Overview
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, heading and velocity. To learn more about the Nucleus 1000's capabilities, click here.
A deep water (1000 m rated) version of the Nucleus 1000 is also available.
- Currents
- Bottom track
- Altimeter
Highlights
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Compact size optimal for small ROVs and AUVs
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Integrated AHRS for pre-calibrated attitude and heading information
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Dedicated vertical beam for altimeter information
Usage
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Integration with small ROVs or AUVs where payload is limited
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Navigation for vehicles which don't require survey-grade accuracy
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Backup navigational aid for coastal USVs
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Increase vehicle capabilities with combined current profiling and navigation solution
Integration
Unlike typical DVLs, the 300m rated Nucleus 1000 is equipped with a pre-calibrated and pre-synchronized AHRS, temperature and pressure sensors, bringing users closer to true navigation while greatly reducing integration work. For those requiring a full positioning solution, the Nucleus can be provided with an optional INS firmware feature.
Reliability
The Nucleus 1000 provides many of the features of a Nortek DVL, including water track in case of bottom track loss, rigorous testing in the demanding conditions of the Oslo fjord, and multiple data quality checks, all in a compact package.
Results
Integration of a guidance and navigation system on small vehicles becomes achievable, effective, and affordable with the Nucleus 1000, enabling those vehicles to perform longer and more efficient missions. The Nucleus 1000 software provides visualization of outputs and sense-checks of sensors, including a 3D visualization of the sensor’s AHRS.
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 rate |
8 Hz 1) |
1) Maximum ping rate is range dependent |
Minimum accurary |
0.5% of measured value / +-0.5 cm/s |
Minimum range |
2.0 m |
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 |
Range |
50 m |
Accuracy |
1% of measured value |
Resolution |
1 cm |
Position accuracy of distance travelled2) |
2% (export controlled), 4% (license-free) |
Output rate |
Configurable |
2) Nominal position error, given as % of Distance Travelled. Value given is a reflection of a given set of operational conditions. Note that deviations from this specification can be expected in line with varying environmental conditions and integration parameters. |
Pitch and roll accuracy |
0.35 deg |
Heading accuracy3) |
0.5 deg (export controlled), 2.5 deg (license-free) |
Output rate |
Configurable |
3) Heading accuracy for nominal conditions. Vehicles or environments which disturb the magnetic field will degrade performance |
Pressure accuracy |
0.3% FS (precision better than 0.003% of full scale per sample) |
Temperature |
-4° to +40°C ± 0.1 °C |
Range |
800 μT |
Repeatability over ±200μT |
20 nT |
Noise |
50 nT |
Sampling |
75 Hz |
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 Hz |
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 Hz |
Operating temperature |
-4 to +40 °C |
Storage temperature |
-20 to +60 °C |
Depth rating |
300 m (1000 m version available) |
Height |
42 mm |
Diameter |
90 mm |
Weight in air |
535 g |
Weight in water |
295 g |
Voltage range |
10-28 Volts |
Average power |
< 4 W |
Maximum peak power |
35 W |
Serial |
RS-422 / RS-232 |
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). Data formats Nortek proprietary. |
Frequency of operation |
1 MHz |
Beam width |
3.4° |
Slanted beam angle |
20 deg |
RS422/Ethernet
RS232/Ethernet
The Nucleus1000 firmware is not available for direct download. By pressing "Download" you will be able to send a request via a partly prefilled e-mail to [email protected]
Configuration and control software for Nortek Nucleus instruments. The software may also be used without installation on the web (serial connection only).
Configuration and control software for Nortek Nucleus instruments. The software can be launched from your web browser (serial connection only), installed from Microsoft Store or downloaded as an offline installer file.
The GitHub repository contains a Nucleus Driver, ROS2 package and BlueOS extension. The purpose of the Nucleus driver is to integrate it into your python code. The ROS2 package and BlueOS extension builds on the Nucleus Driver
