Sonardyne Lodestar Firmware 3.07.00 Release Notes
3.07.00.2139
Summary
This firmware release is based on the v3.04.00.1080 release and supports the following hardware/Systems:
- Lodestar / SPRINT
- Lodestar-Nav / SPRINT-Nav
- Gyro USBL (Optimised USBL)
This firmware is NOT supported on the following Hardware/Systems:
- DP INS
- Gyro Compatt 6(+)
The focus of this release is to support the following improvements in the LNav/LNavUTC output messages, Ethernet and to support latent USBL Observations.
LNav/LNavUTC supports two modes of operation; Sensor Mode that populates the message with AHRS and sensor data, and Hybrid Mode that populates the message with aided INS solution. This includes new commands that control the quality level for transition between the two modes. See appendix for details.
34290 – Latent USBL Observations:
SPRINT now supports USBL position latency of 29 seconds. This is particularly useful when position aiding an AUV via a slow acoustic communication link. See user manual for details.
New Features/Fixes
| PPR Number | Summary |
| 34290 | Ability to accept latent USBL Observations (SUSBL) |
| 34338 | LNav & LNavUTC output message improvements for sensor to Hybrid (INS) transition |
| 34270 | Accept Sound Velocity in mm/s |
| 29700 | General Ethernet improvements |
| 34308 | Improvements in INS DVL Time synchronisation |
| 34336 | Accept Sound Velocity from SV + Temp messages |
| 34259 | Accept aiding inputs which have future time stamps (of up to 1 second) |
| 34268 | Support PSONLOBS message with UTC Time |
| 32990 | Time synchronisation of 6G Instrument (AvTrak) to Lodestar |
| 30057 | Continue logging to SD when power is lost |
| 33670 | Depth and Velocity data lever arm & mounting angle compensation in LNav LNavUTC |
| 33666 | Support PSONPD with instrument time from another sensor |
| 34412 | INS KFDELAY restricted to a maximum of 5c |
Previous version history
3.04.00.1080
| PPR Number | Summary |
| 27586 | Support 2 DVL inputs (primary used, secondary logged) |
| 30568 | Introduce identifier to product type (SYS INSTTYPE) |
| 27115 | Add instrument frame for IME and Vehicle relative mounting angles and lever arms |
| 27937 | Improvements to OK/NOT OK response to some commands |
| 32678 | Improvements of AHRS latitude compensation when using XPOS |
| 17660 | OBST TTAG set if TOV is in the future when compared to TOA |
| 29577 | OBST TTAG set for XDepth and PSONPD if TSYS is not within acceptable SD limits |
| 32114 | Ability to change default gateway |
| 32233 | Store DVL power pass through is type is SPRINT-Nav or Lodestar-Nav |
| 32505 | Ability to configure latency for TOV pressure observations |
| 32535 | Subnet mask can be updated independently from the IP address |
| 30721 | Battery not ok flag disabled in BIST |
3.03.01.1067
| PPR Number | Summary |
| 31079 | Implement normalised residuals for Fusion 2 |
| 31666 | Support sensor observations evaluation when sensor is not enabled for use |
3.03.00.1057
| PPR Number | Summary |
| 14216 | INS initialisation using LBL |
| 30055 | Auto shutdown default changed to 5 minutes |
| 27934 | Internal C2 port set to 485H as default |
| 28970 | UDP TX holdoff changed to 10ms |
| 29493 | Log wrapper removed from non-multiplexed ports |
| 30511 | SPRINT-Nav internal pressure output improvements |
| 30870 | Implement Fusion 2 SPRINT-Nav internal pressure |
Software/Hardware Compatibility
| Software/Hardware | Version |
| SPRINT | v 1.5.3 or later |
| Fusion 2 | v 2.04.01.2115 |
| Syrinx DVL | Rel 2 Rev J |
| Lodestar PC Utility | v 4.02.00.66 |
| Ranger 2 / Marksman | v 6.04.01 |
| Syrinx DVL | Rel2 Rev J |
| AvTrak | v 3.13.01.03 |
Installation Notes:
To update to 3.07.00.2139 firmware, connect using CP+E1 Serial port connected to Lodestar PC Utility software, Reset the unit to the default configuration (Reset to factory configuration), then update firmware. Please see user manual for detailed instructions.
Note: To upgrade hardware operating firmware versions 3.03.01 or below, an additional configuration file is required specific to the unit for successful update, please contact support for instructions.
The LNav / LNavUTC messages in the v3.07 firmware support two output modes (Sensor and Hybrid) that populate message fields as shown in the data format table below.
Sensor Mode: Data populated from AHRS and raw sensors.
Hybrid Mode: Data populated by aided INS solution
| Message | Fietd Source Information | ||||
| Sensor Mode | Hybrid Mode | ||||
| Source= AHRS | Source= INS | Source = AHRS | Source= INS | ||
| TOV | Lodes tar Time System | Lodestar Time System | |||
| Latitude | Not Ava ilable {O} | INS | |||
| Long it ude | Not Ava ilab le (0) | INS | |||
| Depth | Pressure Sensor | INS (see note) | |||
| Altitude | DVL | DVL | |||
| Roll | AHRS | AHRS | AHRS | I NS ( s e e n ote) | |
| Pitc h | AHRS | AHRS | AHRS | I NS (see no te) | |
| Head ing | AHRS | AHRS | AHRS | I NS (see n ote) | |
| vN | DVL | INS ( see no te) | |||
| vE | DVL | I NS (see no te) | |||
| vDwn | DVL | INS (s ee note) | |||
| wiF wd | IM U | IM U | |||
| wS tbd | IMU | I MU | |||
| wDwn | IMU | I Mll | |||
| aFwd | I MU | IM U | |||
| aStbd | IMU | IM tJ | |||
| aDwn | IM U | IMU | |||
| posMaj or | Not Ava i1lab le (0) | I NS | |||
| posMin or | Not Ava il ab le ( 0) | INS | |||
| dirPMa j or | Not Av ail ab le ( O} | I NS | |||
| stdDepth | Not Ava il ab le {O} | I NS | |||
| StdLevN | Not Ava il abl e ( O) | I NS | |||
| sleeve | Not Ava il abl e (0) | I NS | |||
| st dHeadin g | Not Ava il ab le (0) | INS | |||
| DVL velocity qua lit y / velMa j or | DVL | INS | |||
| vel Minor | Not Av ail able (O) | I NS | |||
| dir VMaj or | Not Ava il ab le (O} | INS | |||
| vel Down | Not Ava il able (0) | I NS | |||
| Message Field | Source Information | |
| Status | N/A | N/A |
Note:
Transition from sensor mode to hybrid mode is dependant on the depth standard deviation and the velocity standard deviation, default below:
- Depth standard deviation default threshold set to 0.25
- Velocity standard deviation threshold set to 0.15
These thresholds can be custom configured using the following command: OP INSTHRESH E.g. OP INSTHRESH 0.25 0.15 For full description of the LNav / LNavUTC message, please refer to the latest user manual.
Contact Information
For further support please contact:
24/7 Emergency Helpline
T. +44 (0) 1252 877600
Email Support
[email protected]
Website
www.sonardyne.com
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