Zima USBL - underwater acoustic ultrashort-baseline (USBL) navigation system designed to determine the location underwater objects marked by responder-beacons Zima-R using direction-finding antenna Zima-B.
Responder-beacons (One base station supports up to 23 responder-beacons)
Autonomous power supply and interfacing unit
|Zima-B Installation scheme
1 - rod, 2 - boat, 3 - water surface, 4 - cable, 5 - antenna Zima-B, 6 - antenna’s direction
To determine the relative location of the responder-beacons, the antenna is paired to a control PC on which it is installed open-source software ZHost. The antenna connects to the PC via Bat & Link Box, which provides the conversion of the interface to USB and antenna power. In this case, the user has access to data and functions:
|Connection scheme for relative coordinates
To determine the absolute location of the responder-beacons, the antenna is paired with the PC on which ZHost software is installed. The antenna connects to the PC via Bat & Link Box, which provides the conversion of the interface to USB and antenna power. Also, an external GNSS system and a magnetic compass working under the NMEA0183 protocol (messages RMC and HDG) are connected, or external GNSS - a system with a compass function operating on the NMEA0183 protocol (messages RMC and HDT).
|Connection scheme for absolute coordinates
In this case, the following data and functions are available to the user:
Since the location of the responder-beacons Zima-R is determined by the horizontal angle of arrival of the signal, slant range and depth difference, the phased array of the direction-finding station Zima-B has the best sensitivity in the horizontal plane. This imposes geometric limitations on the relative positioning of the direction-finding antenna and responder-beacons. The working vertical angle of the antenna is +/-30° from the horizontal plane. It is possible, but not recommended, to work with such relative positions of the antenna and the responder-beacon when the vertical angle to the beacon is in the range from 30° to 45° due to a decrease in the accuracy of determining the angle of arrival of the signal. Operation at vertical angles to the responder-beacons above 45° is highly not recommended.
|Geometric limitations Zima-B
1 - working zone (+/- 30°), 2 - low accuracy zone (30 .. 45°), 3 - shadow zone ( > 45°), 4 - direction-finding antenna. The deviation is indicated from the horizontal plane passing through the centre of the antenna phased array
|Zima USBL: User’s manual
|Responder-beacon Zima-R: Device specification
|Base station Zima-B: Device specification
|Autonomous power supply and interfacing unit Bat&Link Box: Device specification
|Interfacing protocol Zima USBL
|GNSS and heading sensor compatibility requirements
The export version of the system is limited in range to 3000 meters