2012.10.11 APSG28 Jonathan Martin Subsea Positioning Through the Ages Final

8/12/2019 2012.10.11 APSG28 Jonathan Martin Subsea Positioning Through the Ages Final

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Subsea positioning through the ages

Jonathan Martin

Navigation Systems Engineer

Sonardyne International


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What is sound and how can we make use of it in navigation?

Applied

Voltage

Induced

Voltage


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The dawn of underwater acoustics 200 years ago

Measuring the speed of sound in the water

1820 near Marseilles (Beudant) & 1826 Lake Geneva (Colladon and Sturm)

Determined the speed of sound at 8 degC to be 1,435m/s. This is only 3m/s in

error to currently accepted measurements.

10 miles apart

(11.2 seconds)

FLASH .. DING


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First underwater acoustics 100 years ago

Practical uses being found

1889 (Lucien Blake) suggested use of

underwater bells on navigation buoys togive longer distance warning than lights

and sirens in air.

April 14th 1912 Titanic sinks! Lewis

Richardson files a patent for underwater

echo ranging and uses the first electro-acoustic transducer the Fessenden

Oscillator (TX+RX). The first SONAR.

1913 Boston harbour trials a large

iceberg is detected from 2 miles away.

But he also detected and measured the

distance to the seafloor 186 feet below

and hence the first fathometer.


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First underwater acoustics 100 years ago

Practical uses being found

1889 (Lucien Blake) suggested use of

underwater bells on navigation buoys togive longer distance warning than lights

and sirens in air.

April 14th 1912 Titanic sinks! Lewis

Richardson files a patent for underwater

echo ranging and uses the first electro-acoustic transducer the Fessenden

Oscillator (TX+RX). The first SONAR.

1913 Boston harbour trials a large

iceberg is detected from 2 miles away.

But he also detected and measured the

distance to the seafloor 186 feet below

and hence the first fathometer.


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First acoustic range-bearing positioning systems

Drilling the Mohole in the ~1961 first DP vessel

Giant transponders

with seabed battery

pack


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First acoustic range-range positioning systems

Long baseline systems for submarine navigation

LBL ~1964

Sperry published paper on combined use of

LBL and inertial navigation subsea to search for

lost missiles in the ocean.


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Sonardyne early history 1965 - 72

Development of first instrumentation Range Meter MK 1


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Sonardyne formed in 1972

Early North Sea Oil & Gas projects

1972 IOS Sand Waves

1975 BP West Sole


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Homer Pro (2012)


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ROV Homer (2012)


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Rangemaster Sonardynes First LBL


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Before GPS - Transit


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The Beginning of Sonardyne LBL


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LBL Long BaseLine

Vessel Tracking

100s/1000s of Metres

Seabed transponder array

at known co-ordinates

Single element Transceiver

Ranges are observed and

position calculated

Very Precise

Precision independent of

water depth


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LBL Long BaseLine

Subsea Vehicle Tracking

Seabed transponder array

can also be used to position

subsea vehicles such as anROV


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SIMRAD HPR beacons


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AODC Emergency Beacons

The Wildrake Diving Incident


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Pan & APS3

COMPATT Mk1 LF MF EHF

Programmable Acoustic Navigator (PAN)

Measurement of ranges to seabed transponders for LBL navigation

APS3 running on a HP Series 200 or HP Series 300

Telemetry

Data Loggers

Template monitoring

Spool-piece metrology


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Saipem Ragno


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Salvage of the Mary Rose (1982)

Sonardyne LBL


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Bigger projects and deeper water

First tension leg platform installation Hutton field in 143m


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Bigger projects and deeper waterFirst tension leg platform installation Hutton field in 143m


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TLP even deeper

Auger

Mars

Ram Powell

3,214ft2,860ft

2, 940ft

All positioned using LBL


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COMPATT Mk4

LF MF EHF

10 years after the release of COMPATT Mk3


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COMPATT 5

Wideband signal technology




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Correlation Processing - Tone Burst

Signal

Replica

Filter Response

Detection

Threshold

Reasonable

Timing


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Wideband Signals

Signal spectrum is widened by the modulation process and consists of a

large number of frequency components, none of which is individuallydominant.

The bandwidth of Wideband signals is approximately 4kHz

In binary phase coding the carrier is switched between +/-180

according to a digital code sequence


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Wideband Codes

Gold codes are selected for optimal

cross-correlation properties Encryption enables the separation of

signals by code in addition to frequencythereby increasing the number of signals

available for a finite transducer bandwidth

700 800 900 1000 1100 1200 1300 1400 1500 16000

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

Sonardyne Wideband uses the

same type of signal technology as

GPS

Correlation processing enables multiple

broadband signals to co-exist within the

same frequency space


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Wideband Range Correlation Processing

Signal

Replica

Response

Large

Peak

DetectionThreshold

Very

Accurate

Timing

Perfect Match


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Toneburst vs. Wideband Detection in Noise

Wideband Signal

Time of Arrival estimate andhence range measurement is far

more accurate.

TimingResolution

Toneburst

Time of Arrival less accurate.

Timing accuracy degrades with

increasing noise.

TimingResolution


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Signal Processing

Acoustic signals summaryNarrowband signal (tone)

Range only

Wideband 2Range & telemetry of data

Wideband 1

Separate range & telemetry

Ultra Wideband2 Signals

= More Energy

= Greater Signal to Noise Ratio

= Better Performance

+PLUS


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Ormen Lange120Km Offshore (Norwegian Coast)


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Orman LangeWideband Proven in an Extreme Environment

Compatt 504

(C5 + DQ + Gyro)

Compatt 503

(C5 + Incl.)

Compatt 501

(C5 + SVS)

Compatt 509

(C5 + DQ)

Compatt 502

(C5 + SVS)

Compatt 504(C5 + DQ)

Template set down


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USBL - Theory of OperationLBL to USBL

Long Baselines reduced to

Ultra Short Baselines


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Acoustic Positioning TechniquesUltra Short BaseLine (USBL)

Range is derived from timing and

sound speed

Direction is derived from

differences in phase of the signal

at the array transducers

Precision dependent on water

depth and quality of vessel

sensors

Centimetres


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USBL - Theory of OperationLBL to USBL

Long Baselines reduced to

Ultra Short Baselines


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A History of Sonardyne40 Years of Customer Support

LUSBL Support

CASIUS Trials


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6G Products

Compatt6

Gyro/INS Compatt

AMT

Mini

Compatt


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6G enabling large LBL arraysGumusut, Malaysia


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IMU Production

A platform for AHRS and INS


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James Cook

USBL Trials in 4,870m Water Depth

7.2m (0.12% of slant range)1 DRMS (63.2%) of observations

CASIUS ResultsStatistic

A CASIUS in 4,870m Water Depth Bay of Biscay


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Spitsbergen 80N

All true gyrocompasses degrade with latitude

Track the gvector and the rate at which the gvector rotates, in order to

establish the local navigation frame

At the poles the gvector and the earth axis of rotation are coincident


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AHRS practical considerations for marine use- mechanical integration, high performance USBL

OTS deployment pole -

Ormen Lange Field

(850m depth) May 2009


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GyroUSBL Convenience in deep water

Gulf of Mexico 2011 - 1478m Water Depth

Setup:

HPT7000 GyroUSBL

Customer over the side pole

Benefit:

0.32% slant range accuracy out of the box

calibration free (still needs verification)

0.13% slant range accuracy post calibration


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Modern acoustic positioning & communication systemsRemarkable precision has been achieved

7 miles

USBL precision


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GyroCompatt

REPLACED

BY

GyroCompatt provides in a single housing:

Heading, Heave, Pitch & Roll output

Sound velocity probe

Two way acoustic telemetry link (command & data) Fully functioning Compatt transponder

Acoustic on/off switched internal battery pack

Data logger capability for offline processing

Wireless AHRS

Offline processing

N til E l S b I ti l N i ti


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Nautilus - Early Subsea Inertial Navigation

S b INS f ROV t ki USBL Aid d INS


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Subsea INS for ROV tracking USBL Aided INS

Key Features:

INS aided by DVL and USBL

data

Improved precision Ability to operate at greater

depths while maintaining

suitable precision

INS

USBL

+ ++

Vessel GPS

Long Layback and Touchdown Monitoring


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Long Layback and Touchdown MonitoringUSBL + DVL AINS

OOS Pipeline Out Of Straightness


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IRM

OOS - Pipeline Out Of Straightness

With USBL disabled for 10 minutes the real time DVL aided drift of 20cm, which

can be further reduced by post processing

Setup:

USBL, DVL and Depth

aided

Offline Post Processing

Position Requirement:

20cm relative accuracyin 50m distance

Post ProcessedReal Time (coarse configuration)

DP INS


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DP INS

DP Telegram

at 1-5 Hz

Lodestar INS

USBL

Transceiver

DP Desk

Benefits: Higher update rate

Depth independent high

update rate to DP desk

Provides full navigation

state (velocity etc)

Less on the seabed

Lower acoustic updates

possible

USBL aided INS (DP-INS)


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USBL aided INS (DP-INS)

Some Advantages:

1Hz output to DP desk with truthful dynamics.

(no crude low pass filtering or smoothing!)

Improved precision

No drop-outs (aeration & thruster wash) = improved weather operating window

Independent high accuracy velocity, angular rate and true acceleration

- potential for improved DP control system performance and robustness

Increased battery life update rate dependent on acoustic quality .

Truth by post-processed GPS

Subsea INS for ROV tracking Sparse LBL Aided INS


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Subsea INS for ROV tracking Sparse LBL Aided INS+ DVL + Depth

INS

Data Fusion Engine

+ +

DVL Pressure Sensor

Key Features:

INS aided by DVL and range

data

Improved precision

Ability to operate at evengreater depths while

maintaining suitable precision

Independent verification of

USBL


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So where are we going next?


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So where are we going next?Smarter Systems, Easier To Use?

So systems need to be

Easy to use

Wizards and short form guides

Adaptive, intelligent

Reliable

Independence & redundancy

Onshore support

So where are things going in the future?


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Automation & telepresence getting people out of the way completely

2 x Sonardyne COMPATT 6 & Waveglider deployed off US East coast

Environmental monitoring as part if IOOS Oceanographic programme

So where are things going in the future?


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Automation & telepresence getting people out of the way completely

2 x Sonardyne COMPATT 6 & Waveglider deployed off US East coast

Environmental monitoring as part if IOOS Oceanographic programme

Sonardyne BlueComm technology


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y gyReal time wireless video transmission at ~2000m depth

Full frame rate video transmission

with black and white cameras used

for low light contrast

Seabed node deployed by JASON

ROV to Medea depressor/ tether

management system

Transmission range of 100+ meters

Acknowledgements


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This presentation was compiled with the helpand supporting material provided by

John Partridge, Simon Partridge,

Nick Street, Andrew Sedden, Bernard Kiddier,Chris Handley and Chris Pearce.


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2012.10.11 APSG28 Jonathan Martin Subsea Positioning Through the Ages Final