USER GUIDE

OCTANS III
& POSITIONING
NAVIGATION

II. PART 2 : OCTANS III SURFACE USER GUIDE

 OCTANS User Guide

TABLE OF CONTENTS

II.1 OCTANS Technical description ....................................................................................................... II-5

II.1.1 Performances ................................................................................................................................. II-6
II.1.1.1 Gyrocompass Technical Performances .................................................................................... II-6
II.1.1.2 Motion Sensor Technical Performance..................................................................................... II-6
II.1.2 Environment ................................................................................................................................... II-6
II.1.3 Interface ......................................................................................................................................... II-7
II.1.3.1 Dimensions ............................................................................................................................... II-7
II.1.3.2 Power Requirement .................................................................................................................. II-7
II.1.3.3 Outputs...................................................................................................................................... II-7
II.1.3.4 Inputs......................................................................................................................................... II-7
II.1.3.5 Repeater Software .................................................................................................................... II-7
II.1.4 Certification .................................................................................................................................... II-8

II.2 MECHANICAL INTERFACE............................................................................................................... II-9

II.2.1 OCTANS III Interface Plate ............................................................................................................ II-9
II.2.2 OCTANS III reference frame........................................................................................................ II-11
II.2.3 OCTANS III center of measurements .......................................................................................... II-12

II.3 ELECTRICAL INTERFACE .............................................................................................................. II-13

II.3.1 Description of the rear panel ........................................................................................................ II-13
II.3.2 Listing of interfaces ...................................................................................................................... II-13
II.3.3 Power supply connector............................................................................................................... II-14
II.3.3.1 Description of connector ......................................................................................................... II-14
II.3.3.2 Operational consideration ....................................................................................................... II-14
II.3.4 Repeater and configuration connector......................................................................................... II-15
II.3.4.1 Connection between OCTANS and PC through the repeater connector ............................... II-15
II.3.4.2 Specifications for communication between OCTANS and PC................................................ II-16
II.3.5 Analog Connector ........................................................................................................................ II-17
II.3.5.1 Connector pin out.................................................................................................................... II-17
II.3.5.2 Analogue outputs (Pins E, F, G, H, R, S, T and U)................................................................. II-17

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 OCTANS User Guide

II.3.6 Digital Connector.......................................................................................................................... II-18

II.3.6.1 Digital connector pin out.......................................................................................................... II-18
II.3.6.2 Serial Inputs and Outputs........................................................................................................ II-19
II.3.6.2.1 Description ......................................................................................................................... II-19
II.3.6.2.2 Pinout for electrical level RS 232 or 422 ............................................................................ II-19
II.3.6.3 Alternative configuration and repeater port (pins K, L, d, e) ................................................... II-20
II.3.6.4 Pulses Inputs and Outputs ...................................................................................................... II-20

II.4 OPERATIONAL CONSIDERATIONS .............................................................................................. II-21

II.4.1 Heading error due to the speed log.............................................................................................. II-21
II.4.2 Inaccurate latitude data................................................................................................................ II-22
II.4.2.1 Amplitude of error due to latitude data.................................................................................... II-22
II.4.2.2 Sensitivity to incorrect latitude data ........................................................................................ II-22
II.4.3 Latitude input at first powering-on ................................................................................................ II-23

II.5 COMPUTATION OF HEAVE, SURGE, AND SWAY........................................................................ II-24

II.5.1 Definition of heave, surge, and sway ........................................................................................... II-24
II.5.2 Description of the heave filter....................................................................................................... II-24
II.5.3 Conventions for heave, surge and sway measurements ............................................................. II-24
II.5.4 Monitoring external points ............................................................................................................ II-25
II.5.4.1 Principle................................................................................................................................... II-25
II.5.4.2 Definition of Lever Arms.......................................................................................................... II-26
II.5.4.3 Effect of a lever arm on the computation of heave ................................................................. II-26

II.6 TRUE HEADING, ROLL AND PITCH .............................................................................................. II-28

II.6.1 True heading ................................................................................................................................ II-28
II.6.2 Roll ............................................................................................................................................... II-29
II.6.3 Definition of pitch.......................................................................................................................... II-29
II.6.4 Angular bias compensation.......................................................................................................... II-30
II.6.4.1 Roll misalignment bias ............................................................................................................ II-31
II.6.4.2 Pitch misalignment bias .......................................................................................................... II-31
II.6.4.3 Heading misalignment bias ..................................................................................................... II-32

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 OCTANS User Guide

II.1 OCTANS TECHNICAL DESCRIPTION

OCTANS is both a fibre-optic survey-grade IMO-certified gyrocompass and a Motion Reference Unit for
marine applications. OCTANS provides true-heading, roll, pitch, yaw, heave, surge, sway, rates of turn and
accelerations even in highly volatile environments. OCTANS is also certified to meet the requirements of the
International Maritime Organisation (IMO) for gyrocompasses. The core of OCTANS is a compact
strapdown Inertial Measurement Unit (IMU), which contains three accelerometers, three fibre optic
gyroscopes, and a real-time computer (see Figure II-1).

OCTANS III mechanical and electrical interfaces are fully compatible with previous OCTANS versions.

Figure II-1 : The “open” OCTANS unit (Surface Model)

The unit’s computer is a Digital Signal Processor (DSP) chip enabling complex real-time computation.

The heading search algorithm has been designed by iXSea. Heading and attitudes are computed whether
the system is in movement or not, and without an external reference point. Computation is based on
(filtered) measurement of shifts in local gravity as the Earth rotates. It involves angle integration using
quaternion algebra, a heading search algorithm, and Coriolis force correction for vessel speed.

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 OCTANS User Guide

II.1.1 PERFORMANCES

II.1.1.1 GYROCOMPASS TECHNICAL PERFORMANCES

Dynamic accuracy ± 0.2° Secant Latitude (*)

(whatever sea-state) or 0.1° Rms
Settle point error ± 0.1° Secant Latitude
or 0.05° Rms
Settling time (static conditions) 1 Minute
Settling time at sea : 3 Minutes
Repeatability ± 0.025° Secant Latitude
Resolution 0.01°

No Latitude limitation
No speed limitation
(*) Secant Latitude = 1/cosine Latitude

II.1.1.2 MOTION SENSOR TECHNICAL PERFORMANCE

Heave, Surge & Sway :

Accuracy 5 cm or 5% (whichever is highest)
Resolution 1 cm
Heave motion periods 0.03 to 40 s (self adaptive)

Roll, Pitch & Yaw :

Accuracy 0.01°
Range No limitation
Follow-up speed Up to 500°/s

II.1.2 ENVIRONMENT

Operating temperature : -40°C to +60°C

Storage temperature : -40°C to +80°C
Shocks : 30 g in 6 ms (operating)
50 g in 11 ms (survival)
Vibrations : 1 g sine (5 to 50 Hz)
MTBF 30 000 Hours

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 OCTANS User Guide
OCTANS III is also available in underwater housings depth-rated to 3000 meters (OCTANS 3000) and 6000
meters (OCTANS 6000).

II.1.3 INTERFACE

II.1.3.1 DIMENSIONS

Shape : Rectangular box, splash proof(IP 66)

Dimensions (L x W x H, in mm) : 276 x 136 x 148.5

Weight in air : 4.3 kg

Material : Aluminium

II.1.3.2 POWER REQUIREMENT

Input voltage : 20 to 30 V d.c. (24 V nominal)

Power consumption : 12 W (max.)

II.1.3.3 OUTPUTS

• Serial : 3 independent and configurable digital outputs

To be selected from a complete set of existing protocols(refer to Part 4 of OCTANS User Guide),
with RS 232 or RS 422 levels
• Analog : 4 independent and configurable analogue outputs, 14 bits / ±10V
• Pulses : 2 pulse outputs
• Update rate: up to 100 Hz

II.1.3.4 INPUTS

• Serial : 3 independent and configurable digital inputs

• Pulses : 2 pulse inputs
• Update rate : up to 100 Hz

II.1.3.5 REPEATER SOFTWARE

OCTANS is delivered with a powerful and easy-to-use Installation and Repeater software, which allows a
complete configuration (choice of baud-rates and frequencies, data frame protocols, scale factors for
analogue I/O, multiple lever arms, filtering parameters….). Refer to Part 3 of the OCTANS User Guide for a
full description of the software.

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 OCTANS User Guide

II.1.4 CERTIFICATION

OCTANS complies with the regulations of the International Maritime Organisation resolutions A.424 (XI), A.
694 (17), A.183 (19) for gyrocompasses, with SOLAS 74 as amended (regulations V/12 (d), (i)) and IEC
60945, IEC 61162-1 and ISO 8728.

OCTANS surface has been awarded certificate N° 09807/A0 EC from certifying authority N° 0062. A copy of
all relevant documentation is available upon request to IXSEA.

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 OCTANS User Guide

II.2 MECHANICAL INTERFACE

II.2.1 OCTANS III INTERFACE PLATE

OCTANS is installed using three M6 screws accessible from the top of the unit (see Figure II-2).

Alignment is carried out by means of two centering pins, enabling relatively precise “point/line” positioning,
located on the bottom plate of the OCTANS (accuracy of positioning is ±0.04 degree). These pins are
located on the OCTANS centerline, as shown by grooves on the front and rear of the gyrocompass.

The mechanical tolerance in the manufacture of OCTANS bottom plate allows to have 0,01° of accuracy on
the centerline of the unit.

IMPORTANT : The rear panel of OCTANS is default defined as the one with the connectors.

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 OCTANS User Guide

Figure II-2 : OCTANS mounting diagram

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 OCTANS User Guide

II.2.2 OCTANS III REFERENCE FRAME

All inertial measurements are default performed in OCTANS reference frame (X1, X2, X3). This frame is
defined in Figure II-3.

X3

X2

X1

X2

Figure II-3 : definition of OCTANS III reference axes X1, X2 and X3

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 OCTANS User Guide

II.2.3 OCTANS III CENTER OF MEASUREMENTS

Motion sensing measurements are default measured at OCTANS III center of measurements, which is
defined in Figure II-4.

Measurements can be performed at an external monitoring point. The position of this point has to be
measured with respect to OCTANS III center of measurement and entered in the OCTANS Configuration
through the Installation and Repeater Software.

Details on external points monitoring is given in section II.5.4.

Figure II-4 : position of OCTANS III center of measurements

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 OCTANS User Guide

II.3 ELECTRICAL INTERFACE

II.3.1 DESCRIPTION OF THE REAR PANEL

All OCTANS inputs/outputs are made via four sealed connectors, SOURIAU 851 plug type.

The rear panel of the OCTANS unit holding these connectors is shown in Figure II-5.

The connector references are as follows:

Power supply: Souriau 851 02 E 8 33 P 50 16 - Ni

Repeater: Souriau 851 02 E 12 10 P 50 16 - Ni

Analogue I/O: Souriau 851 02 E 14 19 P 50 16 - Ni

Serial & pulses I/O : Souriau 851 02 E 20 41 P 50 16 – Ni

Figure II-5 : OCTANS rear panel

II.3.2 LISTING OF INTERFACES

OCTANS is fitted with 4 connectors configured to provide the following:

• Power supply, described in II.3.3,

• Repeater and configuration port (only RS232 level), described in II.3.4,

• 4 analogue Outputs described in II.3.5.2,

• 3 Serial Inputs RS232/422 user-configurable, described in II.3.6.2.2,

• 3 Serial Outputs RS232/422 user-configurable, described in II.3.6.2.2,

• 2 pulse Inputs described in II.3.6.4,

• 2 pulse Outputs described in II.3.6.4.

These interfaces can be user configured. This is done with the Installation and Repeater Software installed
on a PC connected to OCTANS. Please refer to the Part 3 of the OCTANS User Guide for details.

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 OCTANS User Guide

II.3.3 POWER SUPPLY CONNECTOR

II.3.3.1 DESCRIPTION OF CONNECTOR

OCTANS is powered with a standard 24 V DC supply. It is possible however to supply power with any
voltage between 20 V and 30 V. Maximal power consumption is 12 W in all cases. OCTANS does not
possess an on/off switch. As soon as it is powered, it begins to seek geographical North.

24 VDC

A
Mechanical C B
Ground

OCTANS can be powered by 2 methods:

• Via the AC/DC converter provided with the local standard power supply. It is not recommended to use
this converter to power OCTANS from another source of power than the country mains. In particular,
it is not recommended to use this converter onboard a vessel.

• Via a 3-wire cable for direct connection to a 24 V power supply. The special cable that is provided
with the OCTANS is either black or grey. Wiring is detailed on Table II-1.

Pin Signal
A 24 V DC (20 V to 30 V)
B GROUND
C Mechanical ground
Table II-1 : Configuration of power supply cable provided by IXSEA

II.3.3.2 OPERATIONAL CONSIDERATION

• IMPORTANT : any interruption of the power supply, even brief, will return the system to its initial
condition and it will begin to seek North again. The alignment phase will start over.

• OCTANS will operate with a DC voltage between 20 V and 30 V.

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 OCTANS User Guide

II.3.4 REPEATER AND CONFIGURATION CONNECTOR

This connector is used for configuring OCTANS and / or to display data throughout the repeater software.
Please refer to Part 3 of the OCTANS User Guide for details on the software. OCTANS is delivered with a
cable for a direct connection to a PC.

A
M B
L N P
C
K V R
Mechanical U S D
Ground J T
E
H
G F

II.3.4.1 CONNECTION BETWEEN OCTANS AND PC THROUGH THE REPEATER CONNECTOR

Connection between OCTANS and PC through the Installation and Repeater connector is made using the
dedicated cable delivered with the unit :

• Connector reference FCI 851 06 J1210 S50 Ni at one end to be plugged into OCTANS Installation and
Repeater connector at one end

• SUB D9 connector at the other end to be plugged into any PC serial port.

The following table describes the connection between the OCTANS Repeater connector pins and the SUB
D9 connector.

OCTANS Repeater connector PC SUB D9 connector

Pin Signal Pin Signal

A ConfigOUT GND 5 PC GND
B ConfigOUT + 2 PC Rx
D ConfigIN GND 5 PC GND
E ConfigIN - 5 PC GND
F ConfigIN + 3 PC Tx
J Mechanical GND

Communication cable between OCTANS and PC through the Repeater connector

Note : pins A, D and E need to be connected to Pin 5 of DB9 for the communication to work properly.

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 OCTANS User Guide

II.3.4.2 SPECIFICATIONS FOR COMMUNICATION BETWEEN OCTANS AND PC

OCTANS can be connected to a PC for configuration, installation and display purposes. The I/O signal is
available either through the Installation and Repeater connector (see section II.3.4.1) or through the Digital
I/O connector (see section II.3.6). Whatever the way for connecting OCTANS to PC, data flows in and out in
RS 232 format with the following characteristics :

• protocole used : OCTANS Standard (see the OCTANS library documentation for a description of
OCTANS Standard data frame output)

• Baudrate : 19.2 kBauds

• Flow Control : Odd, 2 stop bits

• Refresh rate : 5 Hz (200 ms)

Warning :

It is not possible to connect OCTANS to PC from both the Repeater and the Digital connector. This
could lead to communication errors between OCTANS and PC.

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 OCTANS User Guide

II.3.5 ANALOG CONNECTOR

II.3.5.1 CONNECTOR PIN OUT

Pin Signal Pin Signal

A AnaInAGnd L AnaInBGnd
B AnaInASig M AnaInBSig
C Reserved N Reserved
D Reserved P Reserved
E AnaOutASig R AnaOutAGnd
F AnaOutBSig S AnaOutBGnd
G AnaOutCSig T AnaOutCGnd
H AnaOutDSig U AnaOutDGnd
J Mechanical Ground V Reserved
K Reserved

Table II-2 : Configuration of the analog I/O connector

II.3.5.2 ANALOGUE OUTPUTS (PINS E, F, G, H, R, S, T AND U)

Four ±10 V outputs are available on OCTANS. These outputs offer 14-bit resolution at 100 Hz and are
identified by the signals AnaOut_Gnd and AnaOut_Sig.

• Analog Output A uses pins E (AnaOutASig) and R (AnaOutAGnd),

• Analog Output B uses pins F (AnaOutBSig) and S (AnaOutBGnd),

• Analog Output C uses pins G (AnaOutCSig) and T (AnaOutCGnd),

• Analog Output D uses pins H (AnaOutDSig) and U (AnaOutDGnd).

The analog outputs can be user configured (signal and scale factor). For more details on configuration,
please refer to the Part 3 of the OCTANS III user guide.

A female connector is available to directly connect the wires.

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 OCTANS User Guide

II.3.6 DIGITAL CONNECTOR

II.3.6.1 DIGITAL CONNECTOR PIN OUT

Pin Signal Pin Signal

A SerOutAGnd Y SerInAV+
B SerOutAV+/232 Z SerInBV-
C SerOutAV- a SerInBV+ A
W B
D SerOutBGnd b SerInCV- V X C
U j Y D
E SerOutBV+/232 c SerInCV+ T
i k
m
Z E
s
h t a
F SerOutBV- d ConfigREPin- S r n
F

R g b G
q p
G SerOutCGnd e ConfigREPIn+ f c
P H
e d
H SerOutCV+/232 f ConfigREPInShield N J
M K
L
J SerOutCV- g NumInBV-
Mechanical Ground
K ConfigOutGnd REP h NumInBV+
L ConfigOutREP V+ i NumInAV-
M Reserved j NumInAV+
N Mechanical Ground k ConfigInAShield
P Reserved m ConfigInBShield
R Reserved n ConfigInCShield
S Reserved p Reserved
T NumOutBGnd q Reserved
U NumOutBSig r NumInAShield
V NumOutAGnd s NumInBShield
W NumOutASig t Reserved
X SerInAV-

Table II-3 : Configuration of the Digital connector

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 OCTANS User Guide

II.3.6.2 SERIAL INPUTS AND OUTPUTS

II.3.6.2.1 Description

Three serial inputs and three serial outputs are available, which can be entirely configured. For more details,
please refer to Part 3 of the OCTANS III user guide. For each I/O, configuration parameters include :

• Electrical levels : RS 232 or 422 (see detailed pin out hereafter),

• Pair, parity: No parity, Even parity or Odd Parity,

• Number of bits: 0.5, 1, 1.5, or 2 stop bits,

• Data transmission rate: from 600 Bauds to 115.2k

• Protocol: protocols based on NMEA 0183, ASCII or Binary,

• Output frequency: 0.1 Hz to 100 Hz.

II.3.6.2.2 Pinout for electrical level RS 232 or 422

The pins that are used for RS 232 I/O configuration are given in the following table:

OutGnd Out /+ 232 InGnd In /+232 InShield (option)

A SerOutAGnd (A) SerOutAV+/232 (B) SerInA V- (X) SerInA V+ (Y) ConfigInAShield (k)
B SerOutBGnd (D) SerOutBV+/232 (E) SerInBV- (Z) SerInBV+ (a) ConfigInBShield (m)
C SerOutCGnd (G) SerOutCV+/232 (H) SerInCV- (b) SerInCV+ ( c ) ConfigInCShield (n)

Note 1 : All Serial Inputs are independent but it is however possible to connect the OutGnd to the InGnd
to use a single SUB D9 serial connector.

Note 2 : SerOutGnd is internally connected to ConfigOutGnd and AnaOutGnd

The pins that are used for RS 422 I/O configuration are given in the following table:

OutGnd / InGnd Out /+422 Out /-422 In /+422 In /-422

A SerOutAGnd (A) SerOutAV+/232 (B) SerOutAV- ( C ) SerInAV+ (Y) SerInAV- (X)
B SerOutBGnd (D) SerOutBV+/232 (E) SerOutBV- (F) SerInBV+ (a) SerInBV- (Z)
C SerOutCGnd (G) SerOutCV+/232 (H) SerOutCV- (J) SerInCV+ ( c) SerInCV- (b)

Note 3 : You can also use the Shield Pins k, m and n for I/O A, B or C respectively.

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 OCTANS User Guide

II.3.6.3 ALTERNATIVE CONFIGURATION AND REPEATER PORT (PINS K, L, D, E)

This option can be used by following the pin out shown in the following table.

OutGnd Out /+232 InGnd In /+232

Repeater or
ConfigOutGnd (K) ConfigOutV+ (L) ConfigREPIn- (d) ConfigREPIn+ (e)
configuration I/O

Note:

This port can ONLY be used for Repeater or configuration purpose.

You can also add pin f (ConfigREPInShield) for shielding.

II.3.6.4 PULSES INPUTS AND OUTPUTS

Two inputs and two outputs of “on/off” type are available. These pulse I/O are identified by the signals
NumIn_Gnd, NumIn_Sig, NumOut_Gnd, NumOut_Sig and optionally NumInShield (pins T, U, V, W, g, h, i, j,
r and s) and allow connection and simulation of pulse speed logs. In particular, the scale factor (number of
pulses per knot) can be configured.

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 OCTANS User Guide

II.4 OPERATIONAL CONSIDERATIONS

All gyrocompasses, OCTANS included, are sensitive to the speed of the vessel and to the current latitude.
However these errors are small. Latitude needs to be updated into OCTANS only if the ship changes
latitude very substantially, and very precise speed measurement is not imperative.

II.4.1 HEADING ERROR DUE TO THE SPEED LOG

The heading output of all gyrocompasses is sensitive to the speed of travel of the vessel towards North. The
international standard (ISO 8728) defines that:

“Course error in degrees for a gyrocompass aligned north-south is determined by the formula V/5π x the
secant of the latitude, where V is the North component of the speed in knots”.

This speed correction applies whatever the technology used for the gyroscopes. Indeed, the linear speed of
a boat travelling on the terrestrial “sphere” produces, with respect to the Earth and therefore with respect to
the inertial frame of reference, a rotational speed V/R, where R is the radius of the Earth. This rotation
speed (Coriolis force) has an influence on the measurement of the speed of rotation of the Earth and
therefore on the detection of North.

Using the above formula, it is easy to compute the maximum speed V Northmax for which the heading error
due to speed is higher than the heading accuracy specification. OCTANS dynamic accuracy is ±0.2 degree
x secant of latitude and therefore we have :

V Northmax = 0.2 x 5π ≈ 3,2 knots.

Even though this is a relatively low value, it is recommended to enter the speed into OCTANS for automatic
compensation of speed error and full accuracy performances of the gyrocompass.

Vessel speed can be input either manually or through an external Log sensor (see Part 3 of OCTANS User
Guide for details on OCTANS configuration).

When entered manually, a few knots accuracy on speed is satisfactory.

Speed input from an external sensor (GPS or Log sensor) allows real-time update of the vessel speed.

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 OCTANS User Guide

II.4.2 INACCURATE LATITUDE DATA

II.4.2.1 AMPLITUDE OF ERROR DUE TO LATITUDE DATA

Gyrocompasses are intrinsically sensitive to latitude.

Heading error depends on the secant of the latitude as a general physical rule : heading cannot be defined
at the geographical poles.

System However, it is not this error which is considered here, but rather intrinsic system inaccuracy when it
has unreliable data for the latitude of the current location.

OCTANS has to know the latitude of its location in order to find geographical North rapidly. If the latitude
information input is incorrect, OCTANS will produce an error. This error is nevertheless very small: The
curve in Figure II-6 shows the heading error in degrees multiplied by the secant of the latitude versus the
latitude of the current location, assuming that the latitude entered in OCTANS is incorrect by one degree.

0,05
0,04
0,03
Error in degrees

0,02
0,01
0
-0,01 0 10 20 30 40 50 60 70 80 90

-0,02
-0,03
Latitude in degrees

Figure II-6 : Heading error in degrees by secant of latitude (for a 1 degree latitude error)

Example: at 40° latitude, an error of 3° in the latitude will cause 3x0,02 = 0,06° sec. Lat error on heading

II.4.2.2 SENSITIVITY TO INCORRECT LATITUDE DATA

In practice, OCTANS needs to know the latitude only to an accuracy of 3 degrees at 45 degrees latitude.
This dependency is more important at low latitudes. It is recommended to enter the current latitude in the
system with 1° accuracy for latitudes below 30 degrees.

Latitude can be updated into OCTANS during operation, either manually or by connecting an external GPS
as an input. Refer to Part 3 of the OCTANS III User Guide for details.

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 OCTANS User Guide

II.4.3 LATITUDE INPUT AT FIRST POWERING-ON

OCTANS is delivered with a default latitude setting which corresponds to IXSEA’s factory location.

At first powering-on, OCTANS will start seeking north with this latitude input, which may be quite different
from the current OCTANS latitude.

Latitude has to be modified by the user (refer to Part 3 of OCTANS III User Guide). Once this modification is
performed, it is recommended to save the current latitude into OCTANS PROM and re-start the OCTANS.
This procedure allows for the OCTANS to enter the correct latitude value as an input in the North finder
algorithm as soon as computation starts. OCTANS will then reach full accuracy after the 5 minutes
alignment phase. Otherwise, time for OCTANS stabilization will be increased due to the wrong initial latitude
input when computation starts.

This procedure should be done whenever a unit is delivered from factory, or whenever a new firmware has
been re-loaded into the unit.

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II.5 COMPUTATION OF HEAVE, SURGE, AND SWAY

II.5.1 DEFINITION OF HEAVE, SURGE, AND SWAY

The heave, or vertical motion of the vessel, is determined by the double integration of the vertical
acceleration. Unfortunately, the vertical acceleration is measured with small bias due to the physical
limitations of the sensors. Because of this bias component, the double integration, which represents vertical
position, can diverge to infinity very quickly. The best solution, used in every motion sensor, is to use a high-
pass filter, which nulls out the bias component effect. By definition, the vertical amplitude of a movement
which is filtered to cut-off the frequency around zero, is called "Heave". Respectively, the two horizontal
positions filtered to cut-off the frequency around zero, the surge and the sway.

II.5.2 DESCRIPTION OF THE HEAVE FILTER

Since the heave (surge and sway) output is high-pass filtered, the output will always return to zero when
OCTANS is static. The heave filter has been fully redesigned in OCTANS III, and is now automatically
configured in terms of time constant : there is no need for the user to input any parameter.

Heave filter is initialized each time OCTANS is re-started. The duration of the heave initialization phase is
roughly 5 minutes, and follows the 5 mn OCTANS alignment phase. Hence, heave, surge and sway deliver
accurate value after a total initialization phase shorter than 10 minutes.

Once the heave filter has been automatically initialized, it will respond to variations of OCTANS positions in
the three directions (heave, surge and sway) defined in section II.5.3.

After experiencing a step change in vertical position, OCTANS heave output will gradually return to zero
within 1 to 2 minutes.

If OCTANS is moved following a sine or a combination of sinus, as usually observed with swell movements,
the heave (surge and sway) output will follow this movement, for swell periods up to 40 seconds.

OCTANS III heave filter has been sea-proven. A copy of the test report may be sent to you on demand,
please contact iXSea Customer Support (inertial.support@ixsea.com).

II.5.3 CONVENTIONS FOR HEAVE, SURGE AND SWAY MEASUREMENTS

The axis directions for heave surge and sway measurements are the directions of the three OCTANS
reference axes X3, X1 and X2 respectively (see Figure II-3).

• The heave is default defined positive up along OCTANS vertical axis X3.

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• The surge is default defined positive on a horizontal axis pointing to the direction opposite of the
connectors (axis X1).

• The sway is default defined positive on a horizontal axis pointing to the left of OCTANS (on the
port side of the boat, if OCTANS is “correctly” mounted), along X2.

II.5.4 MONITORING EXTERNAL POINTS

All measurements are referenced to the convergence centre of sensors axis. This reference point is shown
in Figure II-4. All installation offsets shall be considered respective to this point.

II.5.4.1 PRINCIPLE

OCTANS is able to calculate the motion of several external monitoring points. Effective from firmware 4.1,
one primary and three “secondary” monitoring points are available. For each one of those external
monitoring points, data can be output with a completely different setting including serial or analogue I/O. In
particular, at each location, a different protocol can be set. This allows, for instance, to drive a multibeam on
one side of a vessel, to drive a single beam echo sounder at another location, to send analogue heave info
to a sub-bottom profiler (see for an illustration).

Secondary Lever Arm #1,

output 1
Primary Lever Arm

Secondary Lever Arm #2,

output 2

Figure II-7 : monitoring different points with OCTANS III

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II.5.4.2 DEFINITION OF LEVER ARMS

External monitoring point are defined by their “Lever Arm” to OCTANS III center of measurement. This lever
arm is the triplet of cartesian coordinates (LV1, LV2, LV3) defining the position of external monitoring point
M with respect to OCTANS center of measurements in the OCTANS reference frame (X1, X2, X3) – see
Figure II-8.

External Monitoring point

X1
LV1 X3
LV3
OCTANS center of measurements

X2
LV2

Figure II-8 : definition of lever arm

II.5.4.3 EFFECT OF A LEVER ARM ON THE COMPUTATION OF HEAVE

OCTANS can be located anywhere from the monitoring point. The heave measured at the monitoring point
can be very different from the one measured at OCTANS center of measurement, due to the lever arms.
Figure II-9 illustrates a setting where OCTANS monitors an external point located ahead along the X1 axis.
The heave of OCTANS is null, however the heave at the monitoring point is not null when pitch angles are
experienced.

Horizontal plane
Pitch
OCTANS center of measurement Non zero heave
(null heave)

External Monitoring Point

Figure II-9 : Effect of lever arms

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To avoid this effect, it is recommended to locate OCTANS as close as possible to the monitoring point.
Otherwise, it is possible to compensate for the effects of lever arms by computation. Lever arms can be
configured into OCTANS for up to four external monitoring points (refer to Part 3 of the OCTANS User
Guide).

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II.6 TRUE HEADING, ROLL AND PITCH

Roll, pitch and heading are the three Euler angles which transform the local geographic frame into the
OCTANS reference frame. The local geographic frame is defined with the three axes ( see Figure II-10) :

- XN, which lies in the horizontal plane, pointing towards geographical North,

- XW, which lies in the horizontal plane, pointing towards West,

- Xup, parallel to the local vertical, pointing up.

North pole
XN Xup
XW

Figure II-10 : definition of the local geographic frame

OCTANS reference frame is defined on Figure II-3.

II.6.1 TRUE HEADING

The true heading is the angle between the vertical plane oriented in the North direction and the vertical
plane passing through OCTANS. Heading is counted positive from North, varying from 0 to 360 degrees.
The orientation of this angle is given in Figure II-11, in case of null pitch and roll.

XN Heading X1

Xup // X3

X2
+

XW

Figure II-11 : Definition of true heading

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II.6.2 ROLL

Roll is defined as the angle of rotation performed around OCTANS axis X1 so that OCTANS axis X2 lies in
the local horizontal plane. For small pitch values, the roll is the angle between the horizontal plane and the
axis 2 of OCTANS. This angle is default defined positive in the direction of axis 1, i.e. when the boat’s port
side is up. Figure II-12 is an illustration of the roll angle with null pitch.

Xup X3
+

XN // X1
X2

Roll

XW

Figure II-12 : Definition of roll

II.6.3 DEFINITION OF PITCH

The pitch is the angle between the axis X1 of OCTANS and its projection in the local horizontal plane. This
angle is default defined positive in the direction of axis X2, i.e. when the boat’s bow is down. Figure II-13 is
an illustration of pitch angle in case of null roll.

Xup X3

XW // X2
+

XN

Pitch

X1

Figure II-13 : Definition of pitch

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II.6.4 ANGULAR BIAS COMPENSATION

OCTANS can be installed with any orientation with respect to the vessel.

OCTANS measures heading and attitude with respect to its reference frame defined by the 3 veaxes X1, X2
and X3 (see Figure II-3). OCTANS reference frame may not be parallel to the vessel reference frame.

Heading and attitude outputs can be compensated for angular misalignments of OCTANS relative to the
vessel reference frame so that OCTANS outputs heading and attitude of the vessel.

This is done by setting misalignment bias for the three reference axis. These bias are the Euler angles
which relate OCTANS and vessel reference frame. Pour cela, des biais de cap, roulis et tangage peuvent
être configurés dans le logiciel OCTANS.

Vessel reference frame is depicted on Figure II-14.

OCTANS reference frame is depicted on Figure II-3.

XV3 XV1

XV2

Figure II-14 : vessel reference frame

Configuring angular misalignment bias into OCTANS is performed through the Installation and Repeater
software (refer to Part 3 of the OCTANS User Guide).

The definition of the angular misalignment bias is given in the following sections, for pure roll (respectively
pitch and heading) misalignment. These definitions are still valid when the misalignment between OCTANS
and vessel frames is a combination of misalgnments on the three angles, as soon as the angles remain
small (order of magnitude is 1 degree).

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II.6.4.1 ROLL MISALIGNMENT BIAS

The roll misalignment bias is the angle of the rotation around OCTANS axis X1 which superimpose
OCTANS axis X2 with vessel axis XV2. On Figure II-15, the roll misalignment bias is negative.

XV3 X3

X2
Roll bias

XV2

Figure II-15 : roll misalignment bias

II.6.4.2 PITCH MISALIGNMENT BIAS

Pitch misalignment bias is the angle the angle of the rotation around OCTANS axis X2 which superimpose
OCTANS axis X1 with vessel axis XV1. On Figure II-16, the pitch misalignment bias is negative.

XV3 X3

Pitch misalignment bias

XV1
X1

Figure II-16 : pitch misalignment bias

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II.6.4.3 HEADING MISALIGNMENT BIAS

The heading misalignment bias is the angle of rotation around around OCTANS axis X3 which superimpose
OCTANS axis X1 with vessel axis XV1. On Figure II-17, the heading misalignment bias is positive.

Heading misalignment X1

XV1

XV2
X2

Figure II-17 : heading bias misalignment

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