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Subsonus
Subsonus is a next generation USBL underwater acoustic positioning system that provides high accuracy position, velocity and heading at depths of up to 1000 metres. The system features an industry leading calibrated hydrophone array combined with an internal tightly coupled INS, all packed into a miniature titanium enclosure small enough to fit in the palm of your hand.
Industry Leading Hydrophone Array

Subsonus features an industry leading eight channel factory calibrated hydrophone array. With so many hydrophones, Subsonus is able to offer superior angular and ranging accuracy. Subsonus's hydrophones are a new highly directional in-house design that offer incredible receive sensitivity combined with exceptional noise and multipath rejection. Despite each elements directionality, the complete array of eight provides a full acoustic field of view for tracking targets from any direction.

Integrated Tightly Coupled INS

Subsonus features an integrated tightly coupled INS (inertial navigation system). The INS fuses Subsonus's acoustic position and doppler velocity with factory calibrated inertial sensors and a depth sensor to achieve an optimal solution with accuracy far beyond that of a standalone acoustic positioning system. This also allows Subsonus to output reliable low noise, high update rate position and velocity that is suitable for control.

Automatic Speed of Sound

Subsonus has the ability to measure the speed of sound through water using a revolutionary new technique. This means that the system is self tuning and no extra equipment or user intervention is required to setup the system, reducing the risk of operator errors.

Dynamic Transmit Power

Subsonus dynamically adjusts its acoustic transmit power based upon ranging distance. This results in highly improved short range performance by significantly reducing noise and multipath. Subsonus features an operating range and depth of up to 1000 metres.

Acoustic Heading

Subsonus works on an inverted USBL scheme which allows it to provide accurate acoustic heading to the subsea vehicle. Additionally because reference position and heading data is transmitted acoustically, the Subsonus unit on the subsea vehicle can output absolute position, velocity and heading without the use of a tether for data transfer. Subsonus can also operate in a standard USBL scheme where it is compatible with most major beacons.

Fully Integrated Miniature Enclosure

Subsonus does away with the typical reliance on external equipment such as rack mount units, interface boxes or PCs. All processing is done internally inside the miniature titanium enclosure and the system connects through a single ethernet connection for data output. It features a web browser based user interface.

AUVs

Subsonus is an excellent choice for AUV (Autonomous Underwater Vehicle) control due to its accurate position, velocity and heading output that is both smooth and low latency. It is also highly suitable for untethered AUVs as it's reference surface data is transmitted acoustically rather than requiring a tether for data transfer. In the event that the system loses contact with the surface, it is able to continue navigating on its inertials for extended periods of time.

ROVs

Historically ROVs have been unable to use USBLs for station keeping due to a combination of position error noise, no velocity source and low update rate. With Subsonus, station keeping on ROVs is now possible thanks to its accurate low noise position, doppler velocity and high update rate inertial aided position and velocity. The integrated GPS antenna boosts operator confidence by maintaining situational awareness even when the vehicle has breached the water surface.

Subsea Surveying

For underwater surveying such as mapping subsea features, Subsonus is an ideal position and heading reference source. It features built in high speed logging so that a survey can be completed and then matched to data. Low latency navigation data can be streamed directly to other survey instruments that require precision alignment of live imaging or captured bathymetric data.

Divers

Due to it's extremely small size and weight Subsonus is practical for use with diver operated equipment and underwater navigation consoles. The simple web interface makes set-up and operation very easy. The integrated INS provides the diver with smooth, high speed navigation information while the acoustic data transfer functionality allows communication with the surface to be maintained.

Navigation
Position Accuracy
(5 m range)
0.1 m
Position Accuracy
(100 m range)
0.5 m
Position Accuracy
(1000 m range)
5.0 m
Velocity Accuracy0.01 m/s
Roll and Pitch Accuracy0.1 °
Heading Accuracy0.3 °
Heave Accuracy5% or 0.05 m
(whichever is greater)
Internal Filter Rate1000 Hz
Output Data Rateup to 1000 Hz
Latency0.6 ms
Acoustics
Hydrophones8
Frequency30 kHz (broadband)
Range1000 m
Acoustic Coverage300 ° hemispherical
Accuracy0.25% of slant range
Update RateUp to 10 Hz
Data Transfer RateUp to 10 kbit
Sensors
Integrated GPS/INSYes
Integrated GPS AntennaIn top of hydrophone array
Pressure Sensor Range1000 m
Pressure Sensor Accuracy1.5 m
NoteThese apply to subsea variant only. Surface variant contains orientation sensor but no GPS/INS or GPS antenna. External GPS/INS required for surface variant. Spatial Dual or Spatial FOG Dual recommended.
Hardware
Operating Voltage9 to 60 V or
Power over Ethernet
Power Consumption
(Average)
10 W
Power Consumption
(Peak)
25 W
InterfaceEthernet
(RS232/RS422 through ILU)
Timing SynchronisationPTP and NTP support
Depth Rating1000 m
Operating Temperature-20 °C to 40 °C
Storage Temperature-40 °C to 85 °C
Shock Limit40 g
Dimensions106x106x93 mm
Weight in Air1170 g
Weight in Water650 g
Document
Version
Date
Direct Link
Subsonus Datasheet
1.0
08/07/2015
Subsonus Reference Manual
1.15
13/07/2017
Subsonus Performance Evaluation
1.1
22/07/2016
Subsonus 3D Model
1.0
22/07/2016
Subsonus Bracket 3D Model
1.0
22/07/2016
Subsonus SDK v1.0

The Subsonus SDK provides example source code for interfacing with Subsonus through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.