INS for life of field Mark Carter Business Development Manager : Inertial Oceanology 2012
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
Inertial and 6 th Generation Acoustics - The Common Thread
1) DP INS for Drilling Hardware stock Hardware used
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
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 -2-4 -6 320 340 360 380 400 420 440 460 480 500 520 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)* 0.05-0.1% depth 1 to 5Hz DGPS 0.1m 0.5m 1Hz * Single transponder used
2) Equipment applicable to Construction Hardware stock Hardware used
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)
GyroUSBL Convenience in deep water Gulf of Mexico 2011-1478m 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
No. of future known fields >400m depth Drive to improve USBL performance No. of all Future Known Fields against Depth >400m 40 35 30 25 20 15 10 5 0 400 600 800 1000 1200 1400 1600 1800 Water Depth (m) Under Dev Firm Plan / Deferred Probable Possible 2000 2200 2400 2600 2800 USBL HP USBL Optimised USBL LBL
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
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
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
3) Equipment applicable to Pipelay : SPRINT Hardware stock Hardware used
SPRINT: Installation of LBL aided configuration Malaysia July 2011 Digiquartz Lodestar and mounting plate Full or sparse arrays RN6 tcvr and remote transducer
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
Touchdown monitoring, single beacon LBL + DVL (~ 1000m) Malaysia July 2011
Video * after initialisation and relative to RTK GPS
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
SPRINT: Installation of USBL aided configuration Malaysia August-September 2010
Northings (m) SPRINT Extended layback tracking Malaysia August-September 2010 626800 626700 USBL: 2.11m 1DRMS INS: 0.28m 1DRMS 626600 626500 Incorrect USBL Positions Loss of USBL Positioning USBL INS 626400 DVL & Depth < 0.1% distance travelled 626300 217600 217700 217800 217900 218000 218100 Eastings (m)
Video
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.
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
Post Processing : Janus the benefit of hindsight
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
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 0 100 10 27 188 6804 6804 RPSK Standard Omni 0 100 10 27 182 5805 5805 HDRL Standard Omni 0 100 10 27 182 3561 3561 Ranging Standard Omni 0 105 10 27 188 5576 5576 RPSK Standard Omni 0 105 10 27 182 4695 4695 HDRL Standard Omni 0 105 Transceivers: 10 27 Standard 182 2751 2751 Ranging Big 100 db Omni 0 100 10 27 Big 188 Head 7610 7610 RPSK Big Omni 0 100 10 27 182 6298 6298 105 db HDRL Big Omni 0 100 10 27 182 6298 6298 Ranging Big Omni 0 105 10 27 188 7610 7610 RPSK Big Omni 0 105 10 27 182 6298 6298 Ø: 0 HDRL Big Omni 0 105 10 27 182 5144 5144 Ranging Standard Directional 0 30 100 10 27 193 7610 7610 RPSK Standard Directional 0 100 10 27 187 6298 6298 HDRL Standard Directional 0 45 100 10 27 187 4503 4503 Ranging Standard Directional 0 105 10 27 193 7610 7610 RPSK Standard Directional 0 105 10 27 187 5805 5805 HDRL Standard Directional 0 105 Signal 10 Types: 27 Ranging 187 3561 3561 Ranging Big Directional 0 100 10 27 193 7610 7610 RPSK Big Directional 0 100 10 27 Robust 187 telemetry. 6298 6298 HDRL Big Directional 0 100 10 27 HDRL 187 telemetry. 6298 6298 Ranging Big Directional Transducers: 0 Omni 105 10 27 193 7610 7610 RPSK Big Directional 0 105 10 27 187 6298 6298 HDRL Big Directional 0 Directional 105 10 27 187 6298 6298 Thrusters:
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!!!