NAVIGATION

10/05/2024

Nucleus 1000 - 300 m

A sensor hub that makes vehicle control and navigation possible.

The Nucleus 1000 is a sensor package that has all the necessary sensors and data products to aid in subsea
navigation and vehicle control. This includes estimates of distance from the surface and bottom, attitude, headingand velocity. To learn more about the Nucleus 1000's capabilities, click here.

Highlights

Applications

Compact size optimal for small ROVs andIntegration with small ROVs or AUVs whereAUVs

payload is limited

Integrated AHRS for pre-calibrated attitude

Navigation for vehicles which don't requireand heading information

survey-grade accuracy

Dedicated vertical beam for altimeter

Backup navigational aid for coastal USVs

information

Increase vehicle capabilities with combined
current profiling and navigation solution

Technical specifications
Bottom tracking
Maximum altitude

50 m

Minimum altitude

10 cm

Long-term accuracy<0.3% (export-controlled), >1% (license-free)

Velocity resolution

0.01 mm/s

Single ping standard deviation

0.5 cm/s

Maximum ping rate8 Hz 1)

1) Maximum ping rate is range dependentWater tracking
Minimum accurary

0.5% of measured value / +-0.5 cm/s

Minimum range

2.0 m

Current profile
Minimum accuracy

0.5% of measured value / +-0.5 cm/s

Velocity resolution

0.1 cm/s

Interval

User specified Nth ping

Maximum range

30 m

Blanking

0.1 m

Cell size

0.2-2.0 m

Max # cells

150

Altimeter
Range

50 m

Accuracy

1% of measured valueResolution

1 cm

INSPosition accuracy of distance travelled

2% (export controlled), 4% (license-free)

Output rate

Configurable2)2) Nominal position error, given as % of Distance Travelled. Value given is a reflection of a given set ofoperational conditions. Note that deviations from this specification can be expected in line with varying
environmental conditions and integration parameters.

AHRS
Pitch and roll accuracy

0.35 deg

Heading accuracy3)

0.5 deg (export controlled), 2.5 deg (license-free)

Output rate

Configurable3) Heading accuracy for nominal conditions. Vehicles or environments which disturb the magnetic field will

degrade performance

Pressure sensor

Pressure accuracy

0.3% FS (precision better than 0.003% of full scale persample)

Temperature-4° to +40°C ± 0.1 °C

Magnetometer
Range

800 μT

Repeatability over ±200μT

20 nT

Noise50 nT

Sampling

75 Hz

Accelerometers
Range

40 g

Bias - repeatability

6 mg

Velocity random walk

0.039 m/sec/√hr

Bias instability

135e-6 m/sec²

Scale factor stability

0.10 %

Sampling rate

100 HzGyroscopes
Range

2000 deg/sec

Bias - repeatability

1.4 deg/sec

Angular random walk

0.3 deg/√hr

Bias instability

8 deg/hr

Linear acceleration effect

1.02x10-3(deg/sec)/(m/sec²)

Vibration rectification error

5.6x10-6(deg/sec)/(m/sec²)²

Sampling rate

100 HzEnvironmental
Operating temperature-4 to +40 °C

Storage temperature-20 to +60 °C

Mechanical design (shallow/deep)
Depth rating

300 m

Height42 mm

Diameter

90 mm

Weight in air

535 g

Weight in water

295 g

PowerVoltage range

10-28 Volts

Average power<4W

Maximum peak power

35 W

Communication
Serial

RS-422 / RS-232

Communication
Ethernet

10/100 Mbits Auto MDI-X.TCP/IP, UDP/IP. Fixed IP/mDNS/DHCP client /Auto IP address assignment. (Multiple
simultaneous data format transmission possible). Dataformats Nortek proprietary.

HardwareFrequency of operation

1 MHz

Beam width

3.4°

Slanted beam angle

20 deg