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For internal use
Group of Service Companies “MORINZHGEOLOGIA”
Member of the Russian Oil & Gas Builders Union
JSC “MORINZHGEOLOGIA”
METHODS AND EQUIPMENT FOR THE EXECUTION OF HYDROGRAPHICAL
OPERATIONS AND INSPECTION OF
UNDERWATER PIPELINES
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The enterprise possesses up-to-date hardware, software and
equipment, which allow acquiring detailed and objective information
about the geotechnical conditions at the sites of planned
exploration drilling, installation of offshore structures and along
pipeline routes, and to evaluate the condition of pipelines and
offshore structures and execute their monitoring. The companies’
activities comply with the requirements of the standards ISO
9001:2008 and ISO 14001:2004.
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Vessels
In order to carry out engineering hydrographical investigations
the vessel “Izyskatel-1” and “Izyskatel-2” of “Morinzhgeologia”
Ltd., as well as the hydrographical vessel GS 194 are used; the
necessary equipment is installed onboard.
RESEARCH VESSEL “IZYSKATEL-1” Research vessel “Izyskatel-1” is
able to carry out geotechnical investigations, including
geophysical investigations and shallow-water geotechnical
investigations.
Information about the vessel Ship-owner: “Morinzhgeologia” Ltd.,
Russia
Flag: The Russian Federation Drilling depth: Up to 100 m below
the seabed
at the sea depth of up to 40 m Sea endurance: 30 days
Specifications of operations
Weather conditions, which are prohibitive for the initiation of
drilling: - wind force : 4 Bf - maximum wave height : 1.2 m
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Technical parameters of the vessel Name Izyskatel-1 Port of
registry The City of
Astrakhan Classification КМ*II СП (research) Year of
upgrading
Shipyard 2008
Astrakhan Crew 12+12 (scientific
personnel)
Total length 47.72 Light draught 1.5 m Full draught 1.8 m Depth
3.8 m Light displacement 441 ton Full-load displacement 497 ton
Cruising speed 7.0 knots Fuel capacity 32.5 ton Drinking water
capacity
22.0 ton + desalination unit, 2.0 ton/day
Brand of the main engine
6 Ch SNP 18/22 Net power 2х225 HP
Generators 2х100 kW, 2х50 kW, 1х30 kW
Pumps NCVS 63/20 - 2 pcs. Screws 2 Screw type 4-blade fixed-
pitch screws Bow thruster 1 Weight of the main anchor
2 x 500 kg Chain diameter Chain length
28 mm 2 x 175 m
Anchor positions Bower anchors on both sides Positioning anchors
4 x 500,
cable - 4 x 270 m
Location of moonpool/drilling derrick
The drilling derrick is located on the main deck in the area of
32nd – 38th frames
Navigation equipment
- echo sounder for depth measurement
- log - radar station - magnetic compass - gyro compass -
satellite navigation - communications equipment
- onboard communications
- onboard technological communications
NEL 20 DGL-1, FURUNO FR-1505 Radar KMO-T “MERIDIAN” GPS, STR
1400 Receiver Satellite station INMARSAT-C “TT-3020C”, INMARSAT
FleetBroadband (voice satellite communications, data transmission)
Receiver NAVTEX.
Satellite communications system GLOBALSTAR, terminal Qualcom GSP
1600 with GSP 1410 adaptor, ensuring continuous availability. FM
radio station with DSC encoder “RT-5022”,
MF/SW radio station with 6-channel DSC encoder and radio telex
“SAILOR-4000” digital individual ringing 32-channel switchboard
“Ryabina” 32-channel switchboard “Ryabina”
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RESEARCH VESSEL “IZYSKATEL-2”
Research vessel “Izyskatel-2” is able to carry out hydrographic,
geophysical and geotechnical operations (seabed sampling,
operations using seabed units) as a part of geotechnical
investigations.
Information about the vessel Ship-owner: “Morinzhgeologia” Ltd.,
Russia
Flag: The Russian Federation Technical specifications of the
vessel 1. Year built - September 1988 2. Place and year of
upgrading - Astrakhan, 2011 3. Place of building - Leninskaya
Kuznitsa Factory, Kiev, the Ukraine 4. International call sign of
the vessel - UAIJ 5. Purpose of the vessel - Research Vessel 6.
Type of the vessel - Medium refrigerating trawler 7. Maximum
length, m - 54.80 8. Width, m - 9.80 9. Depth, m - 5.0 10. Draft
for summer mark, m - 4.14 11. Gross tonnage, ton - 723 12. Net
tonnage, ton - 217 13. Full-load displacement, ton - 1220 14.
Deadweight, ton - 405 15. Speed, knots - 13 16. Sea endurance, days
- 35 17. Accommodation - 31
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18. Area of operations - unlimited 19. Type of power unit,
number of main engines - 8 NVD 48 A – 2 U 20. Power of main power
unit, kW - 852 21. Place and year of construction of main engines -
Magdeburg, GDR, 1987 22. Ice class - КМ Л3 32. Holds -2 -
No.1-149.0 sq. m, No. 2-263.0 sq. m Navigation equipment
- echo sounder for depth measurement
- log - radar station - magnetic compass - gyro compass -
satellite navigation equipment - communications equipment
- onboard communications - onboard technological
communications
NEL 20,
DGL-1,
FURUNO radar, М-1934С-ВВ/С-МАР
КМО-Т
PGM-C-009
GPS System, STR 1400 Receiver Satellite station INMARSAT-C
“TT-3020C”, Receiver NAVTEX SAMYUNG SNX-300
INMARSAT FleetBroadband (voice satellite communications, data
transmission). Satellite communications system GLOBALSTAR Terminal
Qualcom GSP 1600 with adaptor GSP 1410, ensuring continuous
availability. FM radio station with DSC encoder “RT-5022”, MF/SW
radio station with 6-channel DSC encoder and radio telex
“SAILOR-4000”
32-channel switchboard “Ryabina” 32-channel switchboard
“Ryabina”
Hydrographical vessel GS-194
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The main dimensions and technical parameters of the vessel are
as follows.
Name GS-194 Purpose Hydrographical vessel Year built 1971 Class
Hydrographical, unlimited seaworthiness Flag Russia Length, m 54.9
Width, m 9.55 Max. draught, m 2.49 Total displacement, reg. ton 608
Power of the main propulsion engines, kW
2 x 600
Auxiliary engines, kW 3 x 75 Type of propulsion Twin-screw, with
adjustable pitch Maximum velocity, knots 11 The main engine and
thruster control: Automated, from the bridge Vessel crane On main
deck, 5 ton Cat-crane On boat deck, 1 ton Crew 20 Research
personnel 8 Ecological compatibility Complete Sea endurance, days
20 Navigation equipment
- echo sounder for depth measurement
- log - radar station - magnetic compass - gyro compass -
satellite navigation - communications equipment - onboard
communications
PEL-4 PEL M2 IEL-1 Radar station “MIUS” KMO-T GKU-1 “GLONASS”
GPS, “BRIZ” receiver Satellite communications system GLOBALSTAR,
terminal Qualcom GSP 1600 with GSP 1410 adaptor, ensuring
continuous availability 32-channel switchboard “Ryabina”
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METODS AND EQUIPMENT FOR NAVIGATION/GEODETIC SUPPORT
OF HYDROGRAPHICAL OPERATIONS
EQUIPMENT FOR NAVIGATION/GEODETIC SUPPORT
For the positioning of locations of engineering-hydrographical,
engineering-geophysical and geotechnical investigations, the DGPS
marine satellite system is used, consisting of the onboard set of
equipment and base station (if the area of operations is located up
to 200 km from the base station; if the distance is longer, the
satellite marine differential service is used - RTG DUAL). The
planning of surveys and data acquisition are supported by the
following software: HYPACK MAX SURVEY and HydroPro Navigation.
Onboard equipment: receiver C-NAV-2050; differential receiver
PKI-2; PC Pentium 166 (minimum); Laptop All GPS receivers have the
NMEA-0183 interface for the operation in the navigation regime; it
is possible also to connect a remote monitor.
Base station KKS MDPS GLONASS DGPS :
• location – up to 200 km from the area of operations; • GPS
NAVIS receiver; • modulator КРМ-300; • MSK corrections; • relay
aerial; • CB communications receiver;
All types of site investigations are supported by high-accuracy
geodetic positioning using DGPS
(C&C Technologies Inc., USA). The differential positioning
mode through a satellite base station allows to have
high-accuracy
positioning of hydrographical and geophysical equipment, either
towed or located onboard, in real time with the vessel in
motion:
• the navigation system - NavCom's StarFireTM Network based on
GPS Selective availability (S/A code) starting 02.05.2000, 04:05
UTM;
• operation mode – DGPS (WAAS/EGNOS), velocity of exchange
“satellite-receiver” 9600 bit/sec.; • receiver – C-NAV-2050R, Inc.
(USA), number of channel -10, ranges– 2 (1525-1585 and
1217-1237
MHz); • data sampling – 10-25 Hz at the optimum satellite
constellation; • format of data transmission – NMEA -0183ν3.1; •
data processing software – Trimble-Hydro-6-06.01; • error in real
time mode – in static regime ± 0.15 m; with the vessel in motion,
velocity 3-10 knots ±
0.30 m.
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GPS receiver for high precision global navigation – Model
C-NAV-2050R
The dual frequency receiver GPS L1 L2 ensures the users’
operation with different accuracy
levels of determination of co-ordinates. The C-NAV-2050R
receiver supports the regimes of free differential service of
lower
accuracy WAAS/EGNOS/MSAS in the zones of coverage of those
systems. The regime of commercial high-accuracy differential
service:
• RTG DUAL with accuracy to decimetres; • regime of below one
metre accuracy DGPS RTCM, when external receivers of
differential corrections in MF, UHF, VHF ranges are connected; •
the regime of centimetre accuracy RTK RTCM/CMR, when external
receivers of
differential corrections in UHF, VHF ranges are connected; • the
regime of recording in 64-МВ memory or output in portal of “raw”
data in the
RINEX format for data post-processing. Main accuracy parameters:
Accuracy in the RTG DUAL commercial service mode (global
service):
• horizontal co-ordinates ≤ 15 cm RMS • height ≤30 cm RMS •
velocity ≤ 0.01 m/sec.
Accuracy in the DGPS RTCM mode (with connection to an external
receiver of differential corrections)
• horizontal co-ordinates 12 cm + 2 ppm RMS • height 25 cm + 2
ppm RMS • velocity 0.01 m/sec.
Accuracy in the RTK mode (with connection to an external RTK/CMR
receiver of differential corrections)
• horizontal co-ordinates ≤1 cm + 1 ppm RMS • height ≤ 2 cm + 1
ppm RMS
Accuracy in the free differential mode -WAAS/EGNOS/MSAS (in the
service zones):
• horizontal co-ordinates ≤ 2 m RMS • height ≤ 4 m RMS •
velocity 0.01 m/sec.
Physical and exploitation parameters:
• dimensions: 208 mm/144 mm/78 mm; • weight: 1.81 kg;
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• external power supply: 10 – 30 VDC; • power consumption:
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RECEIVER PKI-2 OF CORRECTIONS FROM ONSHORE STATIONS OF
GLONASS/GPS NAVIGATION SYSTEMS
The purpose of PKI-2 – to receive differential corrections
(format RTCM SC 104). It transmits differential correction messages
to the satellite receiver through a series interface. It is
controlled either from the front panel or remotely using NMEA
protocol. The interface complies with the standards: 0183RS-232,
RS-422:
• frequency range: 283.5 – 325.0 kHz; • number of receiving
channels: 2; • increment of frequency fix: 0.5 kHz; • sensitivity
at input, min.: 1.5 µV; • velocity of received MSK – modulation:
100 – 200 bit/sec; • dynamic range: 100 dB; • selectivity for the
adjacent frequency channel: - 60 dB; • exchange velocity for the
series interface: 2400,4800,9600 bit/sec; • voltage, DC: 10.5 – 30
V; • operating temperature:
receiver - -30 – +50° С; LCD - -20 – +50° С;
• interval of storage & transportation temperatures -10 –
+45° С; • size and weight of main components:
receiver - 155 х 110 х 65 mm, 1 kg; aerial - 140 (∅) х 165 (H)
mm, 1.9 kg;
• humidity - up to100%. The PKI-2 receiver has a Certificate of
type approval of the Russian Maritime Register and compliance
certificate of the onboard equipment type from the Ministry of
Transport of the Russian Federation.
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The aerial of the C-NAV-2050R receiver is installed in area of
the main mast of the research vessel, in the zone, which is free
from the impact of the vessel emitting systems. The receiver and
radio station are installed in the wheelhouse, there is an extra
monitor for the steerer.
DGPS data are relayed through the COM port to geophysical
recorder (echosounder, sonar, magnetometer, seismic acoustic
equipment, seismic data recorder).
The data are processed using the onboard PC Pentium 166 using
the Trimble-Hydro-6.06.01 software. Before the start and during the
operations at least once a month) determinations of measurement
error
of the receiver are conducted at triangulation points (at least
Class III according to the classification of the Russian
Federation).
DGPS receiver C-NAV-2050R, software Trimble-Hydro-6-06.01, an
example of visualisation of results, calculations of the error of
determination of co-ordinates
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Portable system of underwater acoustic positioning USBL
EasyTrak manufactured by Applied Acoustic
An ultra short baseline (USBL) system of acoustic positioning
EasyTrak is used for the determination of
the position of carriers (fishes) towed in water. The system
consists of:
# Item
Qty 1 The deck control unit with software - Model 2660 Easy-Trak
Lite Deck Unit
DSP based system box, supplied with CD, Mains Lead, PC
Communications Lead and Manual. A separate PC is required for
operation, either a laptop or desktop device with Windows XP and a
1200 MHz or faster processor.
1
2 The transducer with built-in compass and pitch and roll sensor
- Transducer ETM902C Standard + Compass option built-in All Bronze
construction. 9.5 kg weight. 4-element receive assembly, filtering,
conditioning and cable drive, hemispherical transmit / receive.
Mounting Bracket included.
1
3 High accuracy calibration for ETM902. 1 4 50-metre cable.
Model EZT-DC50 50 m c/w connector. 1
5 Transponder Micro Beacon 219 w/Transducer Protection Cage
180dB, hemispherical beam pattern, 600 metre survival depth. 50mm x
230mm long, PP3 alkaline battery.
3
TECHNICAL SPECIFICATIONS
EASYTRAK Lite Size : 265 x 240 x 120 mm. Serial ports : RS-232,
USB-RS-232 adapter could be used. Energy consumption : 90 – 250 V
AC with 50 VA power. Requirements for PC : 1.2 GHz with the Windows
XP operation system, (minimum) availability of USB or RS-232
ports.
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Colour display 1024 x 768, CD Rom drive. EASYTRAK DATA FORMATS
Output data : formats AAE, TP-2EC TP-EC W/PR, Simrad 300P,
Simrad
309, $PSIMSSB, $PSIMSNS (one string after the other for each
fix), $GPRMC (suitable for Coda Octopus 460P and other
systems).
Compass input : TCM-2.X, SGB-HTDS, SGB-HTDt, $HDHDM, HDHDT,
$HDHDG. VRU input : TCM-2.X, $HCXDR, TSS1. GPS input : NMEA; GLL,
GGA, RMC. Synchronisation input : TTL type 5 V pulse, triggers on
rising edge. Responder output : Positive 12 V pulse, 5 msec. long.
Transducer ETM902 : 375 mm long, 100 mm diameter. Weight in
air/water : 9.5 kg / 7 kg. Depth rating : 50 m. Type of transducer
cable : 12.5 mm diameter, length 50 m. (Note: has built-in compass
option) Frequency band (transmission) : 25-32.5 kHz Frequency band
(reception) : 16-26 kHz ACCURACY/PERFORMANCE (The accuracy depends
on the correct speed of sound in water being entered, no ray
bending in the propagation of sound and acceptable S/N ratio).
Slant range accuracy : 10 cm (Accuracy depends on correct speed of
sound). Positioning accuracy of the standard system : 1.40 rms
(angular), 2.5% of slant range. Positioning accuracy of the
high-accuracy system : 0.60 rms (angular), 1.0% of slant range.
Resolution : 0.10 displayed, internally calculated to 0.010.
Heading sensor accuracy : 0.80 rms standard; +/- 0.10
resolution/repeatability. Channels : 4 channels displayed from 98
stored. Frequency band (MF) : Reception 22 - 32 kHz. Transmission
17 – 26 kHz. Tracking beam pattern : Hemispherical. Beacon types :
Transponders, responders, pingers. Interrogation rate : Every 0.5 –
30 sec. or external key. Transmitted power : 3 levels with
programmable control. CE Classification : External emissions
conform to 89/336/EEC. Micro Beacons Model 219 +/- 90º 180dB,
diameter 50 mm, length 230 mm, submergence depth 600 m, weight in
air/water 660 g/260 g Power supply: batteries 2 x 9 V, 550mAh
Alkaline PP3/6LR61/Duracell MN1604; duration of continuous
operation at maximum sending frequency 30 hours. Frequency band
(transmission) : 25-32.5 kHz Frequency band (reception) : 16-26
kHz
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METHODS AND EQUIPMENT FOR ENGINEERING HYDROGRAPHICAL OPERATIONS
IN
CONJUNCTION WITH HYDROMAGNETIC SURVEYS
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The scheme of towing over-the-board equipment during engineering
hydrographical operations in conjunction with hydromagnetic surveys
is presented in Fig.
ECHOSOUNDING Echosounding, alongside with side-scan sonar
investigations and hydromagnetic surveys is the first
stage of offshore site investigations at the location of planned
construction. The task of depth measurements is to measure and map
water depth and sea bottom gradients at the
site with the centre corresponding to the planned well location.
Echosounding includes the following types of investigations: -
echosounding using a dual ray echosounder with heave compensator; -
determination of fluctuations of sea level in the area of
operations and during the operations
(installation of a tide gauge and data recording; -
determination of sound velocity in water for a vertical water
profile in the area of operations; - preparation of bathymetric
maps and sections.
Echosounding is carried out using the pre-planned grid, which
fully depends on the Client with high-accuracy DGPS positioning. We
use dual ray echosounder NAVISOUND 515 or NAVISOUND 110,
manufactured by Reson (Denmark), with the heave compensator HS50
TSS.
During the operations, measurements of the vertical profile of
sound velocity in water are made, using SVP15 equipment The
periodicity of measurements does not exceed 5-7 days, or they are
carried out at the beginning and by the end of operations at each
object, as well as after storms or storm tides caused by them.
Besides, Aquanaut HYDRAS-3 tide gauge is installed in the area
of operations, in addition, for the
absolute tie-in of results of bathymetric surveys, data of
permanent water gauges are used. Main parameters of the equipment,
which is used for the whole sequence of echosounding
operations,
are given below.
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Digital hydrographic echosounder NAVISOUND 515 (manufactured by
Reson, Denmark). The purpose of the echosounder is hydrographical
survey at the water depth from 0.2 to 600 m. It consists of a
computerised recorder with LCD display for the display of sonograms
and setting recording modes, dual frequency transducer TC 2122 in a
fairing, sound velocity measuring unit SVP 15 for the measurement
of sound in seawater, heave compensator HS50 TSS, printer,
software.
• number of recording channels 2; • emission frequency 33/200
kHz; • maximum ping rate 20 Hz; • accuracy of depth measurement ,
at 200 kHz - 1 cm;
at 33 kHz - 7 cm • width of transducer directional pattern
9.5º/220 kHz 20º/33 kHz ; • protocol of interface with GPS system
NMEA 0183.
Echosounder for depth measurement NAVISOUND 515, transducer ТС
2122 in a fairing
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Echosounder NS 515, computerised control and registration module
with LCD monitor for the display
of sonograms
Digital hydrographical echosounder NAVISOUND 110 (manufactured
by Reson, Denmark). The purpose of the echosounder is
hydrographical survey at the water depth from 0.5 to 600 m. It
consists of a computerised recorder with LCD display for the
visualisation of sonograms and setting recording modes, dual
frequency transducer TC 2122 in a fairing, sound velocity measuring
unit SVP 15 for the measurement of sound in seawater, heave
compensator HS50 TSS, printer, software. The planning of surveys
and data acquisition are supported by the HYPACK MAX SURVEY
software:
• number of recording channels 1; • emission frequency 33/200
kHz; • maximum ping rate 1-17 Hz; • accuracy of depth measurement ,
at 200 kHz - 1 cm;
at 33 kHz - 7 cm • width of transducer directional pattern
9.5º/220 kHz 20º/33 kHz ; protocol of interface with GPS system
NMEA 0183; 5 • Power supply 11-28 V DC; • maximum power consumption
300 W; • operating temperatures 0º – +45° С; • temperature range
during storage and transportation -10º – +45° С;
Dimensions and weight of main blocks of the unit: - recording
block - 216х306х82 mm, 4 kg; - transducer TC 2122 (without fairing)
- 110 (∅) х 61 (H) mm, 2.3 kg. The Reson-made echosounders were
manufactured according to ISO9001-2001 quality standard.
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Dual frequency echo sounder EchoTrac CVM manufactured by ODOM
Hydrographic Systems (USA)
Technical specifications • High-frequency band – from 100 to 340
kHz, average output power – 400 W at 200 kHz, accuracy
and resolution – 0.01 m +/- 0.1% of depth at f=200 kHz. •
Low-frequency band – from 24 to 50 kHz, average output power – 200
W at 33 kHz, accuracy –
0.1 m +/- 0.1% of depth, resolution – 0.01 m. • Input power – 24
VDC, 15 W or 110/220 VAC. • Depth ranges – from 0.2 to 200 m and
from 0.5 to 600 m, automatic scale change, 10%, 20%, 30%
or smooth manual. • Sound velocity range – from 1370 to 1700
m/sec. Setting interval – 1 m/sec. • Transducer draft setting –
from 0 to 15 m. • Depth display – on control from PC. • Echo
sounder clock – powered from built-in AB, provides elapsed time and
date. • Data visualisation: from internal sources – date, time, GPS
co-ordinates, from external sources –
any of RS232 or Ethernet channels. • Interfaces – two RS232,
inputs from external computer, motion sensor, sound velocity,
Ethernet,
tidal gauge. • Display size – from 0 to full scale. • Software –
E-Chart visualisation, control of the echo sounder and data
acquisition. • Help function – the data for each parameter and its
minimum and maximum values can be
displayed. • Temperature and humidity – from 0 to 500 C, 5 - 90%
relative humidity, non-condensing. • Weight and dimensions – 13.8
kg and 55 cm x 41.5 cm x 21.5 cm. • Options: single- or
dual-frequency operation, utilisation of single- or dual- frequency
side-looking
transducer (200 or 340 kHz), built-in DGPS receiver, industrial
computer with software for data acquisition and processing.
Deep-sea level gauge “Aquanaut HYDRAS-3” (Germany)
A buoy with a hydrographical weight is installed in the area of
operations. A hydrostatic level-measuring cell is fastened to the
weight and lowered on the bottom. The data acquisition block is
installed on a buoyant buoy
• range of sea level measurements 0 - 80 m; • resolution 0.5 cm;
• relative error +/- 0.1%; • range of temperature compensation 0 -
+50° С; • range of temperature measurement 0 - +50° С; • accuracy
of temperature measurement +/- 0.1%;
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• measurement interval from 1 min. to 100 hours; • memory of
data recorder 15,808 values; • dimensions:
data reading module 30 х 95 mm; measuring probe 29.5 х 190
mm;
• operating temperature -30° – +70° С. •
Deep-sea level gauge “Aquanaut HYDRAS-3”
Water level recorder TideMaster manufactured by Valeport Ltd
TideMaster – is a versatile water level recorder for both
short-term and long-term measurements. Due to low energy
consumption and sampling rate adjustable by the user, the device is
capable of working in the autonomous mode for up to one year.
Different ways of data transmission in real time allow to widen the
scope of the application of the device up to the establishment of a
network of stations. The TideMaster water level recorder is
compatible with various types of software and instruments.
Technical specifications Transducer (pressure sensor) Type:
vented strain gauge, with stainless steel mounting bracket;
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Range: (maximum submergence depth): 50 m; Accuracy: ±0.1% of the
measured range. Calibration: The calibration ratio is stored within
the logging unit. In order to exclude
the impact of the atmospheric pressure, a ventilated transducer
is used, specially designed by Valeport Ltd.
Dimensions: 18 mm diameter x 80 mm. Logging Unit Housing:
Protection Class - IP67. Power: 4 batteries, type C, within a
watertight compartment, ensure the autonomous operation of the
device during one year; Memory: 512 MB memory card. Data sampling:
Raw data are sampled at 8Hz, mean values and deviations from
standard values are stored in the memory card. The device allows to
select one of 5 pre-programmed modes or to create a customised data
sampling mode. The data sampling mode with the frequency 1 Hz is
used for long-term observations. Switching: The power switch is
located on the unit. Resolution: Data are logged with 1 mm
resolution. Data transmission: RS232/RS485 for data transmission by
cable. Dimensions: Housing – 52 mm х 144.5 mm х 197 mm. Bracket: 35
mm x 210 mm x 159 mm. Dimensions (mounted): 61.5 mm x 210 mm x 197
mm. Weight: 1.1 kg (approx) including batteries. Range of
operational temperatures: -20°C to +70°C. HEAVE COMPENSATOR
Heave compensator HS50 (manufactured by TSS, UK). It ensures
automatic input of
corrections to the water depth measured by echosounder,
compensating the impact of the vessel heave:
• range height +/- 10 m; deviation from vertical position +/-
25°;
• accuracy, RMS 5 cm; • resolution: digital 1.0 cm; analogue 0.5
cm; • bandwidth 0.05 - 10 Hz; • acceleration range (vertical) +/-
2g; • digital interface RS232 or RS 422 (from 1,200 to 19,200
baud);
30 mm/sec.2 or 0-2 mm, 7-300 Hz;
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Heave compensator HS50 (TSS, UK)
SYSTEM FOR MEASURING THE VERTICAL PROFILE OF SOUND VELOCITY IN
WATER
System for measuring the vertical profile of sound velocity in
water SVP15 (Denmark)
• maximum depth of measurement of sound velocity in water 200 m;
• measurement step 0.5 m; • resolution 0.1 m/sec.; • velocity
measurement range 1,350 – 1,600 m/sec.; • measurement error +/-
0.25 m/sec.; • accuracy of depth measurement by depth transducer
+/- 0.1 m + 0.2% of measured depth; • accuracy of temperature
measurement +/- 0.4° С; • digital interface RS232 (9,600 baud); •
memory 400 measurements; • power supply - built-in batteries,
duration of operation at least 20 hours; • maximum consumed current
100 mA; • operating temperature range 0 – +45° С; •
storage/transportation temperature range -10° – +55° С; •
dimensions and weight 100 (∅) х 550 (L) mm, 5 kg.
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System for measuring the sound velocity in water SVP15,
measuring probe and control panel
MAIN PROCEDURES OF PROCESSING OF DEPTH MEASUREMENT DATA The
planning of surveys and data acquisition are supported by the
following software: HYPACK
MAX SURVEY and EHOLOT-D.
An example of sonogram display for a bathymetric profile, using
EHOLOT-D software. The sonogram was acquired by one-ray echosounder
PEL-4, F=124 kHz, penetration of the vibrator 2.2 m, sounding
frequency
10Hz.
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The data processing is carried out using the onboard processing
set based on the Pentium IV computer; 1.6 GHz, RAM 1 GB.
Data processing and preparation of reports were supported by the
software HYPACK MAX Office. Besides, the following software was
used: Eholot-D, Surfer, AutoCad, GeoSoft.
The following corrections are introduced in raw data: transducer
offset, sound velocity in water, sea level fluctuations based on
data from level gauges (both offshore and permanent ones). After
the polygonal data is equalized, the results of depth measurement
are presented as a bathymetric map reduced to the Baltic height
system level.
Example of a depth map (Scale 1 : 5000) at site 1000 m х 1000 m
for positioning a jack-up drilling rig.
EM 3002 Multibeam echo sounder
The EM 3002 echo sounder is a multibeam echo sounder with
extremely high resolution, dynamically focused beams and full beam
stabilisation. It is very well suited for detailed seafloor mapping
and inspection of offshore areas with water depths from 0.5 m under
the vibrator to 150 m, although maximum depth capability (target)
is strongly dependent on the water temperature and salinity and
could reach 300 m. Due to its electronic pitch compensation system
and roll stabilised beams, the system performance remains stable
also in adverse weather conditions. The spacing between the
measured depths (acoustic footprints) can be set nearly constant
over the swath, providing a uniform depth density along the swath.
Dynamic focusing of all received beams
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optimises the system performance and quality of the surveys with
short distances from objects, e.g., during underwater inspections
from underwater vehicles. It is recommended to use EM3002 echo
sounder for the following applications: • Mapping of harbours,
inland waterways and shipping channels with critical keel
clearance. • Inspection of underwater objects. • Detection and
mapping of underwater objects. • Detailed surveys of the seabed
relief related to underwater construction work or dredging. •
Environmental mapping of the seabed, e.g. investigations of glacial
grooves. • Mapping of biomass in the water column. Features The EM
3002 system uses one of three possible frequencies in the 300 kHz
band. This is an ideal frequency band for the shallow water
applications, as the sufficiently high frequency ensures narrow
beams with small physical dimensions of the emitters. At the same
time, the 300 kHz frequency secures a high slant range capability
under the conditions with high content of suspended particles in
the water. The EM 3002 system uses a very powerful sonar processor
unit. The heightened computing power of the EM 3002 sonar processor
makes it possible to apply sophisticated and very exact algorithms
for beam-forming, beam stabilisation, and bottom detection. The
algorithm of bottom detection makes it possible to extract and
process the useful signal from a part of each acoustic beam,
leading to the possibility of obtaining independent depth
determinations, even in the case of the beam overlapping. In
addition to bathymetric soundings, EM 3002 collects data pertaining
to the acoustic image of the seabed. The image is obtained by
combining the acoustic return signals inside each beam, thus
improving signal to noise ratio considerably, as well as
eliminating several distortions, which are usual for the
conventional sonars. The acoustic image is compensated for the
transmission source level, receiver sensitivity and signal
attenuation in the water column, so that reliable bottom
backscatter levels in dB are obtained. The acoustic image is also
compensated for acoustic ray bending, and is thus completely
geo-referenced, so that the preparation of a sonar mosaic for a
survey area is rather easy. Objects observed on the acoustic seabed
image are correctly located and can be readily identified and
defined. Operator Station The Operator Station is PC-based
workstation running on either Linux® or Microsoft Windows XP®. The
Operator Station software, SIS, incorporates 3D graphics, real-time
data cleaning and electronic map background. Technical
specifications Frequency range: 293, 300, 307 kHz. Number of beams:
254 for single sonar head, 498 for dual sonar heads. Maximum ping
rate: 40 Hz. Maximum angular coverage: 130 degrees for single sonar
head, 200 degrees for dual sonar heads. Pitch stabilisation Yes.
Roll stabilisation Yes. Heave compensation Yes. Efficient depth
range 0.5-150 m. Depth resolution 1 cm. Transducer geometry Mills
cross. Beam spacing Equidistant, equiangular, high density mode
(from 01.01.2010).
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26
Configuration, dimensions and weight of principal components:
Sonar head: Cylindrical, material – titanium. Diameter 332 mm.
Height 119 mm. Weight 25 kg in air, 15 kg in water.
Processing Unit: Width: 450 mm. Depth: 400 mm. Height: 200 mm.
Weight: approx. 8 kg. SIS software SIS Multibeam Controller –
controller of the multibeam echo sounder • Incorporates: • Menu of
installation and operational parameters. • Testing and diagnostics
of the system. • Recording of raw data from the echo sounder.
Start/stop of emission. • Input of sound velocity values in the
area of the sonar head, transmission of those data to the echo
sounder. • Display of emission, showing: − Signal intensity. −
Emission profile. − Data from external sensors. − Oscillogram of
received signal. − Output to plotter with full resolution (max.
format A0). View of display during the utilisation of the SIS
software with the ЕМ3002 echo sounder.
The following items are located in the output windows: The left
column: the top window shows the signal power for each beam, the
window of the transverse profile is below it, further below the 3D
window of the “Waterfall” type is situated and below it – display
of the data from external sensors. The top central window – sonar
display of the water column. The bottom central window – sonar
display of the seabed. The right window: raw hydroacoustic data.
The operator may select the type of information to be displayed in
any window within one second!
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1.3. EM 3002, SCHEMATIC DIAGRAM
//
Options of installation of sonar heads
Installation of single sonar head Installation of dual sonar
heads
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The necessary sensors System for measuring the sound velocity in
water Accurate knowledge of the vertical profile of sound velocity
in water is a necessary precondition for obtaining high-quality
data during the survey of the seabed relief using a multtibeam echo
sounder, in particular, in areas with complex hydrological
conditions.
Intellectual sensor “miniSVS” Its purpose is to measure the
sound velocity, temperature or pressure in the area of the
transducers of an echo sounder. The sensor’s operation is based on
the principle of an echo sounder with the known fixed base (100 mm,
50 mm and 25 mm) and outputs the value of the sound velocity in
water. Such sensor does not require frequent tests and
calibrations, has small size (45 mm x 315 mm) and its weight,
depending on the housing, does not exceed 1 kg.
Electronic heave compensator and GPS compass OCTANS IV by Ixsea,
France. OCTANS IV replaces several vessel devices: gyro compass,
GPS receiver, log, gyro indicator of the rotation angles. That
compact instrument forms the signals of heading, speed and position
of the vessel, as well as the signal of gyro indicator of the
rotation angles and synchronising pulse (1PPS) for other
hydrographic systems. Data from the heave compensator are
transmitted in real time to the echo sounder directly for
correcting /the measured depths. Unlike conventional gyro
compasses, OCTANS IV does not contain moving sensors, does not
require the presence of supporting liquid, which means that it does
not require periodic professional maintenance. All IXSEA products
have ISO 9000:2000 certificates. Octans instruments are
manufactured with testing certificates and a 2-year guarantee.
Technical specifications performance Heading
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Accuracy )2)(1( 0.1 deg secant latitude Settling time (static
conditions) < 1mn Full accuracy settling time (all conditions)
< 5 min Heave / Surge / Sway Accuracy 5 cm or 5% (whichever is
greater) Roll / Pitch dynamic Accuracy )2( 0.01 deg operating range
/ environment Rotation rate dynamic range Up to 750 deg/s
Acceleration dynamic range ±15 g MTBF (computed/observed)
40,000/80,000 hours Operating / Storage Temperature -20 to +55°C/
-40 to +80 °C Heading / Roll / Pitch 0 to +360 deg / ±180 deg / ±90
deg No warm-up effects Shock and Vibration proof physical
characteristics Dimensions (L x W x H) 275 x 136 x 150 mm Weight in
air 4.5 Kg Water proof IP66 Material Aluminium interfaces Serial
RS232/RS422 port 2 inputs / 3 outputs / 1 configuration port
Ethernet port )3( UDP / TCP Client / TCP server Pulse port )4( 4
inputs and 2 outputs Intput / Output formats Industry standards:
NMEA0183, ASCII, BINARY Baud rates 600 bauds to 115.2 kbaud Data
output rate 0.1 Hz to 200 Hz Power supply 24 VDC Power consumption
15 W (1) secant latitude = 1 / cosine latitude (2) RMS values (3)
All input /output serial ports are available and can be duplicated
on Ethernet ports (4) Use GPS PPS pulse input for accurate time
synchronization of OCTANS
SYSTEMS OF PROCESSING OF MULTIBEAM ECHOSOUNDER DATA QINSy is
up-to-date software, accumulating the experience of best experts in
the execution of hydrographic surveys. The modular design is the
main advantage of QINSy, which allows utilizing only those modules,
which are necessary for the concrete project, i.e. to create a
cost-effective system alongside with functionality. Altogether,
QINSy offers 5 software packages and 11 extra modules,
incorporating the whole set of tasks associated with marine
surveys. QINSy Office – the office package, envisaged for viewing
and pre-processing of acquired (field) data in the office. QINSy
Inshore – the real-time software package for surveying the seabed
relief by a single beam echo sounder (acquisition and
pre-processing of data received from one echo sounder, one GPS
receiver and one heading detector). QINSy Lite – the real-time
software package for surveying the seabed relief by a single beam
echo sounder (acquisition and pre-processing of data received from
different single sensors incorporated
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in the set of hydrographic equipment). QINSY Survey – full
real-time package for surveying the seabed relief both by a single
beam and multibeam echo sounder (acquisition and pre-processing of
data; the number of sensors is unlimited). QINSy Mapping – final
data processing, production of plots, 3D visualisation. The QPS has
envisaged the “upgrade” function for QINSy Office and QINSy Inshore
to QINSy Lite, for QINSy Lite to QINSy Survey. The versatility of
Windows has been fully incorporated in QINSy. Any number of
autonomous terminals can be launched simultaneously. QINSy allows
to plan a survey, carry out field operations on board a vessel and
process the survey results in order to obtain a depth map. In order
to plan the survey, a basic map can be loaded in the computer in
advance, containing the shoreline and obstacles, such as bridges,
buoys, pipelines. QINSy allows to import files in the DXF and DGN
formats from the popular drawing software programmes Autocad and
Microstation. Satellite positioning is used during the surveys,
with the transmission of differential corrections from onshore base
stations by radio, thus ensuring the metre accuracy in real time.
The use of the RTK kinematic mode ensures the improved centimetre
accuracy in real time, which is especially useful for the tracking
of changes in the water level. The programme system controls the
execution of the planned survey programme during its execution and
data acquisition. The QINSy Survey programme incorporates the
function of editing of the recorded data.
Results of surveying the seabed relief, carried out using the
ЕМ3002 multibeam echo sounder and processed using QINSy
Bare pipeline areas
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Fragment of results of surveying the area of an underwater
crossing by a multi-beam echo sounder Helmsman’s display The QINSy
package allows to transfer from the main computer (on the network
level) the information necessary for the helmsman and
correspondingly output it in front of the helmsman.
An option of real-time display with planned tacks.
Bare area of a pipeline with weights
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SIDE-SCAN SONAR INVESTIGATIONS
Side-scan sonar investigations are carried out with the purpose
of identification and mapping
of obstacles on the sea bottom. Investigations are carried out
by the dual channel digital towed side-scan sonar CM 2 DF. Data
transmission from the sonar is carried out by a cable telemetric
link to the research vessel, where the data is recorded on magnetic
optical discs and displayed on a LCD monitor in real time.
During the operations under shallow water conditions, in
narrownesses and under difficult navigation conditions the “ATLAS”
side scan sonar (manufactured by JSC “Morinzhgeologia”, Latvia)
with onboard aerials is used.
Main technical parameters of dual channel digital towed
side-scan sonar CM 2 DF
(manufactured by СМ Ltd., England): • purpose: creation of a
picture of underwater equipment by hydroacoustic means with the
simultaneous measurement of the distance between the emitter and
the bottom, as well as the water temperature;
• number of channels - 2; • operating frequencies – 102 and 325
kHz; • slant range in 102 kHz frequency range - 100, 200, 300, 400
and 500 m; • slant range in 325 kHz frequency range - 25, 50,75,100
and 150 m; • emission interval – 500/selected range limit (slant
range) per second; • resolution, 102 kHz range – 156 mm; •
Resolution, 325 kHz range 325 kHz – 78 mm; • pulse power – 217 dB
at 1 µPa/1 m; • pulse duration – 53 µsec; • array beamwidth F= 325
kHz – 0.3º horizontal, 40º vertical, F= 102 kHz – 1/0º horizontal,
50º vertical; • adjustable beam depression from the maximum
sensitivity axis - 10º or 20º; • navigation data interface – RS232,
format NMEA 0183; • gain control along the line – automatic, with
microprocessor for the selection and setting of
parameters of automatic gain control; • control of data
acquisition – built-in industrial computer with Pentium IV
processor and software
package MaxPro, • automatic regime of control and adjustment of
control of reflected signal amplitude; • dimensions and weight: the
fish- 124 cm; 17.5 kg in the air; 11.7 kg in seawater; the
laboratory block – 315 x 335 x 110 mm, 8 kg; • remotely controlled
autonomous winch and cable meter for lowering the sonar; • water
temperature sensor; • data display on LCD monitor in real time. •
Pentium 166 computer is used.
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Digital towed side-scan sonar CM 2 before lowering overboard
Winch for lowering and extracting the side-scan sonar with
remote control unit
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Block of control and data processing is installed in the vessel
laboratory. The remote control unit for the winch for the lowering
and extraction of the side-scan sonar is located there as well
Onboard digital side-scan sonar “ATLAS”
• manufacturer : Morinzhgeologia, Latvia; • purpose: side-scan
sonar investigations of the sea bottom in narrownesses and under
difficult
navigation conditions; • number of channels: 2; • emission
frequency: 110 kHz and 124 kHz; • slant range sweep – 60 m and 100
m; • resolution: 0.15 m; • dynamic range: 72 dB; • recording
format: MorgeoSonar with processing software SONAR-1; • digital
output of data and coordinates for external users NMEA 0183; •
simultaneous recording of side scan and DGPS data; • recording: on
CD; • visualisation on LCD monitor in real time.
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Side-scan sonar „Atlas”
Certificate of compliance of the side-scan sonar „Atlas”
Processing of data of side-scan sonar investigations of the sea
bottom
Display of sonograms on paper is executed in the post-processing
regime, supported by the software MAX - Vew1v24.
The data processing is carried out using the onboard processing
set based on the Pentium IV computer; 1.6 GHz, RAM 1 GB.
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36
An example of sonogram. Frequency range: LF -102 kHz, slant
range - 100 m, depth of side-scan sonar towing - 6 m, towing
velocity 5 knots. Bottom microrelief features are lighted
Prints of 3 jack-up legs can be seen in the lower right part of
the sonogram. For various reasons, the jack-up was transferred to a
location with more stable soils in the direction of the arrow,
approximately 115 m away.
A wellhead with traces of drilling mud can be clearly seen in
the lower right part of the sonogram
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An example of sonogram. Frequency range: LF -102 kHz, slant
range - 100 m, depth of side-scan sonar towing - 6 m, towing
velocity 5 knots. The distance between the co-ordinate marks is 25
m.
Further processing envisages the production of a side-scan map
of the site using the software
SonarWiz.Map (“Chesapeake Technology, Inc.”, USA).
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38
An example of the side scan map of a site 1x1 km, scale 1:
5,000, the mosaic was obtained using the software SonarWiz.Map
(“Chesapeake Technology, Inc”, USA)
The map displays characteristic microrelief features ,
stretching SE-NW. Within the investigated area, no artificial
objects above the sea bottom level were discovered.
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HYDROMAGNETIC SURVEYS
Hydromagnetic surveys are conducted with the purpose of
identification and mapping of artificial iron –containing objects
located either on the sea bottom or in the upper subbottom.
The following items are objects of mapping: metal-containing
objects or equipment, including debris, ship mechanisms and
equipment, pipelines, drilling tools, military equipment,
munitions, electrical lines under power etc.
Hydromagnetic surveys are conducted using a high-accuracy marine
cesium magnetometer G-882 (manufactured by “GeoMetrics, Inc.”,
USA).
Main technical parameters of the marine magnetometer G-882:
• cesium magnetometer G-882, with built-in echosounder and depth
sensor; • auto-oscillation system with a high sensitivity sensor
CM-221 and optical pumping of cesium vapour
with a split beam (non-radioactive); • measurement range –
10,000 nT to 100,000 nT • the operational zone is limited by the
angle formed by the earth magnetic field with the equator of
the sensor, which must be at least 6º, and at least 6º with the
longitudinal axis of the sensor; • counter CM-221 with the
sensitivity
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40
Magnetometer G-882 on the R/V deck before lowering overboard
The magnetometer is towed at least 2 – 2.5 vessel lengths behind
the stern. Thus, the impact of the vessel magnetic field on the
measured parameters is excluded. Under the shallow water
conditions, the magnetometer is towed using a non-magnetic float
installed near the tow fish.
The optimum depth of the magnetometer towing is determined by
the depth of the offshore area under investigation, sea state and
forecast values of the weight of iron-containing objects. The data
display in real time is executed by View201 software, processing
results can be seen on a LCD monitor together with the navigation
data. During the measurements of magnetic field, the monitor screen
displays (in real time) the graph of the measured magnetic field,
bottom section in the depth scale, depth of the tow fish and
navigation situation.
Geophysical laboratory of the research vessel. Onboard
processing of data of hydromagnetic surveys using MagLog LiteTM
software.
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41
An example of display of hydromagnetic survey data in real time
using MagLog LiteTM software.
The left side of the figure displays information on the measured
magnetic field in nT, water depth in
metres, comprising 16.4 m, the depth of the magnetometer fish–
2.6 m. The right side displays navigation situation during the
survey.
Processing of data of hydromagnetic surveys
The data processing is carried out using the onboard processing
set based on the Pentium IV computer; 1.6 GHz, RAM 1 GB.
Onboard processing of hydromagnetic data is carried out using
the following software: MagLog LiteTM , Excel, GeoSoft Insitu 2003,
Surfer 8, AutoDesk Land Desktop 2005, AutoCad 2004:
• editing of raw data; • formatting data based on measurement
tacks; • attributing geometry; • production of graphs of measured
magnetic field; • calculations of the high-frequency component of
the measured magnetic field; • preparation of maps – graphs of the
high-frequency component of the measured magnetic field; •
preparation of maps of magnetic anomalies at the survey scale.
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An example of the map of anomalies of high-frequency magnetic
field component, the site size 1 km x 1 km, scale 1: 5,000
An example of iron-containing object. The magnetic anomaly
comprises 12-14 nT. The weight of the target does not exceed 25 kg.
Probably, this is fisheries gear.
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An example of identification of an iron-containing object in
combination with side-scan sonar data
A graph of the measured magnetic field (in the top part of the
Figure) and an echogram are combined
with sonogram (digital sonar С-МАХ 2, frequency range LF 102
kHz, slant range 100 m). In the lower and central parts of the
sonogram, one can see tracks of three jack-up legs. The rig was
transferred in the direction of the arrow by 115 m, to a site
with more consolidated soils. At the new rig site, one can clearly
see a wellhead with traces of drilling mud (cuttings).
The magnetic field was measured by the G-882 magnetometer with
the measurement range 10,000 - 100,000 nT. An anomaly is singled
out in the graph of the measured magnetic field and its
high-frequency component, coinciding with the location of the
wellhead. The value of the anomaly is 310 nT; the anomaly is
associated with the presence of an iron-containing mass in the
upper subbottom, weighing about 1 ton. Probably, these are
components of a vertical drillstring, which are situated below the
sea bottom level.
In order to single out target with a small weight (
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44
An example of singling out of an iron-containing target.
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45
UNDERWATER VIDEO SURVEYS Underwater video surveys are used for
the inspection and recording of the condition of pipelines and
underwater parts of offshore structures, occurrence of foreign
artificial objects on the seabed in the vicinity of a pipeline or
structure. Underwater video surveys are carried out either by
divers or from remotely operated underwater vehicles (ROV),
equipped with video cameras, lights, manipulator and beacon of
underwater acoustic positioning system for the positioning of the
ROV. A ROV could be also equipped with side-scan (SSS), sector and
scanning sonars, echosounder, subbottom profiler, route finder,
meter of anode potentials, caliper, flaw detector.
INSPECTION ROV SUB-ATLANTIC NAVAJO
• light weight – 35 kg • possibility of manual actuation • depth
rating 300 m • high towing power • possibility of working in strong
currents • forward velocity – 6 knots • standard payload – 5 kg •
highly sensitive colour and black and white video cameras • HID
lamps • auto-heading and depth • video text block • possibility of
installation of SSS • instrumented platform and manipulator • high
reliability and easy maintenance
Technical specifications Depth rating: standard - 300 m,
(>300 m optional)
Payload: standard - 5 kg (>5 kg optional)
Dimensions: Height: 405 mm Length: 950 mm Width: 631 mm
Weight in air: 35 kg
Thrust: Forward: 46 kgf Lateral: 18 kgf Vertical: 18 kgf ROV
maximum velocity/maximum operational current: Forward: > 5.83
knots Lateral: > 2.43 knots Vertical: > 2.43 knots Turning
rate: 120 degrees per second. The video module is located in the
frontal part of the vehicle; it consists of a transparent
cylindrical acrylic housing. The module contains a platform, on
which a colour video camera with variable zoom, a highly sensitive
black and white video camera, 50 W dimmer-controlled halogen lamps
and two laser emitters are installed. In addition, there are
spherical windows for luminaires on both ends of the cylinder. Each
sphere contains a 20 W gaseous discharge lamp, the power of which
is equivalent to 60 W of halogen lighting. There is a magnetic
compass there as well. The laser emitters are used for the
establishment of a reference
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46
distance by emitting two parallel rays with known distance
between them onto the inspected object. Components of the ROV
system The frame has hydrodynamic configuration and is made of
impact-resistant corrosion-proof plastic. The frame can be easily
dismantled for the purposes of maintenance, repair or replacement
of the internal components of the ROV. All parts of the frame have
easily detachable fixings and landings for attaching manipulators
and other attachment tools. The telemetric system The communication
channel “surface-ROV” - 8 analogue channels, 12-bit resolution, 16
digital channels. The communication channel “ROV-surface - 8
analogue channels, 12-bit resolution, 16 digital channels. The
velocity of the signal transmission – 57.6 kBaud. The communication
channel – one – of the RS485 standard and one additional – of the
RS232 standard. The system of motors-thrusters The vehicle is
equipped with 4 “wet” type thrusters SPE-75 (two marching, one
vertical and one horizontal). The thrusters are water-filled, which
makes oil-filled compensators and magnetic couplings unnecessary.
The thrusters are attached to ROVs using easily detachable
couplings. Instrumented platforms It is possible to attach
instrumented platforms and a manipulator to NAVAJO; they have
neutral buoyancy and could be designed either by the customer or by
the manufacturer according to the stated requirements. Extra
equipment The following additional equipment could be installed on
the ROV Navajo: • Dual frequency side-scan sonar • Subbottom
profiler • Side-scan sonar • Bathymetric and oceanographic sensors
• Marine corrosion meter and thickness measurement sensors • Extra
manipulators Additional support systems for ROV NAVAJO The main ROV
system consists of: The surface control unit (SCU) The remote
control unit The cable SCU of ROV NAVAJO SCU is a 19” console
ensuring the transmission of power and control of the whole system.
That compact block incorporates a power supply unit with the system
of insulation control, telemetry, system of lamp adjustment,
function of automatic heading and depth control (height as an
option), meter of cable revolutions and video text. SCU also
controls the operation of the instrumented platforms. The block is
connected with the power cable and the cable of the ROV. Power:
80-264 V AC, 47-440 Hz, 3.0-4.8 kW. The remote control unit is used
for the control of the ROV movement and is connected with the SCU
by cable. The standard remote control unit is a joystick Sony PS2
as the most popular with the operators of ROVs. The SCU and ROV are
connected by a cable with the diameter 14 mm, connected to the ROV
by an electrical connector with a metal case. The NAVAJO ROV
consists of three main modules: the module of motors-thrusters, the
video module and the frame. The module of motors-thrusters is
located in the back part of the vehicle and consists of the housing
of the electronic block, landings for the installation of 4
thrusters and sockets for connecting the cable and the video
module. The electronic equipment of the power supply and the
telemetric block are inside that block; they are accessed by
removing the bayonet fixing plug.
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47
Additionally installed equipment: • Dual frequency sector sonar
• Subbottom profiler • Side-scan sonar • Bathymetric and
oceanographic sensors • Marine corrosion meter and thickness
measurement sensors • Extra manipulators
LIST OF EQUIPMENT UTILISED FOR INSPECTION OF UNDERW ATER
PIPELINES
AND ENGINEERING-HYDROGRAPHICAL OPERATIONS
Navigation-geodetic support Satellite marine differential
service RTG DUAL; Receiver C-NAV-2050; Receiver of differential
signals PKI-2 .
Satellite communications INMARSAT FleetBroadband (voice
satellite communications, data transmission); GLOBALSTAR, terminal
Qualcom GSP 1600 with adapter GSP 1410, ensuring continuous
connection; direct telephone communications, e-mail, fax.
Hydrographical equipment Depth measurements Echosounder
NAVISOUND 515 (Reson, Denmark); Echosounder NAVISOUND 110 (Reson,
Denmark); Dual frequency echosounder EchoTrac CVM (ODOM
Hydrographic Systems (USA); Mutibeam echosounder EM3002;
Ultra short baseline (USBL) acoustic positioning system EasyTrak
(UK);
Heave compensator HS 50 (TSS, UK); Electronic heave compensator
and GPS compass OCTANS IV ; Deep-sea level gauge Aquanaut HYDRASS
-3 (Germany);
Sea level recorder TideMaster; Sea level recorder MiniTide ;
System for measuring the sound velocity in water SVP-15
(UK).
Side-scan sonar investigations Towed digital side-scan sonar
CM 2 DF (C Max Ltd, UK) Onboard digital side-scan sonar
Atlas-2 (Morinzhgeologia, Latvia) Winch for lowering/extraction
of the sonar, with a remote
control unit and cable meter. Hydromagnetic surveys Marine
magnetometer G-882 (GeoMetrics, USA)
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SOFTWARE FOR PROCESSING DATA OF INSPECTION AND ENGI
NEERING-HYDROGRAPHICAL INVESTIGATIONS
NAME PURPOSE
Trimble-Hydro-6-06.01 Acquisition and processing of DGPS data.
HYPAC MAX SURVEY
Planning of hydrographical surveys and acquisition of depth
measurement data. Processing of depth measurement data.
EHOLOT - D Acquisition of depth measurement data. SIS SOFTWARE
Acquisition of depth measurement data by multibeam
echosounder EM3002 QINSy Software set for acquisition and
processing of depth
measurement data from multibeam echosounder HYPAC MAX Office
Processing of side-scan data. MAX-View 1v24 Visualisation of
side-scan data. SONAR WIZ.MAP Processing of side-scan data. Slant
range corrections, production
of side-scan maps (mosaics). Sonar Processing of side-scan data.
Slant range corrections, production
of side-scan maps (mosaics). View 201 Visualisation of
hydromagnetic survey data. MagLog Lite TM Processing of
hydromagnetic survey data , identification of iron-
containing targets. MAGMAP 2000 Preparation of maps, drawing
isolines of 2D and 3D images. Land Development Desktop 3 (LDD 3) of
the basis of AUTOCAD 2000
Automatic design system, possessing capabilities of a
geoinformation system.
Surfer 8 Software for producing digital models of surfaces,
production of maps of different fields (depth maps, time maps, maps
of reflection amplitudes etc.). Production of 3D relief models.
Grapher 4 Software for producing 2D scientific graphics: graphs,
diagrams, bar graphs, cross-plots etc.
Corel Draw 11 Software for preparation, editing and printing
vector and raster graphics.
MapInfo 6.5 Geoinformation system for preparation and editing of
different maps. It is used alongside with LDD 3 and Surfer 8 for
producing maps and analysing spatial-related information.
Paradox 8 System of database management. It is used as an
additional tool during data analysis.
MS Office 2000 Working with documents Word, Excel, Power Point,
Access.
