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SERVICE DESCRIPTION | Motion Reference Unit (MRU) Kongsberg Seatex 5+ The Kongsberg Seatex 5+ Motion Reference Unit (MRU) is a tool used to record ship attitude data starting from Roll, Pitch, Yaw, and Heave. The Kongsberg Seatex 5+ MRU can be used to support bathymetric…
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Motion Reference Unit (MRU) Kongsberg Seatex 5+
The Kongsberg Seatex 5+ Motion Reference Unit (MRU) is a tool used to record ship attitude data starting from Roll, Pitch, Yaw, and Heave. The Kongsberg Seatex 5+ MRU can be used to support bathymetric surveys using a multibeam echosounder or sub-bottom profiler survey. The Kongsberg Seatex 5+ MRU is a type of subsea MRU that can be installed below sea level. So it is very appropriate to be installed near the transducer or on underwater equipment.
Brand:
Kongsberg Seatex MRU 5+ with Subsea Bottle
Completeness
Spesification
Seatex MRU 5+ Perform Data
Orientation Output
Angular orientation range±180°, unlimited
Resolution in all axes0.001°
Angle noise roll, pitch<0> Static accuracy roll, pitch0.008°RMS
Dynamic accuracy roll,pitch (for a ± 5° amplitude)0.008°RMS
Angular Rate Sensors
Numberofratesensors 3
Angular rate range±75 °/s
Angular rate noise roll, pitch,yaw0.008°/s RMS
Bias stability (in run bias)0.03°/h RMS
Bias stability (absolute bias)20°/h RMS
Angle Random Walk (ARW)0.006°/√h (typical)
Scale factor error0.03%RMS
Acceleration Sensors
Number of sensors3
Acceleration range all axes±30 m/s2
Bias stability (absolute bias)80 µg RMS
Acceleration noise0.0003m/s2 RMS
Velocity Random Walk (VRW)3.3µg/√Hz
Scale factor error0.008% RMS
Heave Motion Output
Output range±50 m
Periods (real-time)0 to 25 s
Periods (delayed)0 to 50 s
Heave accuracy (real-time)5 cm or 5% whichever is highest
Heave accuracy (delayed)2 cm or 2% whichever is highest
Heave velocity accuracy (real-time)0.01 m/s RMS
Surge and Sway Motion Output
Output range± 50 m
Periods (delayed)0 to 15 s
Accuracy surge, sway (delayed)2 cm or 5% whichever is highest
Internal Processing
Main processing cycle frequency200Hz
Orientation erection time (from power on)Max 15 minutes
Fisical Dimention
MRU Unit
Type5th generation MRU
Height140 mm (5.525”)
Diameter105 mm (4.134”)
Weight2.4 kg
ColourTitanium
ConnectorSouriau 851-36RG 16-26S50 (MIL.spec.)
Subsea Bottle
TypeMRU-M-SB11
Height209 mm, 240.5mm incl. connectors
Diameter120 mm
Dry weight7.8 kg including MRU
Submerged weight5.4 kg including MRU
ColourStainless steel
Depth500 metres
Connectors2, 8–pin Seacon
Sumber Daya
Voltage input10 to 36 VDC
Recommended voltage24 V DC
Power consumptionMax 12 Watts (typical 8 Watts)
Power rises peedNot critical
BatteriesNone; connection to UPS recommended
Spesifikasi Lingkungan
Operating temperature range-5 °C to +55 °C (all MRU models except MRU E)
Operating humidity (max)Sealed, nolimit
Storage temperature range-25 °C to +70 °C
Storage humiditySealed, nolimit
Electromagnetic compatibility (immunity/emission)IEC60945/EN60945
VibrationIEC60945/EN60945
Max shock non-operational (10mspeak)1000 m/s2
MTBF (computed)50000 h
MTBF (service history based))100000 h
Antarmuka eksternal MRU
Serial portsCOM1: BidirectionalRS-422 (terkoneksi pada Port A di Subsea Bottle)
BaudrateMax. 115200Baud
Ethernet interface1 x 10/100 Mbps (terkoneksi pada Port B di Subsea Bottle)
UDP/IPports5 outputs (user configurable), 1input (static)
Data output variablesMax. 24 (serial line or Ethernet port)
Data output rateMax. 200Hz
Analog output channels (from junction box only)4, ±10 V with 14 bits resolution
Timing accuracy1 ms
Data delayTypical 3.5 ms plus transmission delay
Data outputCyclic output of data or by request from host computer
Output Data
Output protocolsMRU Normal. TheMRUproprietarybinaryformat NMEA Proprietary
NMEA normal. Available formatsVER, PSX 20 and PSXN 23
Sounder
Simrad EM3000
Atlas Fansweep
TSS1
Seapath binary 23
Seapath binary 25 (Raw IMU)
Seapath binary 26
PFreeHeave
RDI ADCP
SMCC
PTVG
MDL
HMS/VMM
KM binary
NAV binary
OCTANS TAH
Input Data
Input protocolsMRU commands
NMEA format HDT, HDM, VBW, VHW, VTG, ZDA, GGA
The Kongsberg Seatex 5+ Motion Reference Unit (MRU) is a tool used to record ship attitude data starting from Roll, Pitch, Yaw, and Heave. The Kongsberg Seatex 5+ MRU can be used to support bathymetric surveys using a multibeam echosounder or sub-bottom profiler survey. The Kongsberg Seatex 5+ MRU is a type of subsea MRU that can be installed below sea level. So it is very appropriate to be installed near the transducer or on underwater equipment.
Brand:
Kongsberg Seatex MRU 5+ with Subsea Bottle
Completeness
- MRU motion sensor yang berada dalam Subsea Bottle SB-11
- Kabel MRU umbilical 15 m (MRU-E-CS9-15M)
- Kabel MRU-T-23
- Kabel MRU+Ethernet Configuration MRU-T-015
- Kabel LAN Cross CAT6
- Power supply 24VDC via kabel MRU+Ethernet Configuration MRU-E-P24
- Dummy Plug
- Perangkat lunak MRC+, file konfigurasi dan kalibrasi yang berada dalam usb flashdisk
- Mobile Suitcase
- Survei hidrografi dan aplikasi presisi tinggi sebagai sensor gerakan
- Sebagai IMU dalam sistem GNSS/Inertial yang terintegrasi
Spesification
Seatex MRU 5+ Perform Data
Orientation Output
Angular orientation range±180°, unlimited
Resolution in all axes0.001°
Angle noise roll, pitch<0> Static accuracy roll, pitch0.008°RMS
Dynamic accuracy roll,pitch (for a ± 5° amplitude)0.008°RMS
Angular Rate Sensors
Numberofratesensors 3
Angular rate range±75 °/s
Angular rate noise roll, pitch,yaw0.008°/s RMS
Bias stability (in run bias)0.03°/h RMS
Bias stability (absolute bias)20°/h RMS
Angle Random Walk (ARW)0.006°/√h (typical)
Scale factor error0.03%RMS
Acceleration Sensors
Number of sensors3
Acceleration range all axes±30 m/s2
Bias stability (absolute bias)80 µg RMS
Acceleration noise0.0003m/s2 RMS
Velocity Random Walk (VRW)3.3µg/√Hz
Scale factor error0.008% RMS
Heave Motion Output
Output range±50 m
Periods (real-time)0 to 25 s
Periods (delayed)0 to 50 s
Heave accuracy (real-time)5 cm or 5% whichever is highest
Heave accuracy (delayed)2 cm or 2% whichever is highest
Heave velocity accuracy (real-time)0.01 m/s RMS
Surge and Sway Motion Output
Output range± 50 m
Periods (delayed)0 to 15 s
Accuracy surge, sway (delayed)2 cm or 5% whichever is highest
Internal Processing
Main processing cycle frequency200Hz
Orientation erection time (from power on)Max 15 minutes
Fisical Dimention
MRU Unit
Type5th generation MRU
Height140 mm (5.525”)
Diameter105 mm (4.134”)
Weight2.4 kg
ColourTitanium
ConnectorSouriau 851-36RG 16-26S50 (MIL.spec.)
Subsea Bottle
TypeMRU-M-SB11
Height209 mm, 240.5mm incl. connectors
Diameter120 mm
Dry weight7.8 kg including MRU
Submerged weight5.4 kg including MRU
ColourStainless steel
Depth500 metres
Connectors2, 8–pin Seacon
Sumber Daya
Voltage input10 to 36 VDC
Recommended voltage24 V DC
Power consumptionMax 12 Watts (typical 8 Watts)
Power rises peedNot critical
BatteriesNone; connection to UPS recommended
Spesifikasi Lingkungan
Operating temperature range-5 °C to +55 °C (all MRU models except MRU E)
Operating humidity (max)Sealed, nolimit
Storage temperature range-25 °C to +70 °C
Storage humiditySealed, nolimit
Electromagnetic compatibility (immunity/emission)IEC60945/EN60945
VibrationIEC60945/EN60945
Max shock non-operational (10mspeak)1000 m/s2
MTBF (computed)50000 h
MTBF (service history based))100000 h
Antarmuka eksternal MRU
Serial portsCOM1: BidirectionalRS-422 (terkoneksi pada Port A di Subsea Bottle)
BaudrateMax. 115200Baud
Ethernet interface1 x 10/100 Mbps (terkoneksi pada Port B di Subsea Bottle)
UDP/IPports5 outputs (user configurable), 1input (static)
Data output variablesMax. 24 (serial line or Ethernet port)
Data output rateMax. 200Hz
Analog output channels (from junction box only)4, ±10 V with 14 bits resolution
Timing accuracy1 ms
Data delayTypical 3.5 ms plus transmission delay
Data outputCyclic output of data or by request from host computer
Output Data
Output protocolsMRU Normal. TheMRUproprietarybinaryformat NMEA Proprietary
NMEA normal. Available formatsVER, PSX 20 and PSXN 23
Sounder
Simrad EM3000
Atlas Fansweep
TSS1
Seapath binary 23
Seapath binary 25 (Raw IMU)
Seapath binary 26
PFreeHeave
RDI ADCP
SMCC
PTVG
MDL
HMS/VMM
KM binary
NAV binary
OCTANS TAH
Input Data
Input protocolsMRU commands
NMEA format HDT, HDM, VBW, VHW, VTG, ZDA, GGA
