V1.0.

2024 年 01 月
 Preface
Summary
This manual describes the HQ-400 integrated small multibeam ("HQ-400") and its specified software version. This
manual covers the installation, operation and maintenance of the HQ-400 for both primary users and experienced engineers,
both for specific work instruction and for simple reference.
Read through the manual and follow the steps in the manual to obtain optimal safety standards and achieve optimal
performance of the system.
Statement
This product operation manual only belongs to Shanghai Huace Navigation Technology Co., Ltd., without the express
written permission of Shanghai Huace Navigation Technology Co., Ltd. (hereinafter referred to as "Huace Navigation"), and
shall not copy or disseminate any contents of the manual for any purpose, in any form or means (electronic or mechanical).
This manual and related procedures are only intended to provide information to end users and has the right to change
or revoke its contents at any time. The manual is proprietary information and is protected by the copyright law of the
People's Republic of China and international conventions.
To the extent permitted by relevant law, China Test Navigation provides this manual in an "established" manner and
does not provide any form of guarantee for this manual, including (but not limited to) any implied guarantee on the
merchantability, applicability and non-infringement for a specific purpose. In any case, CCUI shall not be liable for any
direct or indirect loss or damage caused by the use of this manual, including (but not limited to) loss of profit, business
interruption, impact of goodwill or loss of information, even if such loss or damage has been explicitly informed of CCUI.
The use of this manual and any of the products mentioned in this manual is subject to the applicable user license
agreement. This manual is produced by Huace Navigation. All trademarks, trademark names, service marks and logos
mentioned in this manual are owned by their respective companies.
 Catalogue
1 brief introduction.....................................................................................................................................................1
1.1 system survey...................................................................................................................................................1
1.2 system composition..........................................................................................................................................1
1.3 System principle...............................................................................................................................................1
1.4 system performance.........................................................................................................................................2
1.5 application area................................................................................................................................................2
2. safety precautions...................................................................................................................................................2
2.1 Operator security..............................................................................................................................................2
2.2 Equipment safety..............................................................................................................................................2
2.2.1 safe operation............................................................................................................................................3
2.2.2 cleaning and maintenance.........................................................................................................................3
2.3 anti-corrosion...................................................................................................................................................3
2.4 Isolated electrical.............................................................................................................................................3
2.5 Sunlight exposure.............................................................................................................................................3
3. equipment installation............................................................................................................................................4
3.1 Deck unit..........................................................................................................................................................4
3.2 Deck unit installation and cable connection.....................................................................................................5
3.3 sonar.................................................................................................................................................................7
3.4 Sonar installation..............................................................................................................................................8
3.4.1 Ship side port installation..........................................................................................................................8
3.4.2 The bottom of the ship installation............................................................................................................8
3.4.3 Unmanned ship installation.......................................................................................................................8
3.4.4 Monthly pool installation..........................................................................................................................9
4. System startup and shutdown.................................................................................................................................9
4.1 Power on electricity..........................................................................................................................................9
4.2 Display and control software configuration.....................................................................................................9
4.3 The system is open.........................................................................................................................................10
4.3.1 Real-time mode.......................................................................................................................................10
4.3.2 Playback mode........................................................................................................................................11
4.4 The system is closed.......................................................................................................................................11
5. System parameter setting.....................................................................................................................................11
5.1 Range setting..................................................................................................................................................12
5.2 Pulse width setting.........................................................................................................................................13
 5.3 PING rate.......................................................................................................................................................14
5.4 Signal form.....................................................................................................................................................14
5.5 Gain Settings..................................................................................................................................................14
5.6 Beam Angle setting........................................................................................................................................15
5.7 Beam number is set........................................................................................................................................16
5.8 Manual speed of sound...................................................................................................................................16
5.9 Door limit setting...........................................................................................................................................16
5.10 Blind area setting..........................................................................................................................................16
5.11 Contrast setting.............................................................................................................................................16
6. System function setting........................................................................................................................................16
6.1 Horizontal shake stability...............................................................................................................................17
6.2 Equal Angle isometric....................................................................................................................................17
6.3 Manual door limit...........................................................................................................................................18
6.4 Sonar plots are shown....................................................................................................................................18
6.5 The beam display...........................................................................................................................................18
6.6 Bottom detection............................................................................................................................................19
6.7 Data preservation...........................................................................................................................................19
6.8 Screenshot interface.......................................................................................................................................19
6.9 Distance measurement function.....................................................................................................................19
6.10 The interface recording screen.....................................................................................................................19
6.11 NTRIP function............................................................................................................................................19
Addendum A: Troubleshooting the problems..........................................................................................................21
Appendix B, Performance Parameters.....................................................................................................................22
Appendix C. Packaging components.......................................................................................................................23
Appendix D deck unit dimensions...........................................................................................................................24
Appendix E...............................................................................................................................................................25
Appendix F Location of the sonar acoustics center.................................................................................................26
1 Brief Introduction

1.1 system survey

The HQ-400 integrated small multibeam is a hardware platform with a small size, light weight and low power
consumption. It is based on rich acoustic test data performance, using SOC system-level chip drive, with high performance
processing power. Digital-analog integrated design, ultra-small volume. Modular integrated packaging, strong anti-
interference ability. Open source acoustic hardware platform supports third parties to further develop and expand their
application functions. The HQ-400 integrated small multibeam physical object is shown in Figure Figure 1-1.

Figure 1-1 Physical diagram of HQ-400

1.2 system composition

Figure 1-2 Composition of the HQ-400 system

The hardware of HQ-400 system is divided into two parts: water unit and underwater unit:
The underwater unit is sonar equipment; the water unit is divided into interface box, power supply equipment, laptop
computer and two sets of directional antennas;
The software is two parts: display control software is Beam Control, acquisition and post-processing is CMS.
HQ-400 built-in inertial navigation and GPS can provide real-time, continuous heading, swing, longitudinal, speed,
position and rise-up information to the multi-beam mapping system. This equipment has the characteristics of small size,
light weight, fast startup and low power consumption.

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1.3 system principle

Sonar realizes the transmission and acquisition of acoustic signals; the dry end deck unit realizes the synchronization
and processing of acoustic data and sensor data; through the processing of display and control software, acquisition software
and post-processing software, completes the absolute depth measurement, that is, the depth value from the reference sea
level to the sea floor, as shown in Figure 1-3:

Figure 1-3 Schematic diagram of underwater depth measurement

1.4 system performance

The main features of the HQ-400 integrated small multibeam are as follows:
(1) Integrated design: small volume, light weight, low power consumption, and deep integration with the unmanned
measurement platform;
(2) Easy operation: built-in posture, positioning, sound speed, no calibration and debugging, boot can work;
(3) One machine multi-energy: section measurement, strip measurement, full coverage measurement;
(4) Easy operation: full Chinese interface, one-key parameter setting for different measurement environments.

1.5 application area

HQ-400 is compact and light and can be applied to:

 Ultra shallow water measurement

 Water conservancy surveying and mapping of rivers and lakes
 Environmental research
 Habitat mapping
 Port surveying and mapping
 hydrographic survey
 Offshore underwater mapping
 Bank protection measurement
 Unmanned submersible measurement
 Investigation and recovery
 Site cleaning and measurement

2. Safety Precautions

2.1 operator security

For the safety of the operator and the equipment, the precautions include:
 Read the operation manual carefully before operation, and pay attention not to contact the 220V power supply
interface when the equipment is powered on;
 Pay attention to oneself and equipment safety when handling;

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  Do not connect or disconnect any cables when powered on;
 Do not open any equipment without the consent of the navigation;

2.2 equipment safety

HQ-400 integrated small multi-beam equipment is equipped with special packing box, as shown in Figure 2-1. Each
component has a corresponding position in the packing box, avoid equipment damage during the handling process, and do
not remove the equipment without the guidance of professionals; read this manual carefully to avoid damaging the
equipment due to operation error.

Packaging box, outer dimensions: L755 * W502 * H252 mm

2.2.1 safe operation

When using the HQ-400 equipment, in order to ensure the safe operation of the equipment, we generally need to pay
attention to the following aspects:
 Before receiving the equipment, check whether the box is damaged before unpacking;
 When handling, be careful to avoid bumping the equipment, storage with the original packaging box;
 Check components for missing and damage before installation;
 Install the equipment according to the operation manual, and shall not be installed privately;
 Do not exceed its safe bending limit when installing the cable;
 When installing the sonar, avoid bumping and scratching the probe, especially the transmitting and receiving
transducer;
 Check whether the equipment cable is installed correctly before turning on the power supply;
 Do not disconnect any cable when the equipment is working, which is easy to damage the equipment;
 After stopping working, the power supply should be disconnected before the cable is removed;
 Sonar does not work in the air, the transmitting transducer is easy to damage;
 When the sonar is not in use, the cable connector should be closed with a lid;
 After the measurement, put into the corresponding packaging box, and save in the appropriate environment;

2.2.2 cleaning and maintenance

Proper cleaning and maintenance can be beneficial to the service life of the equipment, generally including:
 After the use of the equipment to carry out comprehensive maintenance, to use fresh water to fully wash the sonar,
the appearance of the damaged parts of the paint;
 In the process of equipment installation and disassembly, prevent sharp tools from scratching the protective layer
of the integrated small multibeam sonar shell to prevent corrosion;
 Ensure that all items are ventilated and dry before packing and transportation;
 Prevent the damage to the transducer in the process of equipment installation and disassembly, and the integrated
small multi-beam is strictly prohibited to hit the bottom during the operation, otherwise it will cause irreparable
damage.
 Do not pull the cable during the cable plug, hold the connector plug, plug the watertight plug and watertight
socket, the connector nut should be screwed to the end;
 Run and save the equipment within a limited temperature range.

2.3 anti-corrosion

In the case of using equipment or storage equipment, do not contact the equipment with corrosive substances such as
strong acid and alkali to avoid damage to the equipment shell and transducer; rinse and dry with fresh water after use to
avoid corrosive liquid corrosion equipment.

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2.4 isolated electrical

When using and storing the equipment, let the equipment shell and other components isolate isolation, otherwise
electrochemical corrosion will occur, which will affect the work of the equipment and even damage.

2.5 sunlight exposure

Avoid the equipment in the sun for a long time, otherwise it will affect the working characteristics of the transducer,
and even damage the transducer, causing unnecessary losses.

3. Equipment Installation

3.1 deck unit

Sonar sounding data and auxiliary sensor data are converged in the deck unit, and transmitted to the personal laptop
computer after the corresponding data processing, to realize the data display and storage. The deck units are shown in
Figure 3-1.

Figure 3-1 Deck unit

The deck unit panel contains power switches, indicator lights, and multiple connector sockets, as shown in Figure 3-2.
Table 3-1 describes each functional interface.

Figure 3-2 Deck unit panel diagram

Table 3-1 Deck unit, interface, brief description

order
name characteristic function
number
Power switch, press for on, the light is
1 mains switch O N/OFF
on
2 Power supply input 24V/IN Connect the AC input, the DC 24V

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 power adapter, or the 24V / DC power
interface
supply
Support output GNSS, HEADING, and
3 Sensor interface DATA
support input RTK
4 Antenna interface 1 A NTENNA 1 Rear antenna, main antenna
5 Antenna interface 2 A NTENNA 2 Front antenna, from the antenna
6 internet access LAN The Gigabit Ethernet data interface
7 Sonar interface SONAR Sonar water-tight cable interface
The indicator instructions are shown in
8 Panel indicator light ——
Table 3-2

Table 3-2 indicator light instructions

characteristic name function declaration

Power supply status indicator

POW Power up and light up
lamp

The second pulse signal indicator light

PPS Second-pulse indicator light
flashes once per second

Indicates the GNSS status and flashes

The GNSS information indicator
GNSS according to the information rate when
light
normal.

3.2 deck unit installation and cable connection

1. In field operation, the deck unit should be placed on a flat and stable operation platform, and properly grounded;
2. Use the configured 220VAC power adapter or supply power through the 24V DC/DC power cable, corresponding
to the navigation connector, as shown in Figure 3-3;

Figure 3-3 Navigation connector

Note:
 During the connection process, when the air plug is used, gently connect according to the position corresponding
to the red dot of the connector on the power socket of the deck unit (green arrow).
 When you want to remove the connector, disconnect all power supplies and hold down the groove portion of the
connector (yellow arrow) to pull out.
3. The "DATA" interface is the sensor data interface, and the interface cable is an interface to two DB9 interface
connections, as shown in Figure 3-4, where the plug for the RTK device is the master head, and the other is the header
for the G NSS information output interface. The DB 9 connector pins are defined as shown in Figure 3-5.
pay attention to:
 DB9 plug do not pull the cable, hold the connector plug;
 Pay attention to the direction when inserting the DB9 plug;
 After DB9 plug is inserted, the screws on both sides should be tightened to avoid the plug falling off during work;

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 Figure 3-4 Special cable for the DATA external sensor

Figure 3-5 The DATA connecting line DB9 interface pin is fixed

4. The SONAR interface is connected to the sonar water-tight cable. Deck unit, navigation connector is shown in
Figure 3-6-a. Air plug with self-locking function, the red point of the connector on the installation of the red point on
the deck unit SONAR socket (green arrow) gently access; when to pull out the connector, disconnect all power supply;
then hold the groove part of the connector (yellow arrow) to pull out.

(A) deck connector (b) sonar watertight cable (c) watertight connector
Figure 3-6 Sonar watertight cable
5. The "LAN" interface and the computer network port are connected through the RJ 45 gigabit network cable.
6. "A NTENNA 1" and "A NTENNA 2" connect the GNSS antenna using a dedicated antenna feeder. Standard
special antenna installation rod, and strong magnetic suction disk, the two ends of the installation rod are screwed to
the GNSS antenna and strong magnetic suction disk, the strong magnetic suction disk adsorption to the hull. As shown
in Figure 3 – 7, the assembly is shown in Figure 3 – 8. Users can also design the special installation structure according
to the thread size of the installation rod, and directly install the installation rod directly to the hull, without using the
standard strong magnetic suction cup.

(a)

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 (b) (c)
Figure 3-7 antenna feeder (a), strong magnetic suction (b), antenna mounting rod (c)

Figure 3-8. Assembly of the antenna

Note:
 The installation position of two antennas, with the direction of travel, A NTENNA 2 connected to the front
antenna, A NTENNA 1 connected to the rear antenna;
 The installation spacing between the two antennas is 2 meters, and the connection between the two antennas shall
be parallel to the sonar installation axis.

3.3 sonar

Figure 3-9 Sonar

The installation of the guide cover has been completed when leaving the factory, and there is no need to install and
remove it again in field use. The watertight cable connector is shown in Figure 3-10 and 3-11. If the watertight plug is
required, please follow the precautions in Chapter 2. If the watertight connector is inserted and tighten the fastening nut by
hand.

Figure 3-10 Sonar water-tight joint

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 Figure 3-11, Sonar watertight cable
Note: Do not overbend the data cable during the use of the equipment to avoid damage.

3.4 sonar installation

The HQ-400 integrated small multi-beam can be installed on the side or under the ship according to the actual needs,
as follows:

3.4.1 ship side port installation

The user designs the installation structure according to the usage scenario.
It is recommended to use, install bracket and installation column and cooperate, install bracket and hull by welding or
screw fixation (welding fixation is recommended), sonar installation flange dimensions are shown in Appendix F.
Equipment installation requirements are as follows:
 Must be installed on the firm and inactive parts of the ship;
 Stay away from the main engine, auxiliary engine, pumps and other places easy to introduce noise and vibration;
 Set the installation structure as close as possible to the waterline;
 Sonar goes beyond the bottom of the ship;
 The installation point is in the middle section or front position of the broadside, and cannot be installed in the
stern;

Figure 3-12 Side mounting bracket and support column reference design
The GNSS receiving antenna shall be installed in the open area below the lightning rod at the top of the ship to avoid
other signal interference.

3.4.2 the bottom of the ship installation

According to the bottom installation method, the hull installation conditions and sonar installation flange size (see
Appendix F), and the installation requirements are the same as 3 sections..4.1

3.4.3 unmanned ship installation

HQ-400 equipment can be adapted for the installation of unmanned ship. The installation of unmanned ship needs to
have any way of bottom installation or side installation, and is equipped with wireless digital radio, which can transmit the
data required by the system back to the control personnel.
The ROV installation also requires the carrier platform to provide the installation and power supply conditions, and
the data required by HQ-400 can be uploaded through the Marine cable.
When using unmanned ship or ROV platform, HQ-400 integrated small multi-beam can use both built-in sensors,
external inertial navigation equipment, but also adapt the onboard attitude and positioning equipment to meet the accuracy
requirements. HQ-400 integrated small multi-beam is compatible with mainstream auxiliary sensor data protocol.

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3.4.4 monthly pool installation

HQ-400 integrated small multi-beam equipment can be adapted for lunar pool installation.

4. System startup and shutdown

4.1 power on electricity

Check the connectivity between the components before charging on the power supply, including:
1. Check whether the waterproof cable between sonar and deck unit is correct, and the watertight connector should
ensure that the fastening nut is tightened;
2. Check whether the deck unit and the computer network cable are in place;
3. Check whether the two antenna connectors are well connected:
After inspection, the power supply of the deck unit can be turned on. After the power supply lights on, the button is
pressed, indicating that the deck unit has been powered on normally;

4.2 display and control software configuration

The operating environment of HQ-400 integrated small multi-beam display and control software is 64-bit Windows10
operating system. In order to ensure that the display and control software correctly receives sonar and auxiliary sensor data,
the display and control software shall configure the local IP address as follows:
IP address: 192.168.0.10~254;
Subnet mask: 255.255.0.0;
Default gateway: do not fill in;
DNS, server: it is not filled in.
Open the Beam Control display and control software, and the software interface is shown in Figure 4-2.

Figure 4-2 Window of the graphics and control software

At the top of the software interface is the function setting area (as shown in Figure 4-2, yellow box) on the right is the
system parameter setting area (as shown in Figure 4-2, red box). Click the nail in the upper right corner of the parameter
setting area to open the automatic hiding effect.
After the device is ready, click the "Connect" button in the upper left corner of the interface (as shown in Figure 4-2,
green box) to complete the connection with the device. In the sonar image, the interface will display the "Connect" button to

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"Disconnect", and click "Disconnect" to disconnect from the device.
HQ-400 integrated small multi-beam system display control software settings include: system parameter setting, port
setting and NTRIP, functions, using HQ-400 integrated small multi-beam system, set irrelevant functions in gray.

4.3 the system is open

The system can be divided into "real-time" and "playback" two modes.

4.3.1 real-time mode

Figure 4-3, Sonar display and control software interface

Open the sonar interface steps are as follows:
1. After the sonar powers on for 10s, double click the executable file Beam Control of the display control software, for
the interface window to pop up,
2. Sonar display, control software interface is shown in Figure 4-3;
3. Switch to "real-time" mode by default, and click the "Connect" command in the yellow area in the upper left
corner shown in Figure 4-3 to issue the waveform request command. At this time, the sensor data in the bottom area
of the display and control software window will start to display. If N / A is displayed, check the relevant
configuration of the sensor.
4. Observe whether the network connection and auxiliary sensor connection are successful in the red area in the lower
left corner of Figure 4-3 or not. The font is green indicates successful connection, and red indicates connection
failure.
Navigation status description:
 "Crude alignment": enter the coarse alignment state when there is no satellite information in the initial stage of
power supply;
 "Fine alignment": the satellite information enters the fine alignment state
 "Combined navigation": in the combined navigation mode, the satellite information effectively enters the
combined navigation state;
 "Inertial position navigation": when the satellite information enters the inertial navigation mode, the inertial
navigation state after the 180S.
5. After the preface operation is normal and no fault, the sonar transmission signal can be opened, click the "transmit"
button shown in Figure 4-4;

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 6. The sonar has started to work. For detailed parameter setting, please refer to Chapter 5 System parameter setting.

Figure 4-4 sonar graphics and control software interface

4.3.2 playback mode

As shown in Figure 4-5, switch to the "playback" mode, and display the playback data floating form at the bottom of
the interface. You can select the data file to load the data.

Figure 4-5 The software interface for playback data

4.4 the system is closed

The system shutdown steps are as follows:

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 1. Close the acquisition navigation software and save the collected data;
2. Click the "Disconnect" button in Figure 4-2 in the graphics control software, and then turn off the graphics control
software;
3. Turn off the main power switch, combined inertial navigation power switch and portable power supply in turn;
4. Turn off the main power supply switch.

5. System parameter setting

In order to improve the overall performance of the integrated small multi-beam sounding system and ensure the
optimal effect of mapping operations, HQ-400 users can adjust the system parameter Settings according to the field
situation, including adjustable parameters, including range, frequency, transmission power, gain control, pulse width, beam
number and bottom tracking threshold, etc. Software default start automatic range, automatic control gain control and
automatic bottom tracking threshold, HQ-400, system parameter setting area as shown in Figure 5-1:

Figure 5-1 Parameter setting area

5.1 range setting

The range is set to be the range of the echo received by HQ-400. The larger the range setting, the farther the echo
distance can be received, and the deeper the detection depth of HQ-400. The HQ-400 system is visible, and the control
software is automatic range by default. To change to manual range, just check the box of manual equation. The manual
range adjustment mode is shown in Figure 5-2. The mouse can click the left and right arrow of the adjustment box or drag
the slider in the adjustment box to adjust the range size.
Note: Range setting will affect the system ping rate. The larger the range, the lower the ping rate, and the thinner the
bottom of the measured heading direction.

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 Figure 5-2 Scale range parameter setting
 Correct range setting
Figure 5-3 shows the schematic diagram of the correct range setting. The correct range setting can ensure that the
system can reflect the real underwater terrain in real time, effectively assist the operator to judge the actual situation of the
underwater terrain, and improve the effectiveness of the mapping operation and the safety of the ship.

Figure 5-3. Schematic diagram of the correct range setting

 Error range setting
Figure 5-4, Figure 5-5, Figure 5-6 shows the schematic diagram of the wrong range setting. The wrong range setting
will lead to the detection error of the edge beam bottom of the system, mislead the operator to the true judgment of the
underwater terrain, reduce the efficiency of mapping operation, and affect the safety of the ship in serious cases.

Figure 5-4 Range set error schematic 1

In this case, the range setting is too short, so that the HQ-400 edge beam cannot receive the underwater echo data, and
can only receive the water noise, resulting in the failure of the edge bottom detection. At this time should increase the range
to receive the edge beam underwater echo.

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 Figure 5-5 Range setting error schematic 2
In this case, the range setting has been the largest, but the edge beam still can not receive the bottom echo, and the echo
energy of the beam near the edge is small, the received water noise will affect the bottom detection. At this time, the beam
coverage Angle should be reduced to cover only the visible bottom, and reduce the visual beam noise.

Figure 5-6 Range setting error schematic 3

In this case, the range is too long, the HQ-400 "view" is too long, and the record will be too long. When using TVG,
the false background noise will be amplified, which will produce data with low signal-to-noise ratio. The Ping rate will also
decrease, resulting in reduced acoustic density. At this time, we should get a better job effect by reducing the range.

5.2 Pulse width setting

When HQ-400 adopts the signal mode as CW pulse signal mode, the smaller the signal pulse width, the higher the
distance resolution, the larger the pulse width, the better the range performance, but the resolution decreases accordingly.
With different measurement range and different maximum pulse width, the maximum pulse width is obtained by the
following formula:
T =L/200
T —— maximum pulse width, unit in ms;
L —— range, unit in m;
HQ-400 integrated small multi-beam opens 10 pulse wide gears to users under different range conditions and different
signal frequency parameters to meet the actual needs of users in the operation process.

5.3 PING rate

When HQ-400 integrates small multi-beam for measurement operation, the Ping rate is automatically set with the
range parameters, and the maximum Ping rate of each range is shown in the table below:
Table 5-1 Ping, rate control table
range (m) Ping Rate (Hz)

5 50
10 50
20 30
30 20
50 12
75 8
100 6
125 4.8
150 4

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 175 3.4
200 3
225 2.6
250 2.4
300 2

5.4 Signal form

The signal forms include CW and LFM, selected according to specific needs.

5.5 Gain Settings

The HQ-400 integrated small multi-beam receiver adopts the TVG gain control mode, and the TVG formula is as
follows:
TVG=2 α R Km + S P∗log R m +G
Total gain of TVG —— time change;
α —— Absorption coefficient in dB / Km;
S P—— Diffusion coefficient, measured in unit dB / m;
G —— additional gain, per unit of dB;
The HQ-400 gain control parameter setting is shown in Figure 5-7, and the parameter setting list is shown in Table 5-2:
Table 5-2 Gain control parameter settings

order number The parameter name Set the range unit

1 absorbance index 0~200 dB /Km

2 coefficient of diffusion 0~30 dB

3 Additional gain -40~+40 dB

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 Figure 5-7 Gain control parameter setting

5.6 Beam Angle setting

The coverage Angle is the sonar opening Angle. The larger the sonar opening Angle, the wider the system coverage
width, and the higher the measurement operation efficiency. The smaller the sonar opening Angle, the greater the system
sound density, the smaller the detectable target, but the operation efficiency will decrease accordingly. Therefore, the user
may need to adjust the coverage angle according to the specific measurement job requirements.
The HQ-400 integrated small multi-beam coverage angle parameter has the following characteristics:
 Maximum coverage angle: 130°
 Default coverage angle: 120°
 Adjustable coverage angle range: 20°~130°
 Cover angle adjustment step: 5°
Specific operation of adjusting the coverage Angle: click the left and right arrows of the adjustment box or drag the
slider inside the adjustment box. You can also use the left mouse button to click the icon in the red box as shown in Figure
5-8, and then slide the mouse pulley to adjust the coverage Angle of the system at will.

Figure 5-8 Cover angle parameter setting

5.7 Beam number is set

The HQ-400 integrated small multibeam provides the user with the beam number parameter option, and the user can
select 256 beam or 512 beam according to the actual job requirements.
The more the beam number, the higher the acoustic density within the same coverage width; the less the beam number,
the higher the system ping rate, the denser the navigation direction band.

5.8 Manual speed of sound

HQ-400 integrated small multibeam is equipped with a surface sound speed meter. If the surface sound speed meter is
damaged or abnormal, the sound speed can be entered manually; check the manual sound speed in the parameter setting bar,
and then click the left and right arrow of the adjustment box or drag the sliding block to adjust the sound speed parameters;
which can be adjusted within 1350 m/s- -1600 m/s, the step is 0.1m / s.

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5.9 Door limit setting

The shallow threshold and the deep threshold can be set manually after the manual threshold function is opened. The
threshold limit can be entered directly in the text box, or you can use the mouse to drag the two yellow (default threshold
color) lines in the sonar chart.

5.10 Blind area setting

The shallow threshold and deep threshold cannot be set when the manual threshold function is closed. The blind spot
value can be set, and the blind spot value can play the role of shallow threshold.

5.11 Contrast setting

Voice gram contrast: adjust the contrast of the image;

Side scan contrast: adjust the contrast of the side scan image;

6. System function setting

The HQ-400 integrated small multibeam includes the functions of isometric sounding, isometric desoryometry, swing
stability, swing stability and beam display commonly used in the integrated small multi-beam sounding system
The HQ-400 system function setting area is located at the top of the development and control software, as shown in
Figure 6-1:

Figure 6-1 Functional setting area

6.1 Horizontal shake stability

Horizontal stability is a characteristic directly related to the operation efficiency of the system, which can maximize the
width of the submarine wave band, thus increasing the measurement line spacing and reducing the sailing time of the ship.
When the transverse value is 0°, the wave band is vertical, and the midline of the wave band is located directly below
the hull, as shown in Figure 6-2:

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 Figure 6-2 Horizontal values are shown for the 0° beam plots
When the shaking value of the hull is not 0, the wave band will rotate, and the projection of the wave band on the
bottom will also move laterally, as shown in Figure 6-3.

Figure 6-3 Schematic diagram of the wave band rotation

After HQ-400 turns on the roll stabilization function, the system applies the swing data measured by the attitude meter
to compensate the rotating wave band angle, so that the wave band is stable in the vertical direction, as shown in Figure 6-4.

Figure 6-4 Schematic diagram of the transverse stabilized lower wave band
It is recommended that the data update frequency is at least 50Hz and 100Hz.

6.2 Equal Angle isometric

As the beam pointing angle changes from central to edge, the beam number within the unit sweep angle remains
constant for the isometric mode, while it gradually increases in the isometric mode.
In order to maintain the maximum possible wave band coverage and maintain a certain amount of beam volume, the
isometric mode is generally used to provide a high density isometric beam for the whole wave band.

Figure 6 – 8 isometric and isometric mode selection

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6.3 Manual door limit

Manual threshold includes deep threshold and shallow threshold, and angle threshold parameter adjustment setting is
not available.
HQ-400 opens the automatic bottom tracking threshold by default, and also has the manual depth threshold function.
When the manual threshold function is enabled, the sonar graph will have two depth thresholds as shown in Figure 6-9. It
can easily adjust the upper and lower threshold position through the mouse drag and dragging, and the upper and lower
threshold limit can also be manually entered in the parameter setting bar. The field industry can decide whether to enable the
manual gating function according to the water environment and terrain information.

Figure 6-9 Manual threshold

6.4 Sonar plots are shown

HQ-400 has beam display function, click "sonar map" function to open and close sonar map display, as shown in the
yellow box of Figure 6-10.

6.5 The beam display

Click the "Beam diagram" button, open the beam display function, the mouse order, click sonar, and the corresponding
position of the figure can display different beam information, and the beam number increases from left to right. The beam
display diagram is shown in the red box in Figure 6-10:

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 Figure 6-10 Beam display Fig

6.6 Bottom detection

Click Bottom Detection to turn on and close the bottom detection function. After the ground detection function is
opened, it can automatically measure the bottom in real time, and display the bottom detection image in real time in the
form of green lines (default depth point color).

6.7 Data preservation

In the "real-time" mode, the data saving function can be opened. The data saving function can save the current sonar
measurement data in real time, and the saved data can be used for later playback.
Click the "Data Save" button to pop up the data storage path selection window. Set the save path and file name, then
click Save, and the software starts to save the measurement data.

6.8 Screenshot interface

HQ-400 integrated small multi-beam system display control software has a screenshot function. Click the "Screenshot"
function, the "Screenshot Success" window will pop up. After success, the sonar graph part will be automatically saved in
the form of pictures, and the picture will be saved in the "ScreenShotImage" folder under the installation directory.

6.9 Distance measurement function

Click the "ranging" button to open the ranging tool. Use the mouse to draw the line in the sonar map exposure, and the
distance corresponding to the line will be automatically displayed. As shown in Figure 6–12.

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 Figure 6-12, the ranging function

6.10 The interface recording screen

HQ-400 integrated small multi-beam system display control software with screen recording function, the mouse click
"record screen", start the screen and the button switch to "stop", click "stop" again to end the screen. The screen file save
path is in the Video folder under the installation directory.

6.11 NTRIP function

Hardware connection: the RTK connector of DATA cable connects to the computer through a USB serial port, and the
external inertial port connects the RTK interface to the computer through a USB serial port.
Open the display, control software setting as shown in Figure 6-13, set the serial port parameters, click "connect serial
port", after the serial connection is successful, set NTRIP parameter, select the data protocol, click "connect NTRIP", the
output box will display the NTRIP connection status, after the NTRIP connection, can see the data transmission byte
progress in real time, the main interface display difference decomposition and the NTRIP status at the bottom, as shown in
Figure 6-14.

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 Figure 6-13 Set NTRIP parameters
Note:The NTRIP account in the figure above is disconnected due to its expiration.

Figure 6-14 Display control shows NTRIP status information

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Addendum A: Troubleshooting the problems

order number fault phenomenon analysis of causes The exclusion method

1. The total power supply is 1. Check whether the power supply of the deck unit is
Deck unit not powered on normal
1
Can't boot 2. Power supply adapter is 2. Check whether the power adapter indicator light is on,
damaged and replace the power adapter
1. The equipment is not
powered up
1. Check whether the power supply button is turned on
2. The IP address setting is
2. Check whether the portable IP address setting is incorrect
sonar incorrect
2 3. Turn off the display and control software, and then
be unable to connect 3. The startup time is less
connect the sonar for 30s
than 30s
4. Check the connection of waterproof cable
4. The waterproof cable is
loose
1. The startup time is too
Display control interface 1. It is recommended to connect after charging for 30s
short
3 sensor 2. Check the combined inertial navigation configuration
2. The external inertial
ununited information
navigation is misconfigured
1. The antenna connection
position information 1. Check whether the antenna cable connection is normal
5 is loose
Displays the error 2. Place the antenna in the open space
2. The antenna has a shelter
The heading is 180° The front and rear antennas
6 Switse front and rear antenna positions
different are misplaced
measured data Insufficient portable
7 Check the space left on the portable hard disk
Unable to save machine storage resources
The rolling and swing
data show it as being External inertial navigation The combined inertial navigation is correctly installed and
8
inconsistent with the direction, installation error oriented in the same direction with the bow
reality
Replace Ethernet cable or use CAT 6 crystal head cable
9 Drop-ping is serious Ethernet Cable damage
(standby, not recommended)

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Appendix B, Performance Parameters

sonar parameters
model HQ-400
service frequency 400KHz ±20KHz
The number of beam 256/512/1024
beam width 1.6°× 1.8°
Beam open Angle range 130°
Depth range 0.2-150m
Detect deep resolution 1.0cm
Deep measurement mode Isogonism / Isometric
Maximum Ping rate 60Hz
Signal form CW
pulse length 25us – 2ms
Pressure resistance grade (acoustic probe) 50m
No installation calibration Yes
Side sweep imaging Yes
Real-time horizontal shake stability Yes
Water imaging Yes
Near field focus Yes
Course accuracy (GNSS valid) 0.1° (2m baseline)
Attitude accuracy (GNSS valid) 0.05° and other options

Horizontal positioning accuracy 0.8cm + 1ppm (RTK) / 0.6m (SBAS) / 1.2m (single point)

Lift and sink accuracy 5cm or 5% of range

Electrical parameters

service voltage DC18-36V (type: 24V) or AC100-240V 50 / 60Hz

maximum power ＜25W

data interface GB Ethernet
Cable length Standard with 10m (customizable)
Physical parameters
Sonar size 125*125*132mm
Sonar weight 3kg (air) 1.5kg (water)
Deck unit size 125mm*125mm*42mm
Deck unit weight ≤0.5kg
working temperature -10℃~60℃
Storage temperature -20℃~70℃

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Appendix C. Packaging components

class order number description quantity remarks

1 Sonar 1
Wet
2 Sonar watertight cable 2 The conventional length is 1.5m and 10m each

1 Deck unit 1

2 Power adapter and power cord 1 Input 85 to 264 V/AC and output 24V / DC 5A

3 A 24V DC power supply line 1 Long 1m

The RJ 45 Gigabit Ethernet

4 2
cable

DATA external sensor

5 1
dedicated cable

Dry For using NTRIP, function to connect the RTK interface with the
6 USB to RS 232 (DB 9) 1
computer USB

7 GNSS antenna 2

The GNSS, the antenna feeder

8 2 Long 5m
line

The GNSS antenna mounting

9 2 And 10c m long
rod

10 Strong magnetic suction cup 2

Software installation of the U

1 1
disk

2 manual of operation 1

Other Qualification certificate,

3 1
warranty card

4 air deflector 1
5 packing chest 1

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Appendix D deck unit dimensions

26
27
Appendix E Sonar dimensions

28
Appendix F Location of the sonar acoustics center

29