. Voltage (DC)
    72
  • Power consumption [W]
    15
  • Splashproof casting
    Y
  • Water resistant casting
    Y
  • Water resistance [m]
    4000
  • Mean time between failures [hr]
    37000
  • Type of accelerometer
    QA2000
  • Type of gyro
    GG1320AN
  • Removable from base plate
    N
  • Type of application
    Marine
  • Moving parts
    Y
  • Min. operating temperature [C]
    -15
  • Max. operating temperature [C]
    55
  • Max. rotation speed [deg/s]
    400
  • NMEA formats
    THS
  • RTCM
    N
  • Other
    Several
  • Heading [deg]
    0.03
  • Pitch [deg]
    0.01
  • Roll [deg]
    0.01
  • Increase in position uncertainty w.r.t. stand-alone GPS [m]
    3
  • Heading [deg]
    0.03
  • Pitch [deg]
    0.01
  • Roll [deg]
    0.01
  • Heading [deg]
    0.03
  • Pitch [deg]
    0.01
  • Roll [deg]
    0.01
  • Decrease in position accuracy [m/hr]
    1500
  • Accelerometer bias [ยต-g]
    25
  • gyro bias [deg/hr]
    0.003
  • Calibration procedure
    N (only for DVL/INS)
  • Name
    HAIN
  • Filtering
    Y
  • Adaptable filter strength
    Y
  • Adaptable input signals
    Y
  • Integrity monitoring of position input
    Y
  • Integrity monitoring of log input
    Y
  • Max. number of position input signals
    1
  • Max. number of log input signals
    1
  • Maximum latency of log input [ms]
    1000
  • Uncertainty indicators given in output
    Std.dev.
  • Uncertainty of time stamp for output [ms]
    1
  • Graphical user interface
    Y
  • Typical application
    Attitude heading; and positioning of tethered subsea vehicles (ROV; ROTV; Tow fish).
  • Distinguishable features
    Stable and continuous attitude; heading and position output. Increased position and depth accuracy; further increase by use of post-processing (NavLab).
  • Export restrictions
    Depends on configuration

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