Developments in Acoustic Inertial · PDF fileDevelopments in Acoustic Inertial Positioning ......

Developments in Acoustic Inertial Positioning PHINS RAMSES Metrology – An Update

The Hydrographic Society In Scotland, 25th April 2012

Jim Titcomb – Offshore Technical Manager, iXBlue Limited

2 iXBlue Acoustic Inertial Positioning Contents

Building blocks

iXBlue philosophy

Track record

Metrology method

Metrology results

Summary

3 iXBlue Acoustic Inertial Positioning Building blocks

Building

blocks

DP, OOS, Metrology, etc

GAPS RAMSES MMI & software

PHINS OCTANS POSIDONIA Transponders

FOG Acoustics Mechanical Electronics Software

Solutions

Integrated

products

Products

Technologies

4 iXBlue Acoustic Inertial Positioning General philosophy: OWN THE TECHNOLOGY

Why?:

Maintain control of supply

Export control factors – eliminate US components

Detailed understanding

Reactivity

iXBlue manufacture :

Specialist fiber , gyros & optical components

Accelerometers

Transducers

Control of the core technologies

iXBlue is one of the world leaders in manufacture of high grade gyros

5 iXBlue Acoustic Inertial Positioning General philosophy: OPEN APROACH

Hardware:

Generic interfacing

Library:

Documented

Third party sensors

Standards

Can & will implement new protocols when requested

Facts:

Our INS can interface to any USBL/LBL/DVL/GPS etc

RAMSES can interface to other manufacturer’s beacons

iXBlue have provided IMU90 to Kongsberg for use in HAIN ≈ 20 units

iXBlue have provided ROVINS IMU to Fugro for use with Fine Track

iXBlue are providing IMU 50 to CDL for TOGS II

6 iXBlue Acoustic Inertial Positioning General philosophy: PERFORMANCE

Master Technology

Optimisation through understanding

History

PHINS a market standard, proven up to 85deg lat North

3,000+ OCTANS operated worldwide

FOGs since 1980s

PHINS on the market for 10 years

Inertial & Acoustic complement each other

But, the heart of the system is the Kalman Filter

Any sensor

Real time output

No topside

Post processing option

7 iXBlue Acoustic Inertial Positioning Track Record – PHINS & HiPAP for Pipeline Survey

USBL DVL (Post Processed)

PHINS DVL (Real Time)

8 iXBlue Acoustic Inertial Positioning Track Record – ROVINS & GAPS for Touchdown Monitoring GOM

Who & what: C&C Gulf of Mexico

Monitor Pipe lay Position

iXBlue solution : GAPS + ROVINS

GAPS on 10m pole

ROVINS DVL calibrated in field

High noise due to DP

Acoustic dropouts, masking & thrusters

ROVINS rejects USBL spikes

SV profile recorded on ROV decent

Wd 600-1000ft, layback 1500ft

“I believe this represents a great step forward for C&C and the Gulf of Mexico” Jake Klara C&C

9 iXBlue Acoustic Inertial Positioning Track Record – ROVINS & GAPS for Towfish Positioning

Equipment mobilized:

Standard GAPS installed in a moon pool (permanent installation)

ROVINS on the tow fish (Edgetech)

MT832E (integral head) transponder

Depth sensor

GPS and laptop on surface

10 iXBlue Acoustic Inertial Positioning Track Record – ROVINS & GAPS for Towfish Positioning

Distance (m) N-S S-N W-E E-W

N-S - 0.22 0.65 0.52

S-N 0.22 - 0.68 0.47

W-E 0.65 0.68 - 0.3 E-W 0.52 0.47 0.3 -

Target picked on four passes

ROVINS heading and position

No post processing

Jitter both ways on Multiplexer

Largest error = 68cm

11 iXBlue Acoustic Inertial Positioning Open Architecture – NASNet®

Who and What: Dynamic Positioning

Providing Robust Positioning even without GPS

Smooth position on acoustics

High Update rate

Reduce spikes

Better station keeping

Robust Positioning

12 iXBlue Acoustic Inertial Positioning Concept – Pipe Crossing

ROVINS DVL & RAMSES

POSIDONIA II, GAPS (or any other USBL)

INS on the ROV smoothes USBL data improving real time control of pipe position

POSIDONIA used for long laybacks or in deep water

GAPS used in shallow water for excellent horizontal performance

ROV places beacon at each end

of crossing

RAMSES SLAMS beacons while

returning to monitoring position

INS now positions relative to

crossing

13 iXBlue Acoustic Inertial Positioning Post Processing Capability – DELPH INS

DELPH INS post-processing software for use with iXBlue INS (building blocks)

Using data recorded during acquisition, DELPH INS allows:

Re processing with customized sensors settings

Integrate data from external sensors not available in real-time

Edit data to remove outliers or erroneous aiding data

Enhance navigation quality using Forward / Backward algorithm

WINDOWS (®) interface

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iXBlue Acoustic Inertial Positioning Post Processing Capability – DELPH INS

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04 Ed. D


18 iXBlue Acoustic Inertial Positioning Post Processing Capability – DELPH INS – HiPAP & PHINS DVL

Out of Straightness survey

Real time image

Post processed image

19 iXBlue Acoustic Inertial Positioning Track Record - OOS operations – HiPAP & PHINS DVL

20 iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – An Update

21

MANIFOLD

PLEM/PLET (pipeline end manifold /

pipeline end termination)

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – An Update

22

Pure Inertial method

operational, efficient (on short distance)… but black box

INERTIAL only

Pure acoustic method (LBL)

proven, accurate, but expensive (time consuming)

ACOUSTICS only

iXBlue method combines both technologies and offers

☑ massive vessel time saving

☑ an extremely robust and reliable method

☑ the best of each technology

☑ simple to use

A perfect combination

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – An Update

23

PHINS 6000 Inertial Navigation system

The best commercial INS in its class

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Key Components

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RAMSES

Synthetic Base Line Positioning System

iXBlue ahead with innovation

SLAM

(Simultaneous Localization & Mapping)

Sparse array mode


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DELPH INS

INS data post-processing made simple

P H IN S

phins core algorithms

user settings

internal sensors

measurements

fiber optic

gyroscopes

accelerometers

external sensors

measurements

data logging

post-processing file


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The Key is RAMSES “SLAM” algorithm, coupled with PHINS

1. RAMSES & PHINS tightly coupled

(position, speed)

2. Acoustic range

adjusts beacon’s position

3. Progressively adjust beacon’s position

until final localisation (SLAM)

With real life data… (La Ciotat)

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – SLAM

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Ready to use pre-integrated

“metrology tool”

Stand alone sub-components on

deployment pole or

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – System

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#1: mobilisation

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Mobilisation

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#1: mobilisation

#2: deployment

All equipment can be deployed in one dive only

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Operations

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#1: mobilization

#2: deployment

All equipment deployed in a single dive

#3: Install one transponder in each connector + 3rd

reference beacon


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#1: mobilization

#2: deployment



reference beacon

#4: proceed to INS alignment (ROV on seabed)


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#1: mobilization

#2: deployment



reference beacon


#5: with ROV flying above transponders,

use metrology tool to “SLAM”

beacons


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#1: mobilization

#2: deployment



reference beacon




beacons

#6: replace one beacon with metrology tool,

measure acoustic ranges + full attitude

(Heading, Pitch, Roll + Depth)


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#1: mobilization

#2: deployment



reference beacon




beacons




#7: replace second beacon with tool, measure

full attitude + Depth


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#1: mobilization

#2: deployment



reference beacon




beacons




#7: replace second beacon with tool, measure

full attitude + Depth

#8: end of data acquisition, start data processing…..


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With its additional metrology module DELPH INS software produces full

metrology results in ≈ 1 hour

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Processing

37 iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Results

-0.25 -0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.250

10

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50

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Distance - m

Balise 1 - Moyenne = 0 m - Ecart type = 0.037 m

Metrology

#1

#2

#3

Slam

37.70

43.88

43.77

#4 57.38

LBL

Method (m)

37.61

43.80

43.80

57.27

Residual

Error (m)

0.09

0.08

0.03

0.11

#5 57.30 57.27 0.03

#6 56.75 56.77 0.02

#7 42.72 42.81 0.09

#8 55.48 55.46 0.02

#9 38.42 38.33 0.09

#10 55.97 56.05 0.08

Average elapsed time for one metrology: 6 hours

Multiple metrologies in one run

38 iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Results

Analysis of the first results showed that the pressure data was not accurate enough

Trial metrology conducted (no third party comparison system, or LBL reference

newer than 2 to 3 months)

Four concurrent processing algorithms used –

Slam 2D

Slam 3D

Pure Acoustic

Direct measurement

18mm spread between the four methods

Third test abandoned due to third party multiplexer failure

Fourth test scheduled

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Saves time:

☑ 6 hours max from deployment to results

☑ Multiple metrologies at once with the addition of transponder

iXBlue Acoustic Inertial Positioning PHINS RAMSES Metrology – Summary

40

metrology

results

Robust and reliable:

☑ No line of sight required for acoustics,

tolerant to masking sectors

☑ No limit in jumper length

☑ 3 concurrent calculation methods for the

same result (acoustic, inertial, combined)

☑ A number of QA/QC controls to field prove

results


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Simple:

☑ One transponder in each connector + 1 reference, un-calibrated

☑ A ready to use metrology tool

☑ Based on easily exportable PHINS INS (dual use classification)

☑ User friendly DELPH INS post-processing package


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Versatile:

☑ Sub-components (RAMSES, PHINS, Transponders) are stand

alone positioning systems that can be used for other jobs

☑ Any pre-installed PHINS can be re-used for metrology


43 iXBlue Acoustic Inertial Positioning Summary

iXBlue INS operational for over 10 years

We really know INS

iXBlue building blocks interface with each other

And 3rd party sensors and systems

iXBlue INS are self contained systems

No large topside required

Web interface – simplicity

All data available real time on the vehicle

DELPH INS – highly flexible re-processing

44 iXBlue Acoustic Inertial Positioning

ROVINS PHINS GAPS POSIDONIA RAMSES transponders

Any Questions?

Developments in Acoustic Inertial · PDF fileDevelopments in Acoustic Inertial Positioning ......

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