Applications of iusbl Technology overview
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1 Applications of iusbl Technology overview Tom Bennetts Project Manager
2 Summary 1. What is iusbl and its target applications 2. Advantages of iusbl and sample data 3. Technical hurdles and Calibration methods 4. Improvements using Lodestar with iusbl and an Inertial Navigation Solution
3 What is the i in iusbl Standard USBL systems usually hull mounted on the ship Ultra short baseline to calculate azimuth and elevation the acoustic signal arrives from. Combine with GPS, Heading, Pitch & Roll at time of acoustic receipt to give a transponder position Inverted USBL for operating at depth Traditional vessel mounted USBL but with a pressure balanced array for deep water use Rated to 7000m Utilises Sonardyne Wideband signals for optimal accuracy Can be used in any orientation giving rise to many applications
4 Which way is it facing? The iusbl already has a basic internal sensor but typically we want better than 0.5% SR This involves mechanically mounting a Lodestar AHRS to the iusbl Installed in a multitude of survey scenarios on any vehicle Customers have approached Sonardyne with particular operational circumstances well suited to iusbl
5 Who uses iusbl Example applications Deep water Oceanographic research AUV docking and position re-initialisation or beneath extensive ice sheets ROV positioning single reference ROV tracking instead of a full LBL array Accurate streamer tracking for hydrocarbon mapping such as seismic & EM Review each application where the system is being used in a alternative way from standard vessel mounted USBL. Highlight the technical advantage
6 NOC Ultra deep water tow-fish tracking (6,000m range) Bay of Biscay present Ultra long range requirement Potential to deploy without surface USBL iusbl rated to 7000m
7 Deep Tow Fish Tracking Towed Ocean Bottom Instrument (TOBI 2) Used for very long ranges as the local SNR is very good
8 AUV Guidance & Docking 2007 Present AUV nose cone with iusbl transceiver Also includes many military applications Avtrack Navigator iusbl with & high speed acoustic modem link Sends data back to the surface
9 AUV Docking 15m shallow! Cross track error 1,800 m Bearing error
10 ROV Based USBL Single reference tracking The ROV could track a mobile transponder outside the vessels USBL operating field or in/under a structure Vessel of opportunity iusbl mounted on ROV ROV can be tracked from the vessel If vessel based USBL is available ROV tracking relative to a fixed reference transponder
11 Streamer tracking, Singapore, Norway, Shetland, Atlantic and India present Mounted on a subsea vehicle Facing rearward to track a Streamer
12 iusbl & Lodestar An application used by Fugro GPS positions Vessel USBL AHRS stabilises the USBL to position Tpdr A iusbl and Lodestar position Tpdr B A B
13 Streamer tracking Detecting ballast bias along the streamer
14 Streamer tracking Mapping separation - seismic or electromagnetic Tx & Rx dx Beacon separation Knowing the exact separation helps Geophysical interpretation of data. The exact position of the Tx and Rx are known better than if the locations been derived from a surface USBL.
15 Technical advantages of iusbl Operates beyond the range of a standard vessel based USBL system Usually situated in low noise & low reverberation Dynamically stable environment Increased range capability due to better SNR Positioning is locally accurate irrespective of depth Shallow tracking where thruster wash would have been an issue No re-calibration required Rapid deployment vessels of opportunity Installed on most subsea bodies Compatible with 3 rd party survey systems
16 Removing the transceiver from the vessel away from vessel noise Example from a particularly noisy vessel Noise plot taken from vessel s USBL Observed 26kHz = 109dB Example: Ambient noise observed away from the vessel USBL iusbl SNR 6.94dB 32.94dB Theoretical max range 2,398m 7,864m Observed 26kHz = 78dB Observed noise drops from 26kHz to 78dB = 31dB reduction
17 NOC ~ 6000m Range iusbl origin Transponder deployed from vessel potentially no surface USBL 6000m Transponder in Responder mode Ping stacking to give 2Hz update irrespective of range iusbl Dynamically stable low noise environment Good SNR
18 Achieving up to 10km Trenching work Conventional vessel based USBL Total distance between vessel and tail towfish could be over 10km Tracking to head towfish with USBL iusbl mounted on head towfish or cage facing aft iusbl tracking Trencher 10,000m
19 Rapid deployment A combined Subsea Lodestar AHRS and MF iusbl tracking trial before being mounted on an ROV or AUV.
20 Vessel Based Remote USBL The Application iusbl Positioned Towfish B Tail towfish being positioned via the iusbl Multiple Transceivers require Fusion USBL GPS positioning vessel USBL to transponder to iusbl to target
21 Mixing survey system tracking a mobile Compatt from the iusbl Customer demos Plymouth 2008 Sonardyne or Alternative vessel based USBL positions the iusbl vehicle The output from the vessel USBL system and Sonardyne iusbl can be combined in a navigation package to provide overall positioning Sonardyne iusbl positions the mobile target
22 Operation problems to overcome Sound velocity compensation Depth aiding iusbl position Calibration Stable vessel USBL position of towed body where iusbl is mounted
23 Sound Velocity Horizontal application Importance of Mini SV sensor SV varies with depth therefore fast update required
24 Depth aiding At depth any errors in USBL derived depth are directly transferred to the iusbl positions Compensate with onboard pressure sensor Pulse position depth on WSM beacons Example of poor depth input degrading all data of the relative system Improved by adding pressure sensor data to the USBL position for the towed iusbl
25 Calibration Orientating the AHRS to the iusbl Co-ordinate Measuring Machine at Sonardyne head office Accurate enough to highlighted a 0.1 deg roll error in 3rd party vessel USBL system in 1500m We can further improve this.
26 Improving iusbl positioning Tightly coupled USBL INS aided subsea positioning
27 Lodestar on vessels of opportunity Over-the-side can provide excellent results if care is taken Understand twisting, flexing and motion of the pole relative to the vessel and compensate (Lodestar AHRS) appropriately. Lodestar mounting plate
28 USBL System Performance An Average Fix in Deep Water for such operations Easting vs Northing 15 Data is merged at source 2,070m Wideband vs Tone An Average Fix in 2,070m Water Depth One time platform Access to all high speed Data Not limited to bandwidth of 232 Immune to pole movement No induced errors from ship distortion where AHRS is on bridge SD Eastings 1.16m SD Northings 1.18m SD Depth 0.17m
29 INS on the towfish It s was there all along! Lodestar was designed as an inertial system from the start Firmware upgrade to enable inertial output Combined with surface positioning gives the ultimate iusbl positioning Lodestar at surface to stabilise the vessel motion Tightly coupled USBL Aid positioning in deep water of towed body Lodestar subsea to stabilise the surface USBL position for the towed body Tightly coupled iusbl
30 INS proven track record demonstrated at OB09 Real time DVL, USBL and LBL aided INS Integrated DVL, SV, Pressure and USBL into one solution
31 Sonardyne family of Transceivers To meet your survey requirements Do you have a new application? We have the solutions iusbl is core to our next generation of products Avtrack Navigator Subsea iusbl Acoustic modem HP USBL High Precision USBL Coupled AHRS Combined Inertial system
32 /Products/PositioningNavigation/8091_8094.html Tom Bennetts Project Manager Head Office Sonardyne International Limited T. +44 (0) Blackbushe Business Park F. +44 (0) Yateley, Hampshire, GU46 6GD E. United Kingdom
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