K o n g s be r g Ma ritim e

Seatex MRU 3
The Heave, Roll and Pitch Motion Sensor
Typical applications
The ideal sensor for heave motion measurements for sonars and echo sounders on ships that requires accurate depth measurements in all sea conditions. With a variety of digital and analog output signals available, interfacing the unit to various systems is easy. There is no additional equipment needed to have the system up and running. For high speed crafts, the MRU 3 is the right sensor measuring the vertical acceleration. The unit can also be used for recording roll and pitch inclination on ships and offshore structures with small horizontal accelerations.

Function
The MRU 3 is specially designed to measure 2-axis inclination and acceleration in 3-axis. The unit is ideal for applications where the horizontal accelerations are small (<0.05 m/s2, maximum motion sideways amplitude 0.1m at 0.2 Hz or 0.4m at 0.1 Hz). In such conditions the unit is able to measure roll, pitch and heave accurately. The unit perform optimally when located close to the center of gravity. The roll and pitch measurements are similar in function to a standard industrial inclinometer. The MRU 3 orientation can be trimmed by software and is operational 360 in all axes. Note: When only an accurate heave measurement is required a ltering parameter can be set in the unit to make it less sensitive to horizontal accelerations.

Now delivered with Calibration Certicate

acceleration are measured in selectable frames (the surge and sway measurements are of limited use). Status of the MRU 3 is also available.

Digital I/O protocols

For two way communication with the unit a proprietary binary serial protocol is used. Output variables are transmitted as IEEE 32 bit oats (recommended) or as scaled integers. In addition, ASCII-based NMEA 0183 proprietary sentences or Echo Sounder format can be selected for data variables output protocol.

Variables output
Outputs static roll and pitch angles, and 3 axis acceleration. In the heave position, velocity and

Features * Accurate static roll and pitch measurements * Three-axis linear acceleration measurements * Small size, light weight and low power consumption * High reliability and no scheduled maintenance, no mechanical wear out parts. * High output data rate (100 Hz). * No limitation to mounting orientation.

Technical specications
Orientation Output Static accuracy roll, pitch Dynamic accuracy roll, pitch (for a 5 amplitude) Acceleration Sensors Number of sensors Acceleration range (all axes) Acceleration noise Acceleration accuracy Scale factor error Heave Motion Output Output range Periods Dynamic accuracy 50 m, adjustable 1 to 25 s 5 cm or 5% whichever is highest, plus the horizontal acceleration component inuence 3 30 m/s 2 0.002 m/s 2 RMS 0.01 m/s 2 RMS 0.02% RMS 0.02 RMS 0.1 RMS plus the horizontal acceleration component Environment Temperature range Humidity range, electronics Max vibration (operational) Max vibration (non operational) Max shock (non operational) Other data MTBF (computed) Housing dimensions Material Weight Connector 50000 h 105x204 mm (4.134x8.051) Anodised Aluminium 2.5 kg Souriau 16-26 -5 to +55 C sealed, no limit 0.5m/s (10-2000 Hz continuous) 20m/s (0-2000 Hz continuous) 1000m/s (10ms peak)

Electrical Power requirements Analog channels Digital output variables Output data rate (max) Internal update rate 12-30V DC, 6 W #4, 10V, 14 bit resolution #16 (max), RS232 or RS422 100Hz (10 ms) 400 Hz (angular)

1) When the MRU is stationary over a 30-minute period. 2) When the MRU is exposed to a combined two-axis sinusoidal angular motion with ve minutes duration.

Specication subject to change without further notice.

K O N G S B E R G S E AT E X A S Pirsenteret N-7462 Trondheim Norway Telephone +47 73 54 55 00 Telefax +47 73 51 50 20 www.kongsberg-seatex.no