TORSTEIN PEDERSEN. Improving the Common DVL: A New Standard in Doppler Velocity Logs
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1 TORSTEIN PEDERSEN Improving the Common DVL: A New Standard in Doppler Velocity Logs
2 VOLVO OCEAN RACE 2011 Precursor to Nortek s DVL story
3 Nortek Background for DVLs Technology Company with expertise in acoustic instrumentation more specifically Doppler sensors. Third generation platform Broadband Front end with better sensitivity Improving the DVL? Reduce size Reduce weight Reduce power More powerful processing to allow for the flexibility to employ different techniques. Enriched data products Easier to use
4 ESTABLISHING A BASELINE Background on DVL for Subsea Navigation
5 Dead Reckoning 1. Starting position 2. Velocity 3. Heading 4. Time of travel 5. Estimate change of position 6. Cummulative error q V
6 What is a DVL? Velocity Navigation AID providing velocity in an earth reference frame. Measures velocity relative to the bottom. Velocity estimates from Doppler shift of bottom echo.
7 How to achieve quality bottom track Step 1: Detect the bottom. Step 2: Estimate the relative velocity to the bottom.
8 Bottom detection the bottom echo A B C D Transmit pulse reflects from scatterers in the water as well as botoom. How to distinguish? Look for loud returns similar to transmit pulse. A B C D
9 Unstable bottom returns: Typical causes for loss of bottom lock Soft bottom Close to bottom Bottom slope / underwater structure Long range Let s have a look at some of these case where we compare the processed return using the standard method and Nortek s proprietary method. Oslo Fjord, 1 MHz DVL.
10 Oslo Fjord 13 meter range Nortek Detection 1 MHz DVL Match Filter Detection
11 Oslo Fjord 52 meter range Nortek Detection 1 MHz DVL Match Filter Detection
12 Oslo Fjord 66 meter range Nortek Detection 1 MHz DVL Match Filter Detection
13 Oslo Fjord 81 meter range Nortek Detection 1 MHz DVL Match Filter Detection
14 Range test results, 1 MHz How does this look ping after ping? Max range presently 50 m. Standard 1.2 MHz acheives meters. Increasing this to 80 meters.
15 Range test results, 500 KHz Challenged with question can you get the range of a 300 khz with a 500 khz DVL? Greater dynamic range, improved bottom detection. Up one «weight class»! 300 khz 600 khz
16 Range test results, 500 KHz Challenged with question can you get the range of a 300 khz with a 500 khz DVL? Greater dynamic range, improved bottom detection. Up one «weight class»!
17 Detect multiple boundaries along beam path 1 MHz DVL Nortek Detection Match Filter Detection
18 What is Robust Bottom Track Greater range Better bottom discrimination Closer to bottom Yes, this is a newer hardware platform But it is a different method for bottom detection that provides the skill.
19 ixblue INS DVL integration Qualify DVL Run PD6 format Industry reference Effort continues
20 DVL1000 Evaluation Test with ixblue ROVINS Compare INS track to GPS/RTK Calculate error relative to distance travelled. Achieved well below DVL spec of 0.1%
21 So where is this all taking us? Bottom detection is getting better => Enabling operations in more challenging environments. Smaller does not mean lower grade. Exceptional long term accuracy and ping after ping reliability. Improved INS integration with enriched data formats precision timing & Quality parameters. Every ping on every beam. Sensors are becoming smaller, lighter, and less power consuming => Enabling smaller vehicles / more flexible operations.
22 Thank you
23 Experimental Setup Dead Reckoning verification Calibration followed by verification. Second 2.5-hr with general performance assessment and calibration at various speeds and AUV altitudes between 4-50 m First 1-hr straight-line (7 km) navigation performance evaluation at 30m altitude and 2 m/s fixed forward speed
24 Sea Trial Results Dead Reckoning verification Long Term accuracy = error rel. to dist. travelled. In this test we reached 0.02%, one tenth of specified accuracy <<0.1%
25 500 KHz test Test with ixblue ROVINS Compare INS track to GPS/RTK Calculate error relative to distance travelled. Achieved well below DVL spec of 0.1%
26 Qualifying estimates Figure of Merit (FOM) FOM - statistical measure of velocity precision (proprietary) v = 2 cm/s, v amb = 1.25 m/s, step = 75 This is not comparable to "error velocity Scales with beam velocity error Operating in beams - weighting independently This may be used as a Kalman filter input abs(radial velocity error) (m/s) FOM
27 Figure of Merit How can I use it? Beam rejection Velocity Error not effective here. Weighted solution
28 When do things get challenging? 1 MHz DVL
29 Get closer to the bottom 1 MHz DVL Nortek Detection Match Filter Detection
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