Guangzhou TokSurvey Information Technology Co.,ltd Guangzhou TokSurvey Information Technology Co.,ltd
.toknav.cn
Tboat20
UNMANNED SURFACE VEHICLE
© 2025 Copyright
Guangzhou Toksurvey Information Technology Co., Ltd
Contents
1. Overview
--------------------------------- 03
1.1 Control Console------------------------- 03
1.2 Motor Kit ------------------------------ 03
1.3 Receiver Kit ---------------------------- 04
1.4 Others--------------------------------- 06
2. Equipment Installation
--------------------- 09
2.1 Tablet --------------------------------- 09
2.2 Motor --------------------------------- 09
2.3 Receiver------------------------------- 10
3. Software Introduction
---------------------- 11
3.1 Open the Software ---------------------- 11
3.2 Icons ---------------------------------- 12
3.3 Icons In Settings------------------------ 13
3.4 Registration --------------------------- 14
3.5 Base Station Settings ------------------- 16
3.6 Vehicle Parameter Settings-------------- 17
3.7 Farm Tool Parameter Settings ----------- 19
Water Quality Monitoring
Tboat20-B
Water Quality Sampling
Tboat20-C
Water Surface Inspection
Tboat20-D
Tboat20-A
Bathymetric Survey
1.3 Heat-dissipating Subsea Mounting &
Expansion Rail
(1) The Remote Controller is built around a 6 nm, octa-core
Qualcomm SoC running Android 13 (64-bit). A high-power
2.4 GHz / 5.8 GHz dual-band radio module delivers
low-latency, high-denition video with extended range and
robust interference rejection.
(2) A built-in 7-inch high-brightness HD panel (1920 × 1200)
provides real-time video feedback from the survey payload.
Dual internal fans maintain thermal stability for continuous
eld operation.
(3) Interfaces include SIM card, USB and Type-C ports for
differential corrections uplink, data logging and peripheral
expansion.
(4) A high-energy-density Li-ion pack gives 6–8 h of
autonomous runtime per charge.
(5) It is made of meteorological silicone, matte rubber, and
ABS material. The G20 has taken dust-proof protection
1. Overview
1.1 Introduction to Unmanned Surface Vehicle
Tboat20
Unmanned Surface Vehicle (USV) is built on a fully
modular, plug-and-play architecture.
The vehicle integrates seven line-replaceable modules—hull
shell, mission-control core, propulsion unit, collision-avoidance
suite, high-precision positioning package, wireless telemetry
link, and hot-swappable power pack—into a single, watertight
assembly.
The shore-side segment is a single Android-based, long-range
telemetry controller that unies differential c orrections uplink,
real-time data downlink and remote control.
All onboard and post-mission workows are handled by tSail, an
integrated vessel-control and hydrographic-processing
application.
Detailed functional descriptions of each hardware unit and
software module are provided in the following sections.
1.2 Hull and Hardware Architecture
0403
360° Camera
Power/RC-link indicator light
Single-beam Echosounder (SBES)
Heat-dissipating Subsea Mounting & Expansion Rail
Thruster
Start Switch
Thruster
Omnidirectional
Bumper
Obstacle
Avoidance Radar
Signal Antenna
4G Antenna 2.4 G Antenna
Differential-x
Indicator Light
Hull Support
Hatch Switch
Radio-antenna Port
Positioning Antenna
Positioning Antenna
1.4 Controller Operations
measures on the body, control switches, and all peripheral
interfaces to ensure stable and smooth operation in harsh
environments.
Controller Specications
05 06
Operating voltage
Weight
Endurance
Battery
Firmware update
Charge port
RAM
Internal storage
Channels
16
4.2 V (internal battery)
RF power
2
1
2.4 GHz
277 mm (L)×138 mm (W)×96 mm (H)
hopping enabled
1.2 kg
6–8 h
20000 mAh
OTA / on-line
TYPE-C
4 GB
64 GB
23 dBm @CE/FCC
3
4
5
6
7
8
9
10
11
12
13
Dimensions
Dynamic FHSS
Band
3-position toggle switch
(FWD: Auto / MID: Hold / AFT: Manual)
L2 – safety-settings shortcut
Microphone
R2 – USV status shortcut
R1 – vessel-control parameters shortcut
Power key
Right stick (port/starboard control)
2.4 GHz antenna
Back key
2
1
3
4
5
6
7
8
9
10
11
12
L1 – mission-planning shortcut
Return-to-home (RTH) key
Left stick (forward/reverse control)
Operating Environment
a. Ambient temperature: –10 °C to +45 °C
b. Storage temperature: –20 °C to +50 °C
c. Relative humidity: ≤ 85 % RH
d. Atmospheric pressure: 86 kPa – 106 kPa
e. Location must be free of explosive, corrosive or
electrically conductive media; gases that attack metals or
degrade insulation; signicant water vapour; and heavy
mould growth
f. Site shall provide protection against rain, snow,
wind-blown sand and dust
Power Supply & Safety Notes
a. The ground station contains an integrated,
rechargeable Li-ion battery and can be charged through
the market-standard TYPE-C port using any certied
USB charger (e.g., phone or camera adapter).
b. If smoke, odour or electrolyte leakage is observed
during charging, discontinue immediately and return the
unit to an authorised service centre.
c. Keep the charging area out of reach of children to
prevent electric-shock hazards.
d. Do not charge at ambient temperatures exceeding 60
°C.
Pre-operation Checks
a. Verify that the controller battery is adequately charged
before use.
b. Conrm that all antennas are positioned as specied to
ensure optimum performance.
c. Do not operate the unit while under the inuence of
07 08
Battery Indicator Light
Data-logging stop key
Linking Indicator Light
14
13
15
TF-card / SIM-card slot
B1 key (reserved)
Spring-return thumb-wheel for gimbal pan control
Camera-view toggle key
Lanyard eyelet
TYPE-C port
16
17
18
19
20
21
22
B2 key (reserved)
Photo-capture key
23
24
USB port
alcohol or any impairing substance.
e. Use only certied, professional-grade chargers for the
battery.
f. The antennas are fragile—avoid excessive force or
impact.
2. Hardware Operation
2.1 Accessory Installation
(1) Install battery → mate aviation power plug → switch
battery ON.
(2) Connect main-camera Ethernet and power cables.
(3) Close hatch; tighten thumb-screws.
2.2 Pre-Launch Checks
(1) Power On
USV: Press and hold the stern power button for 3 s until
the indicator light blinks rapidly, then release. After
around 10 s the light turns solid, indicating the onboard
mission computer is fully booted.
Controller: Switch on the Controller, launch the tSail app
and connect to the USV via video-link. A solid red LED on
the port side of the hull conrms successful link
establishment.
(2)Thruster airow check
Use the stick commands to verify correct blower
direction:
Forward (left stick forward): both thrusters exhaust aft.
Reverse (left stick back): no airow from either thruster.
Port turn (right stick left): port thruster—no airow; stbd
thruster—exhaust aft.
Stbd turn (right stick right): port thruster—exhaust fwd; stbd
thruster—no airow.
(3) Power-on self-test (POST)
After the tSail video-link is established the vessel runs its
POST; all items must pass before launch
2.3 Battery Charging Procedure
(1) Charge both the lithium battery pack and the controller
only with the supplied dedicated charger.
(2) Mating procedure:
Align and fully seat the charger plug into the battery port rst.
Then insert the charger mains plug into 220 V AC.
LED logic:
POWER LED only → no battery connected
CHARGE LED red → charging
CHARGE LED green → charge complete; battery ready for use
(3) Battery care
a. New batteries are shipped with ≥30 % SOC; bring to 100 %
within two months.
b. Recharge immediately when the one-bar (low-battery)
indicator appears.
c. A fully-charged battery may be stored for up to six months;
recharge again after this period.
09 10
3. Software Operations
3.1 Software Overview
tSail is a proprietary, survey-ready control and
post-processing suite developed for unmanned surface
vehicles. It supports multiple survey modes, enabling
unmanned vessels to execute tasks automatically and
adapt to various scenarios. The software provides hull
control, route planning, status display, safety alerts, and
online upgrades; it uses an integrated remote, supports
4G communication and data-link connection, and allows
real-time triple-view video display. It supports external
sensors, whose data can be integrated and shown in the
vessel-control app without carrying a computer;
post-processing overlays water-depth waveforms, so
depth noise points are traceable; multiple data correction
modes are offered to ensure accuracy and reliability.
From the customer’s perspective, the software pursues
more accurate measurement, more user-friendly
operation, and simpler functions for rapid deployment.
(1) Technical specications
Operating environment: Android 13.
(2) Installation & removal
Installation: copy the tSail vessel-control package (*.apk)
to the local Download folder on the Controller; tap the
desktop le icon, open the Download folder, and tap the
tSail package to start installation; after successful
installation the App icon appears on the desktop.
Uninstall: Long-press the tSail icon, drag it to the uninstall
area on the screen, tap “OK” when prompt of uninstalling
appears, and the software is removed.
(3) Version check and update
When the app is launched with an active network, it queries
the server. If a newer build is available, a pop-up appears
with the update details. If the handset is not on Wi-Fi, you
will be asked whether to proceed with the download.
The Controller comes with the tSail USV control app
pre-installed; if it is missing, please contact the technical
support for installation.
Note: many features require a mobile data connection, and
network RTK corrections for the vessel are delivered via the
Internet—ensure a reliable network is available whenever
the system is operated.
3.2 Establishing Connection
(1) Tap the tSail app icon to launch it; on the home screen
tap the “Tboat20” button in the lower-right corner to open
the USV connection dialog, then select “Video-Link →
Connect” or “4G → Connect”.
11 12
(2) The USV offers two link options—4G and video-link
(default: video-link).
In 4G mode the vessel ID is its SN number and the
password is “ubinavi2023”.
After successful pairing the button changes to
“Disconnect”.
3.3 Project Creation
(1) Go to Task Management to select an existing project
or create a new one.
After conguring the project parameters, click |Next] to
complete the projectsetup and enter the vessel control
interface.
3.4 (USV) Self-Test
(1) When the unmanned vessel is connected, the system
will prompt for a startupself-test upon initial entry into
the vessel control interface. Click [Conrm] toproceed to
the next step.
13 14
Vessel Control Interface Status Indicators:
4G Network Signal:
Displays real-time network quality of the unmanned
vessel.
1. ≥80%: Full bars (3 bars)
2. ≥60%: 2 bars
3. ≥40%: 1 bar
4. <40%: 0 bars GNSS Solution Mode:
Positioning status:
5. Single (White)
6. Float (Yellow)
7. Fixed (Green)
Echosounder (Depth Sensor):
8. Normal (Green) if connected successfully; otherwise,
Abnormal (Red). Propulsion System:
9. Normal (Green) if connected successfully; otherwise,
Abnormal (Red). Camera:
10. Normal (Green) if connected successfully; otherwise,
Abnormal (Red). Obstacle Avoidance Module:
11. Normal (Green) if connected successfully; otherwise,
Abnormal (Red). Remote Controller:
12. Normal (Green) if connected successfully; otherwise,
Abnormal (Red).
Unmanned Vessel Battery:
13. Normal (Green) if connected successfully; otherwise,
Abnormal (Red). Battery Level Indicators:
14. >50%: Green
15. 10%~50%: Yellow
16. ≤10%: Red
3.5 Navigation Route Planning
Navigation to Route Planning Interface:
1. Access the vessel control interface, then locate
and select the red-highlighted button on the right side.
2. Choose the "Route Planning" function to enter the
route planning interface.
15 16
3.6 Manual Route Drawing
1. Select Waypoints:
Click the red-highlighted button to activate selection
mode.
On the satellite map, click multiple locations to generate
waypoints. The system will automatically determine
the navigation path and direction based on the order of
clicks.
2. Adjust Waypoint Order:
Use the blue-highlighted bidirectional arrow to swap the
sequence of selected waypoints.
3. Delete Waypoints:
Click the yellow-bordered button to remove unwanted
waypoints.
4. Polygon-Based Route Generation Instructions:
Click the red-highlighted button to activate polygon
mode.
Single click on the map adds a boundary point.Three clicks
generate a triangular polygon; continue clicking to add
more vertices.
5. Edit Polygon (Left Panel):
Ensure the "Edit Polygon" button remains selected to:
Drag & move the entire polygon.
Delete points: Click a vertex to select it, then press the
"Delete Point" button.
6. Generate Route (Right Panel):
Click "Generate Route" to create a default path within the
polygon.
Customize routes by adjusting:
Spacing (between parallel tracks)
Angle (route direction)
Buffer (expand/shrink polygon edges)
Start Point (initial waypoint).
1817
3.7 Video Surveillance
Camera View Operation:
1. Enter Camera View:
Click the camera feed icon (top-left corner) to enter the
live video interface.
Supports split-screen display for multitasking.
2. Main Video Feed:
Displays real-time environmental footage from the
unmanned vessel’s perspective during navigation.
19 20
FCC Caution.
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.
Any Changes or modifications not expressly approved by the party responsible for compliance
could void the user's authority to operate the equipment.
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.
FCC Radiation Exposure Statement:
This equipment complies with FCC radiation exposure limits set forth for an uncontrolled
environment. This equipment should be installed and operated with minimum distance 20 cm
between the radiator & your body.
CE Maintenance
1.Risk of explosion if battery is replaced by an incorrect type. Dispose of used batteries
according to the instructions.
2.The product shall only be connected to a USB interface of version Type-C.
3.Adapter shall be installed near the equipment and shall be easily accessible.
3.EUT Operating temperature range: 0°C to 55°C.
4.Adapter: The plug considered as disconnect device of adapter
Power supply and ADP(rating):
Input: AC 100-240V 50/60Hz 5A
Output: DC 33.6V 12.5A
5.The device complies with RF specifications when the device used at 20cm you’re your body.
Declaration of Conformity
Guangzhou Toksurvey Information Technology Co., Ltd hereby declares that this
UNMANNED SURFACE VEHICLE is in compliance with the essential requirements and
other relevant provisions of Directive 2014/53/EU. In accordance with Article 10(2) and
Article 10(10),This product is allowed to be used in all EU member states.
Frequency Bands:
GSM 900: 880 MHz to 915 MHz
GSM1800: 1710 MHz to 1785 MHz
WCDMA Band I: 1920 MHz to 19780 MHz
WCDMA Band VIII: 880 MHz to 915 MHz
LTE Band 1: 1920 MHz to 1980 MHz
LTE Band 3: 1710 MHz to 1785 MHz
LTE Band 7: 2500 MHz to 2570 MHz
LTE Band 8: 880 MHz to 915 MHz
LTE Band 20: 832 MHz to 862 MHz
LTE Band 28: 703 MHz to 736 MHz
LTE Band 38: 2570 MHz to 2620 MHz
LTE Band 40: 2305 MHz to 2400 MHz
LTE Band 41: 2496 MHz to 2690 MHz
2.4G SRD: 2411 MHz to 2477 MHz
5.8G SRD: 5730 MHz to 5840 MHz
GPS: 1575.42 MHz ± 1.023 MHz
LORA: 433.5 MHz to 434.5 MHz
Max power:
GSM 900: 29.59dBm
GSM1800: 26.13dBm
WCDMA Band I: 23.96Bm
WCDMA Band VIII: 24.23dBm
LTE Band 1: 24.37dBm
LTE Band 3: 24.47dBm
LTE Band 7: 23.06dBm
LTE Band 8: 24.07dBm
LTE Band 20: 24.13dBm
LTE Band 28: 24.23dBm
LTE Band 38: 22.50dBm
LTE Band 40: 22.26dBm
LTE Band 41: 22.85dBm
2.4G SRD: 7.18dBm
5.8G SRD: 13.26dBm
