The third generation MRU 5 is specially
designed for high precision motion measurements in marine applications and for
users requiring high accuracy roll, pitch and heave measurements.
The MRU 5 provides high performance motion data for various marine applications
ranging from small underwater vehicles to large ship motion control. Very high
reliability is achieved by using solid-state sensors with no moving parts
and the proven MRU electrical and mechanical construction. |
| MRU 5 applications |
The MRU 5 is the ideal sensor for motion compensation of
swathe bathymetric echo sounders, DP systems, ROVs, helideck monitoring systems,
high speed vessel motion damping systems and tow-fish systems. It is also ideal
for structural
monitoring of offshore platforms and large vessels or any application where
accurate motion data is crucial for high quality performance and safety.
The MRU 5 provides documented roll and pitch accuracy of 0.02° RMS at a ±5°
amplitude. The MRU 5 maintains its specified accuracy aboard any surface vessel
or subsea vehicle. |
| Easy to set up and use |
|
Interfacing the MRU 5 data output to various sonar systems
is made easy since the MRU 5 software includes data protocols for more
than twenty frequently used single and multibeam echo sounder systems. Using the
configuration cable and the Windows version of the configuration software MRC, a
series of simple menu prompts allows the user to choose the optimum
configuration for the application. The MRU 5 and the MRC software are flexible
and can accommodate a wide variety of application types. |
| Output variables |
|
The MRU 5 offers 189 data output variables. These
variables can be either digital or analog output MRU 5 signals. Status messages
of the MRU 5 health and overall performance can also be easily monitored by the
user. |
| Digital I/O protocols |
|
For two-way communication with the MRU 5, a proprietary
binary serial protocol is used. Output variables are transmitted as IEEE 32 bit
floats (recommended) or as scaled integers. In addition, ASCII-based NMEA 0183
proprietary sentences or
various echo sounder formats may be selected as the data output protocol. |
| External communication |
The MRU 5 accepts external input of speed and
heading information on separate serial lines for
improved accuracy in heave, roll and pitch during
turns and accelerations. Additionally, a third CMOS
input line is available for polling or synchronizing
the MRU data output from a peripheral computer. |
| Specifications |
Orientation output data
Angular orientation range ：±180°
Angular rate range ：150°/s
Resolution in all axes： 0.001°
Angular rate noise roll, pitch, yaw ：0.015°/s RMS
Accuracy：1, 2 roll, pitch
(for a ±5° amplitude) ：0.020° RMS
Scale factor error： 0.15% RMS
Acceleration sensors
Number of sensors： 3
Acceleration range (all axes) ：±30 m/s2
Acceleration noise2 ：0.0020 m/s2 RMS
Acceleration accuracy ：0.01 m/s2 RMS
Scale factor error ：0.020% RMS
Heave motion output
Output range ：±50 m, adjustable
Periods ：0 to 25 s
Dynamic accuracy ：5 cm or 5% whichever is highest
Data output
Analog channels #4,： ±10V, 14 bit resolution
Digital output variables #16 (max), RS 232 or RS 422
Data output rate (max) ：100 Hz
Internal update rate ：400 Hz (angular)
Power
Power requirements ：12-30V DC, max 11 W |
