Novel developments within close proximity surface DP reference … · 2015-01-07 · Return to...
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DYNAMIC POSITIONING CONFERENCEOctober 15-16 2013October 15-16, 2013
SENSORS SESSION I
Novel Developments within Close Proximity Surface DP Reference Systemsy
Arne Rinnan, Nina Gundersen, Harald Rosshaug
Kongsberg
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Novel developments within close proximity surface DP reference systems By Arne Rinnan, Nina Gundersen, Harald Rosshaug
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Outline
• Introduction
• Close proximity DP operations
• Close proximity surface DP reference systems
• Driving requirements
• Comparisons and test results
• Technology evolution
• Conclusion
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Introduction
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Introduction
• Present a status update on latest surface based DP reference system
technology
• The development of GNSS has been driving the performance for many
years
• Not even GNSS will be the sole-means-system
• Microwave and laser based systems are used as equivalents or
complements to GNSS
• There are driving forces within microwave and laser technologies
• Has there been a similar development of DP reference systems based on
microwaves and lasers as for GNSS based solutions?
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Close proximity DP operations
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Offshore loading
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Gangway monitoring
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Heavy lift operations
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Platform support
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Anchor handling
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Offshore wind farm service
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Close proximity surface DP reference systems
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Alternatives
• Relative GNSS
• Microwaves
• L.A.S.E.R.
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Relative vs. absolute GNSS
• Absolute GNSS – Measuring co-ordinates in a geo-referenced frame
(lat, lon, height) – Using correction services for 10-20 cm accuracy – The difference between two absolute GNSS
positions can be used as a relative solution
• Relative GNSS – Measuring a relative vector in space (∆X, ∆Y, ∆Z) – Combining direct measurements from two
different antennas – 10-20 cm accuracy without any use of correction
services
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Integrated GNSS/IMU systems
• IMU integration allows for position calculation in periods with reduced GNSS availability (less GNSS satellites, reduced geometry)
• The IMU will continuously provide navigation information even during short-term loss of GNSS signal
• Integrity check of GNSS data
• Enhanced RAIM capabilities (reduces the effect of multipath)
• More reliable and accurate lever arm compensation of position and velocity
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MW technology
• Frequency bands usually used: 5.56 GHz / 9.25 GHz
• Bandwidth: typically 100 MHz
• Rotating or fixed systems
• Transponders/responders: – Passive or active – Reflecting a modulated signal giving ID-tags to the
transponders
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Atmospheric attenuation/absorption
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MW frequencies
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MW operation
• Multipath interference: – In calm sea (no heave), reflections from the sea surface
can cause destructive multipath fading – Metallic structures close to interrogator or transponder
can cause destructive multipath fading
• In-band interference: – 5.56 GHz: Rare – 9.25 GHz: X-band radar on own vessel (vertical
separation needed)
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Laser technology
• Laser pulsed diode transmitter, with repetition rate 7.5 – 30 kHz
• Wavelength: 905 nm
• Vertical beam divergence: 10 – 20 degrees
• Horizontal beam divergence: 2- 4 mrad
• Eye safety: Class I
• Transponders: prism, prism cluster or reflective tape (no ID)
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Atmospheric attenuation/absorption
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Laser
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Environmental challenges GNSS MW LASER
Heavy rain
Fog
Snow/ice
Ionosphere
Sunlight
Interference
Multipath
Integrity
Heavy sea conditions
Complexity
Range
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Driving requirements
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Performance pyramid
• Accuracy at confidence level (e.g. 95% CEP)
• Integrity given a certain accuracy
• Continuity: the probability that accuracy & integrity
will be maintained for a certain period into the
future
• Availability of accuracy & integrity & continuity
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Accuracy
Availability
Integrity
Continuity
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Integrity by Stanford plots
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Alarm Limit
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Comparisons and test results
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Accuracy comparison
• Position accuracy indicated by grey
• Range/bearing systems degrade accuracy as a function of distance
• Distance dependent range and bearing accuracy gives additional effect
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Relative GNSS
Laser(*)
Microwave
Distance
(*) Assuming good sight conditions and use of prisms
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Relative GNSS accuracy
• Line of sight between observation points not necessary
• No distance limitation
• No degradation of accuracy as function of distance
• Similar accuracy in all directions (including vertical)
• Lever arm compensation at both ends for steel-to-steel measurements
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Relative GNSS
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Receiver Autonomous Integrity Monitoring
• Relative GNSS (usually) relies on a large number of observations (satellites)
• The positions are overdetermined (nobs >> nunknowns)
• Residual measurements can be used to indicate the integrity of the position indicated by e.g. an error ellipse
• The number of GNSS satellites makes this a feature unmatched by other reference systems
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Laser accuracy
• Line of sight between laser and reflector necessary
• No practical degradation of range accuracy as function of distance (*)
• Focused beam gives large S/N ratio margin but signal blocking exposure
• Constant angular accuracy linear degradation of transversal accuracy
as function of distance
• Vertical accuracy dependent on implementation
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Laser
(*) Assuming good sight conditions and use of prisms
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Detector array
Multiple detector advantages:
• Redundancy
• More stable tracking under roll/pitch exposure
• Better 3D accuracy based on interpolation
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Single detector Multiple detectors
Det
ecto
r axi
s
Angular rotation (0.6 mrad resolution)
Target detection
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Microwave
Microwave accuracy
• Line of sight between interrogator and transponder necessary
• Some degradation of range and bearing accuracy as function of distance
• Less S/N ratio margin gives noise floor limitation due to free space loss
• Decreased angular accuracy un-linear degradation of transversal accuracy as function of distance
• Vertical accuracy dependent on implementation
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Transponder designs
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Traditional Passive retro-reflective Active retro-reflective
Low power Long range
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Individual calibration
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Test vessel
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Technology evolution
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GNSS evolution
• Multi-frequency systems
• Improved signal tracking
• Improved accuracy
GPS
GLONASS
Galileo
Beidou
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MW evolution
• Low power FMCW transmitters – no radiation hazards
• Systems are getting smaller and more installation-friendly
• Multi-Interrogator systems: – real 360-degree coverage – one telegram per transponder
• Multi-transponder operation:
– more transponders can be tracked simultaneously
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MW evolution
• Transponders with retro-reflective antennas giving low current consumption (battery life time of three years) and high effective radar cross section
• More flexible FMCW patterns adapted to the operation – fast movements or slow movements (heavy lift)
• Multi-frequency operation to improve integrity/redundancy
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Laser evolution
• Smaller, more installation friendly sensors
• Photo diode arrays improves/simplifies transponder tracking during rough sea. No stabilized platform is needed
• External sensor integration: – automatically reselect target after short term
loss of transponder – more robust with regard to false target
tracking
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Conclusion
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Conclusion
• Evolution of GNSS has been a driver
• There is no sole mean solution
• Complementary properties of different systems useful
• Evolution expected to continue driven by automotive and communication
technology
• Evolution also within microwave and laser technology in current products • Benefits of integrating different technologies in DP
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