INS for life of field

Transcription

1 INS for life of field Mark Carter Business Development Manager : Inertial Oceanology 2012

2 Positioning Requirements Drilling Construction Pipe Lay IRM Decommissioning Rig DP (Dual Redundant) Site Survey Pre-Lay Survey Pipeline Inspection Structure/Jacket Survey Marine Riser Monitoring Excavation Rock Dumping Pipe Span Monitoring Structure Movement Monitoring Emergency BOP Control Structure Positioning Pipe Lay Pipe Buckle Monitoring Crane Hook Positioning Well Head Data Logging Anchor Positioning Flexible & Umbilical Lay Pig Detection ROV/Diver Tracking Well Containment As Built Survey As-Laid Survey Well Intervention Environmental Monitoring 1) Support all these tasks 2) Provide the right accuracy and integrity (QC) in the right place at the right time. And.. Settlement Monitoring Vessel DP Noise Monitoring Vessel DP Metrology Corrosion Monitoring Vessel DP Flow Assurance e.g. slug detect Dive Support Asset Sensor Monit. E.g. sand Steel Catenary Riser Monitoring Riser Tower Monitoring Mooring Line Monitoring Umbilical Backup Leak Detection Reservoir Monitoring Injection Wellhead Data Logging Environmental Monitoring STL Buoy Docking Vessel DP FPSO DP 3) Deliver vessel and infrastructure efficiency savings year on year

3 Inertial and 6 th Generation Acoustics - The Common Thread

4 1) DP INS for Drilling Hardware stock Hardware used

5 DP INS Drilling with increased reliability Petrobras P23, Roncador field, Campos Basin Navigation sensor hub allows seamless integration with Marksman Independent interfacing and power to Lodestar and transceiver GPS for timing and latitude aiding only System accepted as independent PME and proven in service

6 Position difference [m] DP INS Accepted in Drilling markets Gulf of Mexico (1800m) 6 4 INS initialised (Acoustics enabled) Acoustics disabled North 2 East 0 1DRMS Time [minutes] 1DRMS = 0.93m (Relative Veripos ULTRA DGPS) Real World Performance System Accuracy (1DRMS) Update rate L/USBL 0.1m 0.5m 1 per 5 / 6 seconds DP-INS (acoustically aided)* % depth 1 to 5Hz DGPS 0.1m 0.5m 1Hz * Single transponder used

7 2) Equipment applicable to Construction Hardware stock Hardware used

8 Optimised USBL Convenience in deep water Ormen Lange 850m Setup: Lodestar in AHRS mode co-located with USBL transceiver 4 x transponders on Template Positioned by Optimised USBL and LBL Benefit: LBL performance with USBL convenience High precision through combination of digital transceiver design, WB2 benefits and AHRS integration <22cm between Optimised USBL and LBL (Ormen Lange field)

9 GyroUSBL Convenience in deep water Gulf of Mexico m 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

10 No. of future known fields >400m depth Drive to improve USBL performance No. of all Future Known Fields against Depth >400m Water Depth (m) Under Dev Firm Plan / Deferred Probable Possible USBL HP USBL Optimised USBL LBL

11 Lodestar Gyro Compatt 6 configuration INS Options: USBL aiding over telemetry Integrated LBL transceiver (remote transducer option) Integrated Depth and SV sensor DVL Real time and post processed solution Wired or wireless AHRS Options: 0.1 Seclat 0.05 Pitch and Roll 1Hz streaming attitude data using 6G modem 10% extra battery + 2h = ~24h

12 GyroCompatt - lowering, set-down and as-built Ormen Lange template B Setup: Single Gyro Compatt for positioning, attitude, and heading Benefit: Easy, low risk installation and operation Convenience of Optimised USBL precision Sparse LBL for final fix using LoF tpdr Logs data to monitor structure settlement Subsea Gyro 2 X C5 Compatts Battery for > 24h Gyro operation ROV Gyro readout display ROV operated Gyro on/off Switch Mounting frame Multiplexor to link all the instruments

13 Metrology flexibility offered Setup: We don t state the approach Flexible, reconfigurable solutions to suit application Based on 6G acoustics and inertial Customer Benefit: Improved ease of use and performance of 6G acoustics Efficiency improvements with inertial integration Flexibility: QC through the use of both inertial and acoustic measurements ROV or LGC6 techniques Aided or unaided INS Real time and post processed

14 3) Equipment applicable to Pipelay : SPRINT Hardware stock Hardware used

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16 SPRINT: Installation of LBL aided configuration Malaysia July 2011 Digiquartz Lodestar and mounting plate Full or sparse arrays RN6 tcvr and remote transducer

17 SPRINT: DVL misalignment calculation Malaysia July 2011 Setup: No need for co-location of DVL and Lodestar Calibration free if approximate mounting angles known (<~1 ) Simple calibration for maximum precision: Arbitrary mounting 5-20 minutes of manoeuvring at the seabed. Accelerations along various axes including up/down. Heading changes +/- 90 deg, movement maintained Random high dynamic manoeuvres

18 Touchdown monitoring, single beacon LBL + DVL (~ 1000m) Malaysia July 2011

19 Video * after initialisation and relative to RTK GPS

20 Touchdown monitoring, single beacon LBL + DVL (~ 1000m) Malaysia July 2011 Benefit: High integrity position solution through tight integration of acoustics and INS Robustness of Wideband acoustic signal processing Supports multiuser and sparse arrays Accuracy and precision of LBL using one or two transponders

21 SPRINT: Installation of USBL aided configuration Malaysia August-September 2010

22 Northings (m) SPRINT Extended layback tracking Malaysia August-September USBL: 2.11m 1DRMS INS: 0.28m 1DRMS Incorrect USBL Positions Loss of USBL Positioning USBL INS DVL & Depth < 0.1% distance travelled Eastings (m)

23 Video

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25 IRM : Pipeline Out Of Straightness North Sea February 2012 Setup: SPRINT with 3000m Lodestar INS USBL, RDI DVL and Depth aided JANUS Post Processing SPRINT Real Time (coarse configuration) JANUS Post Processed IRM Customer Benefit: 20cm relative accuracy in 50m distance With USBL disabled for 10 minutes the real time DVL aided drift of 20cm was eliminated during post processing This means that even with a 10 minute USBL outage SPRINT and JANUS still achieved the required spec.

26 Decommissioning - Seabed survey English Channel February 2012 Setup: Vessel mounted: Lodestar (AHRS and INS modes), RTK GPS Subsea mounted: SPRINT (Lodestar INS, RDI DVL and Paroscientific DigiQuartz_ Customer Benefit: Motion compensation of survey sensor data GPS / INS integration bridges GPS outages Delayed Heave output IMO certified Same hardware can be surface or subsea mounted, GPS, USBL or sparse LBL aided

27 Post Processing : Janus the benefit of hindsight

28 Inertial and 6 th Generation Acoustics - The Common Thread Drilling Construction Pipe Lay IRM Decommissioning 1) Support all these tasks? - Real world examples provided 2) Provide the right accuracy and integrity (QC) in the right place at the right time. 3) Deliver vessel and infrastructure efficiency savings year on year - Sparse LoF transponders, wideband acoustics and INS. - Reconfigurable systems to suit operations - Convenience of USBL in deep water - Sparse LBL + inertial reduces seabed infrastructure

29 Customer Support Customer Workshops Best practice White Papers Array design and analysis Performance modelling & simulation In-water simulation trials Hands-on training courses Equipment recommendation & configuration Operational support 24Hr Emergency telephone helpline Thruster Thruster Source Slant Operating USBL Avtrak Angle Noise Distance Frequency Level Range Depth Mode Type Transducer (deg) (db) (m) (khz) (db) (m) (m) Ranging Standard Omni RPSK Standard Omni HDRL Standard Omni Ranging Standard Omni RPSK Standard Omni HDRL Standard Omni Transceivers: Standard Ranging Big 100 db Omni Big 188 Head RPSK Big Omni db HDRL Big Omni Ranging Big Omni RPSK Big Omni Ø: 0 HDRL Big Omni Ranging Standard Directional RPSK Standard Directional HDRL Standard Directional Ranging Standard Directional RPSK Standard Directional HDRL Standard Directional Signal 10 Types: 27 Ranging Ranging Big Directional RPSK Big Directional Robust 187 telemetry HDRL Big Directional HDRL 187 telemetry Ranging Big Directional Transducers: 0 Omni RPSK Big Directional HDRL Big Directional 0 Directional Thrusters:

30 Thank you Any Questions? Whilst we have been talking, the world has turned 7.5 and we have rotated 835 Km through space This has been precisely measured many times over by our inertial navigation systems worldwide Find out what we can do for your projects with a SPRINT demo on Predator, here at OI Sparse LBL USBL aided INS Post Processing Daily: 10:30-11:45, 13:30-14:45 16:00-17:15 It s a shallow water, high multipath environment come and test us!!!