Apache 3

FCC ID:SY4-A02032
APACHE 3
User Guide
Marine Survey | Jul 2021
APACHE 3 User Guide (Network Bridge Version)| 2021-07 Pa ge |1

Table of Contents
Copyright.................................................................................................................................4
Safety Warnings...................................................................................................................... 4
FCC Interference Statement....................................................................................................4
CE Interference Statement......................................................................................................4
Introduction................................................................................................................................5
Warnings and Cautions.......................................................................................................5
Regulations and Safety....................................................................................................... 5
Use and Care.......................................................................................................................5
Technical Support....................................................................................................................5
Disclaimer............................................................................................................................... 6
Your Comments.......................................................................................................................6
1 Getting Started with APACHE 3...............................................................................................7
1.1 APACHE 3 brief introduction............................................................................................. 7
1.2 Product Basic Supply Accessories..................................................................................... 7
2 Hardware Installation........................................................................................................... 10
2.1 Preparing for conducting the survey.............................................................................. 10
2.2 Setup RTK Base Station and Onshore Data Receiving System........................................ 10
2.3 Install Accessories for the USV System........................................................................... 11
2.3.1 Install the accessories of the boat........................................................................... 11
2.3.2 Mount the accessories of the ground station......................................................... 12
2.3.3 Debug before launching the boat............................................................................12
3 Software Operation for the USV System.............................................................................. 14
3.1 Install the software......................................................................................................... 14
3.2 AP Software Configurations............................................................................................ 14
3.2.1 Configure the computer IP...................................................................................... 14
3.2.2 TCP Connection for AP Software............................................................................. 15
3.2.3 Plan Route for AP Software..................................................................................... 15
3.2.4 Login HD Camera for AP Software........................................................................... 18
3.2.5 Other common functions for AP Software.............................................................. 19
3.3 Webpage Setting for GD100........................................................................................... 20
3.3.1 Login webpage.........................................................................................................20
3.3.2. Register the receiver...............................................................................................21
3.3.3. Configure the I/O of rover station.......................................................................... 21
3.3.4 System State............................................................................................................ 22
3.3.5 Firmware upgrade....................................................................................................23
3.4 Set Hydrosurvey..................................................................................................................24
3.4.1 New project and connect to the boat..........................................................................24
3.4.2 Record control..............................................................................................................25
3.4.3 start work.....................................................................................................................26
3.4.4 Download depth file from boat................................................................................... 27
4 Data Processing..................................................................................................................... 30
4.1 Water depth sampling.................................................................................................... 30
4.2 Data export..................................................................................................................... 35

Preface
Copyright
Copyright 2016-2017
CHC | Shanghai Huace Navigation Technology Ltd. All rights reserved. The CHC are trademark
of Shanghai Huace Navigation Technology Limited. All other trademarks are the property of
their respective owners.
Trademarks
All product and brand names mentioned in this publication are trademarks of their
respective holders.
Safety Warnings
The Global Positioning System (GPS) is operated by the U.S. Government, which is solely
responsible for the accuracy and maintenance of the GPS network. Accuracy can also be
affected by poor satellite geometry and obstructions, like buildings and heavy canopy.
FCC Interference Statement
This equipment has been designed to comply with the limits for a Class B digital device,
pursuant to part 15 of the FCC Rules in the Portable Mode. These limits are designed to
provide reasonable protection against harmful interference in a residential installation.
Operation is subject to the following two conditions: (1) this device may not cause harmful
interference and (2) this device must accept any interference received, including interference
that may cause undesired operation.
CE Interference Statement
Declaration of Conformity: Hereby, Shanghai Huace Navigation Technology Ltd. declares that
this APACHE 3 is in compliance with the essential requirements and other relevant provisions
of Directive 2014/53/EU. A copy of the Declaration of conformity can be found at Shanghai
Huace Navigation Technology Ltd

Introduction
The APACHE 3 USV User Guide describes how to set up and use the CHC® APACHE 3 USV. In
this manual, “the USV” refers to the APACHE 3 USV unless otherwise stated.
Even if you have used other Unmanned Surface Vessel before, CHC recommends that you
spend some time reading this manual to learn about the special features of this product. If
you are not familiar with USV, go to www.chcnav.com for an interactive look at CHC and USV
safety information
Warnings and Cautions
An absence of specific alerts does not mean that there are no safety risks involved.
A Warning or Caution information is intended to minimize the risk of personal injury and/or
damage to the equipment.
WARNING – batteries for USV should be full charged if the LED light on the battery
have one light.
CAUTION –it is necessary to check the motors if work normally via the remote
controller before put it on the water.
Regulations and Safety
The receivers contain a built-in wireless modem for signal communication through wireless
technology. Regulations regarding the use of the wireless modem vary greatly from country
to country. In some countries, the unit can be used without obtaining an end-user license.
However, in some countries, the administrative permissions are required. For license
information, consult your local dealer.
Before operating an APACHE 3 USV, determine if authorization or a license to operate the

unit is required in your country.
Use and Care

This APACHE 3 is designed to withstand the rough environment that typically occurs in the
field. However, the USV is high-precision electronic equipment and should be treated with
reasonable care.
CAUTION - Operating or storing the USV outside the specified temperature range will
cause irreversible damage.
Technical Support
If you have a problem and cannot find the information you need in this manual or CHC
website (www.chcnav.com), contact your local CHC dealer from which you purchased the
Make your work more efficient

receiver(s).
If you need to contact CHC technical support, please contact us by email
([email protected]) or Skype (chc_support).
Disclaimer
Before using the receiver, please make sure that you have read and understood this User
Guide, as well as the safety information. CHC holds no responsibility for the wrong operation
by users and for the losses incurred by the wrong understanding about this User Guide.
However, CHC reserves the rights to update and optimize the contents in this guide regularly.
Please contact your local CHC dealer for new information.
Your Comments
Your feedback about this user guide will help us to improve it in future revision. Please email
your comments to [email protected].
APACHE 3 User Guide (Network Bridge Version)| 2021-02 Page|6

1 Getting Started with APACHE 3
1.1 APACHE 3 brief introduction
Featuring triple-hulled and the shallow draught design, the APACHE 3 USV
offers a portable remotely controlled platform in small lakes, inland rivers,
and coastal water for bathymetric surveys. Its overall 1-meter length and 7 kg
weight (without instrument) allows one person to operate the system easily.
Multiple data transfer options are available with RS232 connection and TCP
protocols along with multi-channel and high bandwidth transmission. It can
also carry single beam echo sounder, AP-2000 water quality and other
instruments to meet diverse application requirements.
1.2 Product Basic Supply Accessories
Item Quantity Picture
The Hull of APACHE 3 USV

1
(Including D230&Camera)
Remote Controller(M12 PRO) 1
Power Adapter for Remote

1
Controller
APACHE3 Holder 1

LiPo Battery (40000mAh 18V) 4
LiPo Battery (15000mAh 18V) 1
Lithium Battery Charger 3
Hand Toolbox 1
5.0G Network Bridge 1
CAT6E Cable (5m) 1
POE Power Cable 1
RF adapter cable (320mm) 2
RF Connector for Network Bridge 2

Remote Control Antenna 1
High Frequency Radio Antenna 1
4G Antenna 1
Hydro Survey Dongle Version 1
5G Antenna 3
Tripod For Network bridge

1
Antenna
Backpack 1
APACHE3 Hard Case 1

2 Hardware Installation
2.1 Preparing for conducting the survey

It is necessary to have an accumulator to supply power for external radio if you use
external radio mode. Full charge the remote controller and batteries with standard
charwger. Figure 2-1 is about how to charge the batteries.
Figure 2-1 and 2-2 Battery connection during charging
Firstly we connect the charger to the battery interface, pay attention to tighten the
nut, and then connect to 220v AC power supply. When the battery is not connected,
only the POWER LED of the charger lights up, the CHARGE LED lights up red when
connected to the battery, and turns green when fully charged.
Maintenance instructions for batteries:

1. For the new arrival battery, please fully charge it as soon as possible.
2. Please charge the battery in time if the remaining power is less than 25% left.
3. Fully charged battery can be placed for 6 months. Please charge it in time if not
being used.
2.2 Setup RTK Base Station and Onshore Data Receiving System
Set RTK base station:
1.External radio mode
Prepare GNSS Base receiver, external radio and transmitting antenna, tripod, etc.
Configure base receiver to send RTCM3.2 via external radio.
2.Ntrip mode
For detailed operation, please check 3.3.4 Rover Configuration
APACHE 3 User Guide (Network Bridge Version)| 2021-02 P a g e | 10

Figure 2-3 Set RTK Base Station
Check the accuracy of the rover station: Under the fixed solution state, compare the accuracy
of the RTK rover station with the coordinates of the known points to ensure that the
accuracy meets the measurement requirements before proceeding to the next operation.
2.3 Install Accessories for the USV System
2.3.1 Install the accessories of the boat
Figure 2-4 Install the accessories on the boat

Figure 2-5 Connect battery-powered interface
Note: Two large batteries are placed in the boat. Pay attention to the direction when
installing the battery power detection interface.
2.3.2 Mount the accessories of the ground station
Figure 2-6 Working with backpack Figure 2-7 Working with tripod
2.3.3 Debug before launching the boat

1). Boot the boat
Turn on the switches on both sides of the boat. Pay attention to the lights on both
sides, when the red satellite lights and green differential signal lights are always on,
they are in normal working condition.
2). Turn on the remote control
The switch button is in the lower left corner. Press the key first, then long press
quickly, and wait until the indicator lights up gradually, showing that it has been
successful booted. The indicator light represents the power of the remote control.
The operation of powering off the remote control shutdown is the same.

Figure 2-8 Remote control
3). Debug the motors
Use the remote control to check whether the motors are working properly.
Figure 2-9 Debug the motors

3 Software Operation for the USV System
3.1 Install the software

There are two software for the USV system, AutoPlanner and HydroSurvey.
1) When installing the AutoPlanner software, double-click the installation package,
click Next until the installation driver and plug-in interface appears, tick ‘Install Tap
Driver’ and ‘Install Ezopen Plugin’, and then click Next until the installation is OK.
Figure 3-1 Install the software
2) When installing the HydroSurvey software, double-click the installation package

and click Next until the installation is complete.
3.2 AP Software Configurations
3.2.1 Configure the computer IP
Figure 3-2 Configure the computer IP

Figure 3-3 Configure the computer IP
3.2.2 TCP Connection for AP Software

Double-click the AP software icon to open it, select [TCP], and click [Connect].
Figure 3-4 TCP connection
3.2.3 Plan Route for AP Software
（1）Connect the computer to the network, and load the surrounding satellite image
maps through the positioning of the boat. Select [NAVIGATION PLAN] on the main
interface, and select the appropriate satellite image map. Commonly used are Bing
satellite maps and Google satellite maps.

（2）Plan work area
Right-click on the interface and select [Draw Polygon] → [Add Polygon Point].
Note:
1) The satellite image is not updated in real time, so pay attention to the actual area
when planning the polygon.
2) The role of the home point: a. The home point is the return point. b. The logic for
generating the automatic route is to generate the waypoint 1 near the home point,
and the other waypoints are generated in sequence.
Figure 3-5 Plan work area
Figure 3-6 Plan work area

（3）Edit auto waypoints
Right click the interface and select [Auto WP] [WP Grid].
Figure 3-7 Set WP Grid
Figure 3-8 Set WP Grid

[Angle]: Adjust the angle of the route.
[Distance between lines]: The distance between routes.
[Spacing inline]: The distance between points on the route, the value set should be
greater than the true distance of the route, so as to ensure that there are only two
points on a route. The automatic waypoint spacing here is not the same as the data
collection spacing.
（4）Write waypoints to boat

[Save WP File]: Save the currently planned route to computer.
[Load WP File]: Load the WP file from computer.
[Read WP File]: Read the current mission waypoints from boat.
[Write WP File]: Write the planned waypoints data to the central control.
Figure 3-9 Write WP into boat
3.2.4 Login HD Camera for AP Software
a. Click [Navigation Data][Spread/Shrink Hud and Video][Intranet]
Username: admin
Password: Admin1234
IP: 192.168.53.64
Port: 8000
b. Click [Login][Play]
Figure 3-10 Login HD camera

Figure 3-11 Login HD camera
3.2.5 Other common functions for AP Software
1. Control USV via AP software
Click [Shrink Remote-Control], remotely control USV by dragging the blue dot.
Figure 3-12 Control USV via AP software
2. Useful functions
[Set WP]: Set a new waypoint quickly without clicking the navigation plan interface.
[Restart mission]:back to the first point and start a new mission.
[Clear track]:clear the track line of the interface you have run.
[Keep loiter]:change the state of the boat.

Figure 3-13 Other functions
3. Convenient switch
Now we can turn on the switch when you need in software instead of Web page.
shoal: set a shoal depth to ensure your boat's safety.
avoid obstacles: set a distance to ensure your boat will not crash into some
objects in water.
low power return: makes you boat return to home point automatically.
lost connection and return: makes you boat return to home point automatically
when your boat has lost connection for few times.
Figure 3-14 Convenient switch
3.3 Webpage Setting for GD100
3.3.1 Login webpage

connect the wifi of boat
Input 192.168.53.254 on the browser
Username: admin
Password: Admin1234
Figure 3-15 login webpage of the GD100
3.3.2. Register the receiver

Click [Firmware][GNSS Registration]. Send the receiver SN to the dealer or sales
branch to obtain the registration code. Enter and apply the correct registration code.
Figure 3-16 Register the receiver
3.3.3. Configure the I/O of rover station
There are two kinds of working modes for rover station:

1) CORS mode. 2) Internal radio mode
1. Set CORS mode. Click [I/O Setting][RTK Client][Connect]. Select [Connection

Protocol] as NTRIP protocol, input the CORS parameters. Then click [Confirm].

Figure 3-17 Set CORS mode
2. Set internal radio mode. [System Setup][Radio Settings]
Figure 3-18 Set internal radio mode
3.3.4 System State

Click [Unmanned Ship Status][System State]
The status of USV, positioning status, battery status, sounder status, etc. can be
viewed in this Interface.

Figure 3-19 System state
3.3.5 Firmware upgrade

We have updated the firmware frequently, you can upgrade the control firmware,
host firmware and Echo Sounder control firmware when you need.
Figure 3-20 Firmware upgrade

3.4 Set Hydrosurvey
3.4.1 New project and connect to the boat

1)Open HydroSurvey 7 , click on [Project] - [New Project].
"Project name"is default and can be renamed if you need. And it also can be saved as
a template via clicking [Save coord template]. It is important to input the deviation if
you perform the base shift.
Figure 3-21 Create a new project and set coordinate system
2) click to connect the GPS and the sounder after you have connected the boat
via AutoPlanner.
3) When you set it up, click in the menu bar and then all the data are displayed
in the left of interface.

Figure 3-22 Main interface
3.4.2 Record control
As shown in the following figure 3-27, click on [Setting] – [Record control]. If [By
Distance] is set to 1 M, a point will be recorded for every meter; if [By Time] is set to
1 S, a point will be recorded for every second; if [By Space] is ticked, a point will be
recorded once you click the space bar.
In terms of Limitation selection, [Fixed] is recommended when RTK is used and [Float]
is recommended when beacon is used.
Figure 3-23 Record control

3.4.3 start work
When the new projects, parameters, data, settings and other preparations are done
well, data can be recorded.
①Choose [measure mode]
② Toolbar indicates the start, pause, and stop the record. Meantime,
line name could be entered at the beginning of measuring.
③In order to facilitate post processing and prevent massive loss of data in
unexpected cases, it is suggested to change a line every 300 or 500 points.
④When the data in the test area is measured, click on [stop] and then to save the
project by clicking [Project] – [Save Project] before close the software.
Figure 3-24 Import background map

When the unmanned boat travels to the designated route to be measured, click
[Measure] → [Start] then pop up the setting line information interface. The line
name and line number are set by default. The auto switch selects 2000 points for
automatic line change.
Click [Measure] → [End] after the measurement area task is completed

Stop here, you can start you measuring work.

3.4.4 Download depth file from boat(skip this step if you need not)
1. connect the wifi of boat(serial number of the boat)
Figure 3-25 Connect wifi
Open a file maybe 'This PC'on your computer, and input

IP:ftp://192.168.53.254
Figure 3-26 Input IP address

3. Username: admin
Password: Admin1234
Figure 3-27 Input username and password
4. copy the files from record2 file

dep files record the original data.
Sd files record the waveform.
Figure 3-28 Copy files from record2

5. process the dep files via Hydrosurvey
Figure 3-36 Copy dep files to project of Hydrosurvey
Figure 3-33 Copy sd files to project of Hydrosurvey

4 Data Processing
4.1 Water depth sampling

Water depth sampling is a process that correct the depth data and handle the wrong
depth data. We will get a htt file including all data that can be select in the data
export section after sampling. This process will be divided into four steps.
1.Correct the depth via sound velocity correction

tick [All], select [Correct] to get the edit interface.
Figure 4-1 Main interface
Figure 4-2 Sound velocity correction

As the figure 4-2 shows, there are three ways to correct the sound velocity: Single
Sound velocity, Depth +Sound velocity, Depth+ Correction. Take the second method
as an example
（1） Import the sound velocity file via clicking [Import] button, the format should
be as follows:
Figure 4-3 Sound velocity file

The first column is depth, and the second one is the sound velocity.
(2) the imported sound velocity will be shown in the list.
Figure 4-3 Imported sound velocity file

(3) Calculate correction and apply it to all raw data.
Click [Correct] button, then it will pop up successfully applying information
Figure 4-4 Apply sound velocity file

(4) Skip Delay correct and attitude correct
The delay correct is the correction for GPS and depth transmission delay. The
impact of time delay on bathymetric data can be reduced. The time delay value for
the whole system is a fixed. Enter a known time delay value or calculate it via a
special method if necessary. Hydrosurvey also support adjust the beam angle to
recalculate depth. For more detail, please directly contact with technical support
engineer of CHC.
Figure 4-5 Skip delay correct and attitude correct

2. Handle the depth data
Double click a depth file in the depth file list.
Figure 4-6 Depth sampling interface
As the figure 4-6 shows, the green line on the top of main interface shows the
elevation of surface of water and fixed state (yellow represent floating and red
represent a single point), the main interface can be changed by adjusting the [Depth
H]and [Width]. the green line displayed on the bottom interface shows depth, the
red line is simulative echo signal. If these two match well, the depth can be trust and
accurate. If not, just select the wrong depth points, then click[Eraser] to delete the
points. It is suggested that the dep files should be handled in turns.
3. Select a proper[Interval]
Choose a interval for exporting the data. Select a value in the [interval] setting,
then click [2.Interval]

Figure 4-7 Interval setting
4. You also can change the interval via clicking [Manual] button.
Figure 4-8 Manually change interval
5. Click [4.Export htt]

When the interval setting is complete, click [4.Export htt] to save htt files

Figure 4-9 Export htt files
4.2 Data export

Click on [Data processing] – [Data Export], Select the Htt files and choose a file type,
there are some default format for option, and the format also can be modified via
[Customer]. At last export data to desktop via clicking [ Export].
Figure 4-10 Customer the format

Figure 4-11 Data export
Select the [Save Path] and click on [Export], the final result will be acquired.

1) FCC 15.19
This device complies with part 15 of the FCC Rules. Operation is subject to the following two
conditions:
(1) This device may not cause harmful interference, and (2) this device must accept any
interference received, including interference that may cause undesired operation.
2）FCC 15.21
Warning: Changes or modifications to this unit not expressly approved by the part responsible for
compliance could void the user’s authority to operate the equipment.
3) FCC 15.105
For a Class B digital device or peripheral, the instructions furnished the user shall include the
following or similar statement, placed in a prominent location in the text of the manual:
Note: This equipment has been tested and found to comply with the limits for a Class B digital
device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable
protection against harmful interference in a residential installation. This equipment generates, uses
and can radiate radio frequency energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation. If this equipment does cause
harmful interference to radio or television reception, which can be determined by turning the
equipment off and on, the user is encouraged to try to correct the interference by one or more of
the following measures:
—Reorient or relocate the receiving antenna.

—Increase the separation between the equipment and receiver.
—Connect the equipment into an outlet on a circuit different from that to which the receiver is
connected.
—Consult the dealer or an experienced radio/TV technician for help.
4）FCC RF Exposure- portable

This equipment complies with FCC radiation exposure limits set forth for an uncontrolled
environment.
This equipment should be installed and operated with minimum distance 20cm between the
radiator & your body.
CHC Navigation
Building D, NO. 599 Gaojing Road, Qingpu
District, 201702 Shanghai, China
Tel: +86 21 542 60 273 | Fax: +86 21 649 50 963
Email: [email protected] | [email protected] Skype:
chcnav_support
Website: www.chcnav.com
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FCC ID:SY4-A02032

Marine Survey | Jul 2021

APACHE 3 User Guide (Network Bridge Version)| 2021-07 Pa ge |1

APACHE 3 User Guide (Network Bridge Version)| 2021-07 Pa ge |3

FCC Interference Statement

APACHE 3 User Guide (Network Bridge Version)| 2021-07 Pa ge |4

Warnings and Cautions

Regulations and Safety

Before operating an APACHE 3 USV, determine if authorization or a license to operate the

Use and Care

Make your work more efficient

APACHE 3 User Guide (Network Bridge Version)| 2021-02 Page|6

1.1 APACHE 3 brief introduction

1.2 Product Basic Supply Accessories

Item Quantity Picture

The Hull of APACHE 3 USV

Remote Controller(M12 PRO) 1

Power Adapter for Remote

APACHE 3 User Guide (Network Bridge Version)| 2021-02 Page|7

LiPo Battery (15000mAh 18V) 1

Lithium Battery Charger 3

5.0G Network Bridge 1

CAT6E Cable (5m) 1

POE Power Cable 1

RF adapter cable (320mm) 2

RF Connector for Network Bridge 2

APACHE 3 User Guide (Network Bridge Version)| 2021-02 Page|8

High Frequency Radio Antenna 1

Hydro Survey Dongle Version 1

Tripod For Network bridge

APACHE3 Hard Case 1

APACHE 3 User Guide (Network Bridge Version)| 2021-02 Page|9

2.1 Preparing for conducting the survey

Figure 2-1 and 2-2 Battery connection during charging

Maintenance instructions for batteries:

1.External radio mode

For detailed operation, please check 3.3.4 Rover Configuration

APACHE 3 User Guide (Network Bridge Version)| 2021-02 P a g e | 10

2.3 Install Accessories for the USV System

2.3.1 Install the accessories of the boat

Figure 2-4 Install the accessories on the boat

2.3.2 Mount the accessories of the ground station

2.3.3 Debug before launching the boat

2). Turn on the remote control

APACHE 3 User Guide (Network Bridge Version)| 2021-02 P a g e | 12

3). Debug the motors

Figure 2-9 Debug the motors

APACHE 3 User Guide (Network Bridge Version)| 2021-02 P a g e | 13

3.1 Install the software

Figure 3-1 Install the software

2) When installing the HydroSurvey software, double-click the installation package

3.2 AP Software Configurations

3.2.1 Configure the computer IP

Figure 3-2 Configure the computer IP

APACHE 3 User Guide (Network Bridge Version)| 2021-02 P a g e | 14

3.2.2 TCP Connection for AP Software

Figure 3-4 TCP connection

3.2.3 Plan Route for AP Software

APACHE 3 User Guide (Network Bridge Version)| 2021-02 P a g e | 15