Navigation

Nucleus 1000

1000 m

A deep-water-rated sensor hub that makes vehicle control and navigation possible.

Compact size optimal for small ROVs and AUVs
Integrated AHRS and INS for pre-calibrated attitude, heading, and position information
Dedicated vertical beam for altimeter information

Go to Technical Specifications

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 shallow water (300 m rated) version of the Nucleus 1000 is also available in both standard and OEM housings.

Currents
Bottom track
Altimeter

Highlights

Compact size optimal for small ROVs and AUVs
Integrated AHRS for pre-calibrated attitude and heading information
Dedicated vertical beam for altimeter information

Usage

Integration with small ROVs or AUVs where payload is limited
Navigation for vehicles which don't require survey-grade accuracy
Backup navigational aid for coastal USVs
Increase vehicle capabilities with combined current profiling and navigation solution

Integration

Unlike typical DVLs, the 1000m 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.

Bottom tracking

Maximum altitude	60 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

Water tracking

Minimum accuracy	0.5% of measured value / +-0.5 cm/s
Minimum range	2.0 m

Current profiling

Minimum accuracy	0.5% of measured value / +-0.5 cm/s
Velocity resolution	0.1 cm/s
Interval	User specified N^th ping
Maximum range*	30 m
Blanking	0.1 m
Cell size	0.2-2.0 m
Max # cells	150
	*Dependent on measurement conditions

Altimeter

Range	50 m
Accuracy	1% of measured value
Resolution	1 cm

INS

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.

AHRS

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 sensor

Pressure accuracy	0.3% FS (precision better than 0.003% of full scale per sample)
Temperature	-4° to +40°C ± 0.1 °C

Magnetometer

Range	800 μT
Repeatability over ±200μT	20 nT
Noise	50 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 Hz

Gyroscopes

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

Environmental

Operating temperature	-4 to +40 °C
Storage temperature	-20 to +60 °C

Mechanical design

Depth rating	1000 m (300 m version available)
Height	47 mm
Diameter	90 mm
Weight in air	690 g
Weight in water	415 g

Power

Voltage range	10-28 Volts
Average power	< 4 W
Maximum peak power	35 W

Communication

Serial	RS-422 / RS-232
Ethernet	10/100 Mbits Auto MDI-X.TCP/IP. Fixed IP /mDNS/DHCP client /Auto IP address assignment. (Multiple simultaneous data format transmission possible).
Data formats	Nortek proprietary (binary) DVL ASCII

Hardware

Frequency of operation	1 MHz
Beam width	3.4°
Slanted beam angle	20 deg

Compare similar products

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Products

Nucleus 1000

DVL 1000

DVL 500 Compact

DVL 500

Frequency

1 MHz

500 kHz

Features

Bottom track, water track, current profiles, altimeter, AHRS / INS

Bottom track, water track, current profiles

Depth rating options

300 m, 1000 m

300 m, 6000 m

Bottom track range (min - max)

0.1 m - 50 m

0.1 m - 75 m

0.1 m - 175 m

0.1 m - 200 m

Current profiling range

30 m

70 m

Long-term accuracy

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

±0.1% / ±0.1 cm/s (export-controlled), >1% (license-free)

Maximum ping rate (configuration and range dependent)

8 Hz

Head diameter

90 mm

114 mm

186 mm

Additional options

Current profiles, INS license, OEM housing

Current profiles, rapid pressure output

Current profiles, Seanet connector for integration with TechnipFMC Schilling Robotics ROVs, rapid pressure output

Current profiles, rapid pressure output

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Support resources

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