2005 04 05 Hydrofest 3 - Acoustics PDF

NAUTRONIX
MARINE TECHNOLOGY SOLUTIONS www.nautronix.com
Acoustic
Positioning
Systems
a presentation by
Donald Thomson
International Product
Manager - Acoustics
For The Hydrographic Society in Scotland
Hydrofest 2005
NAUTRONIX PLC
WHY ACOUSTICS?
Radio signals used by surface positioning systems are absorbed

by water, as a result acoustic signals are the preferred technology
for in water signalling.
NAUTRONIX PLC
WHAT IS ACOUSTICS USED FOR?

• Transfer of position from surface to seabed
(most oil industry work relates to drilling and installations on the seabed)
• Positioning within the water column

(tracking of ROVs, AUVs, and towfish (Survey Sensors)
• Relative positioning between locations

(relative installations, metrology)
• Transmission of data
(to support positioning and independent sensor data)
NAUTRONIX PLC
EXAMPLE OF DEEPWATER FIELD DEVELOPMENT
Loading Buoy
Flexible Riser Towers
FPSO Mooring Lines
2 Well Manifold
Injection Flowline
Production Wellhead
Production Bundle
Control Umbilical
Injection Wellhead
NAUTRONIX PLC
POSITIONING METHODOLOGIES
• There are 3 main methods of calculating a position using acoustics
• These are:-
– LBL – Long Baseline
– SBL – Short Baseline
– USBL – Ultra Short Baseline (SSBL Super Short Baseline)
NAUTRONIX PLC
ACOUSTIC POSITIONING METHODS

• UltraShort baseline (USBL)
– Determines beacon position by measuring the relative phases of
the acoustic signal received by closely spaced elements in a single
hydrophone
• Short baseline (SBL)

– Determines beacon position by measuring the relative arrival times
at three or more vessel mounted hydrophones
• Long baseline (LBL)

– Determines beacon position by measuring the slant ranges from
three or more widely spaced transponder
NAUTRONIX PLC
ACOUSTIC INSTALLATIONS DRILLING

NAUTRONIX PLC
ACOUSTIC INSTALLATIONS SURVEY

Ultra Short Base Line (USBL)
NAUTRONIX PLC
NAUTRONIX PLC
ULTRA SHORT BASELINE THEORY OF OPERATION
Phase delay used

to compute position
Phase
measuring
receiver
Single
hydrophone
Phase
Position
measuring
computer
receiver
Phase
Tone
Three
closely
burst spaced sensors
measuring
Free running
beacon Individual
receiver cycle of tone
burst
Single hydrophone phase comparison system

NAUTRONIX PLC
ERRORS IN USBL MODE
• Echo Range - timing errors
• Offset angles - phase detection errors
• Hydrophone Alignment - measurement errors
• Tilt Compensation - acceleration

NAUTRONIX PLC
USBL ADVANTAGES AND DISADVANTAGES

• One time calibration - during
installation
– Accuracy depends on good
calibration and VRU accuracy
• Single transducer
– Accuracy varies with range
• Works with Pingers or

Transponders
– Needs depth data for Pinger “Z” data
• Works with a single subsea beacon

NAUTRONIX PLC
SHORT BASELINE THEORY OF OPERATION
d Hydrophones 1 & 2
2 1
Note: the third hydrophone

required for the minimum
configuration is not shown on
this drawing
ZB
Where:
c - is the speed of sound in water
d - is the distance between the hydrophones
Δt - is the difference in time of arrival at
XB=ZB(c/d)Δt the hydrophone
XB
Beacon
Ocean Floor
Long
Long BaseLine (LBL)
Base Line
NAUTRONIX PLC (LBL)
NAUTRONIX PLC
BEACON DEPLOYMENT
NAUTRONIX PLC
ERRORS IN SBL MODE
• Range & Offset angles - Timing Errors
• Platform Alignment - Measurement Errors
– system accuracy directly related to accuracy of VRUs
– calibration methods mitigate errors

NAUTRONIX PLC
SBL ADVANTAGES AND DISADVANTAGES

• One time calibration at installation
– Accuracy depends on good
calibration and VRU accuracy
• Multiple solutions leads to

improved accuracy over USBL
– Requires multiple hydrophones
• Works with Pingers or

Transponders
• Works with a single subsea beacon

NAUTRONIX PLC
LONG BASELINE THEORY OF OPERATION
Ship’s course
Ship
Hydrophone fix
Acoustic signal
transmission
from hydrophone
Transponded
acoustic
Subeference signal from
reference beacon
beacon no.2
Subeference
Subeference reference
reference beacon no.1
beacon no.3
LBL Array Calibration
NAUTRONIX PLC
NAUTRONIX PLC
ERRORS IN LBL MODE
• Range - Detection timing errors
• Field Calibration errors
• Ray Bending problems increase as slant range

increases
NAUTRONIX PLC
LBL ADVANTAGES AND DISADVANTAGES

• Independent of ship motion
– Area of operation limited to location of subsea reference beacons
• Highest accuracy of three methods

– Requires multiple reference beacons deployed
• Single Hydrophone on ship

– System complexity decreased
• Requires calibration each time reference beacon(s) are redeployed

NAUTRONIX PLC
CONSTRUCTION SURVEYING
• For high accuracy positioning on the seabed a different type of LBL is
used. In this methodology more intelligent transponders are used
which are individually addressable and commandable.
• A number (up to 100) are laid to cover the area of operation, boxed in
and adjusted.
• Position is then carried out by range measurements to nearby

transponders.
• This is the most common methodology for complex field

developments.
NAUTRONIX PLC
• There are issues with management of codes and frequency channels
• Different frequencies are used depending on the range and accuracies

required.
LBL - Structure Positioning
• Accurate,
repeatable and
rigorous
positioning
solution
independent of
water depth
• Heading and
attitude
determination
from acoustic
observations
NAUTRONIX PLC
ACOUSTIC ACCURACIES
• USBL
25
– standard 0.5% slant range
– best 0.2% slant range 20
15
3 SD 19.2m
• SBL 10
– 0.5% water depth
Northinhg Error (n)

5
• LBL -40 -30 -20 -10
-5
0 10 20 30 40
1 SD 6.4m
– Vessel 0.1% water depth
-10
– Construction LF up to 2-3m
-15
MF up to 1m
EH5 up to 5 cm -20 Note 0.25% of slant range
equals 6.3m
-25
Easting Error (m)
NOTES In Construction LBL accuracy is independent of water depth

Accuracy also varies with array spacing
NAUTRONIX PLC
TRADE OFFS USBL, SBL, LBL
Operating Mode Advantages Disadvantages

Long BaseLine • Highest Potential • Requires Multiple Subsea
Accuracy Transponders
• Accuracy preserved • Must have tw o-w ay ranging
over wider operating • Update intervals long
ar ea compared to pinger modes
• Acoustic ray bending
Short BaseLine • Good Potential • Accuracy dependent on

Accuracy shipboard VRU
• Requires only a single
Subsea
Pinger/Transponder
UltraShort BaseLine • Requires only a single • Highest Noise susceptibility

S u b sea • Accuracy dependent on
Pinger/Transponder shipboard VRU
NAUTRONIX PLC
ACOUSTIC TRANSMISSION
TYPICAL POSITION
FREQUENCY BAND BAND WIDTH
ACCURACY
Low Frequency
7.5 – 15 kHz 0.5 – 2.5m
(LF)
Medium Frequency (MF) 19-36 kHz 0.25 – 1m
Extra High Frequency

50 – 110 kHz <0.05m
(EHF)
NAUTRONIX PLC
THE BEST OF BOTH WORLDS
For critical operations systems combining two of the

methodologies can provide a much more robust
position.
NAUTRONIX PLC
NAUTRONIX NASDrill 925
Display and
Control Unit Display and Control Unit
Signal Processing
Unit
Signal Processing Unit
Signal
P.A. P.A.
Junction Box
Power Amplifier
Interrogate Interrogate
Receiver Hydrophones
Hydrophone Hydrophone
Receive Hydrophones Interrogate/Receive

Hydrophone
Maxi Beacon Mk 2
Beacons
Dual Redundant System

NAUTRONIX PLC
POSITION MEASUREMENT
• In SBL mode
– One Beacon has to reply to at least 3 Hydrophones.
– Several Beacons to 6 Hydrophones gives multiple solutions.
• In LBL/SBL Mode
– 4 Beacons are established in a grid
– A Common Interrogation Signal (CIS) is transmitted , each beacon
replies to all the hydrophones.
– All valid replies are used in the calculation of the vessel’s position.
– System reverts to pinger SBL mode on loss of CIS.
NAUTRONIX PLC
ADS2 RESULTS DEEPWATER EXPEDITION 580m

NAUTRONIX PLC
NASDrill 925
• Acoustic Positioning
– Robust
– Accurate
– Repeatable
– Fast Update
• NASDrill 925 Positioning:

– 2.5 metres RMS at 3500 metres
– Update every two seconds
– Acoustic path redundancy
– Configurable as a Dual Redundant System
• Drilling Options
– Riser Angle
– Riser Profile
– Riser Management
NAUTRONIX PLC
CROWDED MF BAND
NAUTRONIX
RS5D
NAUTRONIX
910/925
LBL
1 2 3 4 5 6 7 8 9 (CIF)
SIMRAD
418 LBL
1 2 3 4 5 6 7 8 E6 E7 E8 E1 E2 E3 E4 E5
TELEMETRY
O6 O7 O8 O1 O2 O3 O4 O5
SIMRAD
418
1 2 3 4 5 6 7 8 X 9 Y 6 7 8 9 1 2 3X 4 5Y
SIMRAD
300
SONARDYNE
19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Frequency, kHz
NAUTRONIX PLC
THE ACOUSTIC ENVIRONMENT

• Most manufacturers quote theoretical performance figures
(Range and Accuracy).
• These are seldom achievable due to problems such as:
– Noise at the receiver (vessel, propulsion, ROV etc)
– Background noise (other vessels, operations, sea life)
– Reflections from solid objects and sea surface
– Interference from other acoustic systems
– Ray bending and refractions

NAUTRONIX PLC
RAY BENDING EFFECTS

NAUTRONIX PLC
EXTREME RAY TRACE EXAMPLE

NAUTRONIX PLC
IMPROVING PERFORMANCE
• System performance can be improved by:
– Directional/Baffled hydrophones (reduce vessel noise)
– Directional Transponders
– Better signal processing
– Higher transponder power output

NAUTRONIX PLC
DEEPWATER ISSUES
• More and more work is being carried out in deepwater (500 –
2500msw).
• This creates additional problems:
– Slow update rates due to signal travel time (1500m/s)

– Limited range due to signal fading
– Reduced accuracy on USBL systems
– Requirement for high accuracy sensors on USBL and SBL systems
(VRU, Gyro)
– Ray bending can restrict operating areas.
NAUTRONIX PLC
INDUSTRY DEVELOPMENTS
• Increased ID codes to allow better use of Spectrum

(All manufactures, Sonardyne, 24 channels, 16 ID’s each)
• Integration of Doppler Velocity Logs

(e.g. Sonardyne Fusion)
• Integration of Inertial Navigation Systems to seabed vehicles

(e.g. Kongsberg HAINS and Ixsea GAPS)
• Development of new signalling technologies

– (Nautronix ADS2, Sonardyne Wide Band)
NAUTRONIX PLC
PULSE DETECTION
NAUTRONIX PLC
PULSE DETECTION
NAUTRONIX PLC
SPREAD SPECTRUM v CONVENTIONAL SIGNALS
• Conventional acoustics use “narrowband” signals
• Spread Spectrum Signalling is being introduced by

manufacturers such as Nautronix and Sonardyne
• Spread Spectrum employs Pulse (Time) Compression

techniques. These provide a signal to noise benefit from the
signal processing
• Nautronix Spread Spectrum Implementation is ADS2 (Acoustic

Digital Spread Spectrum)
NAUTRONIX PLC
CONVENTIONAL SIGNALS
NAUTRONIX PLC
ADS2 SIGNALS
NAUTRONIX PLC
MULTIPATH EXAMPLE
NAUTRONIX PLC
MULTIPATH RESPONSE
NAUTRONIX PLC
ADS2 MULTIPATH RESPONSE

Compatt 5 Baseline Measurements
Tone Burst
Wideband
SD 0.14m 778m
SD 0.01m
NAUTRONIX PLC
CONVENTIONAL CHANNEL SPACING

NAUTRONIX PLC
ADS2 CHANNEL SPACING

More Efficient use of Bandwidth
MF Band
E6 E7 E8 E1 E2 E3 E4 E5
1 2 3 4 5 6 7 8 O6 O7 O8 O1 O2 O3 O4 O5
400 Series 400 Series
S IM R AD
SIMR AD
HPR Interrogations HPR Replies
1 2 3 4 5 6 7 8X 9 Y 6 7 8 9 1 2 3X 4 5Y
300 Series 300 Series
Interrogations Replies
1 2 3 4 5 6 7 8 CIF CRF 0 9 10 11 12 13 14
COMPATT 4 COMPATT 4/5

SONA RDYNE
Tones
Tones
SONA RDYNE
1 2 3 4 5 6 7 8 9 10 11 12 13 14 1 2 3 4 5 6 7 8 9 10 11 12 13 14
C
COMPATT 5 COMPATT 5
Wideband Wideband
Wideband Interrogations (C5+) Wideband Replies
CCF DCF
Command Command
TELEMETRY
& Tone (FSK) Telemetry &

Reply Reply
Robust Wideband (Robust) Telemetry Robust

Code & Frequency Space
SONARDYNE
MF BAND
TRACKING
1 2 3 4 5 6 7 8 9 10 11 12 13 14 1 2 3 4 5 6 7 8 9 10 11 12 13 14
C
COMPATT 5 COMPATT 5
Wideband Wideband
Wideband Interrogations (C5+) Wideband Replies
Carrier Frequency
0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 0013 0014
0001 IRS 1502 IRS 1403 IRS 1304 IRS 1205 IRS 1106 IRS 1007 IRS 0908 IRS 0809 IRS 0710 IRS 0611 IRS 0512 IRS 0413 IRS 0314
224 0002
0003
IRS 0101
IRS 0201 IRS 0102

IRS 1503 IRS 1404 IRS 1305 IRS 1206 IRS 1107 IRS 1008 IRS 0909 IRS 0810 IRS 0711 IRS 0612 IRS 0513 IRS 0414
IRS 1504 IRS 1405 IRS 1306 IRS 1207 IRS 1108 IRS 1009 IRS 0910 IRS 0811 IRS 0712 IRS 0613 IRS 0514
TRUE 0004
0005
IRS 0301 IRS 0202 IRS 0103 IRS 1505 IRS 1406 IRS 1307 IRS 1208 IRS 1109 IRS 1010 IRS 0911 IRS 0812 IRS 0713 IRS 0614
IRS 1506 IRS 1407 IRS 1308 IRS 1209 IRS 1110 IRS 1011 IRS 0912 IRS 0813 IRS 0714
Navigation Codes
IRS 0401 IRS 0302 IRS 0203 IRS 0104
simultaneous 0007
0008
IRS 0601 IRS 0502 IRS 0403 IRS 0304 IRS 0205 IRS 0106
IRS 0701 IRS 0602 IRS 0503 IRS 0404 IRS 0305 IRS 0206 IRS 0107
IRS 1508 IRS 1409 IRS 1310 IRS 1211 IRS 1112 IRS 1013 IRS 0914
IRS 1509 IRS 1410 IRS 1311 IRS 1212 IRS 1113 IRS 1014
receive 0009
0010
IRS 0801 IRS 0702 IRS 0603 IRS 0504 IRS 0405 IRS 0306 IRS 0207 IRS 0108
IRS 0901 IRS 0802 IRS 0703 IRS 0604 IRS 0505 IRS 0406 IRS 0307 IRS 0208 IRS 0109
IRS 1510 IRS 1411 IRS 1312 IRS 1213 IRS 1114
IRS 1511 IRS 1412 IRS 1313 IRS 1214
channels
0015 IRS 1401 IRS 1302 IRS 1203 IRS 1104 IRS 1005 IRS 0906 IRS 0807 IRS 0708 IRS 0609 IRS 0510 IRS 0411 IRS 0312 IRS 0213 IRS 0114
0016 IRS 1501 IRS 1402 IRS 1303 IRS 1204 IRS 1105 IRS 1006 IRS 0907 IRS 0808 IRS 0709 IRS 0610 IRS 0511 IRS 0412 IRS 0313 IRS 0214
NAUTRONIX PLC
BENEFITS TO CUSTOMER
• Increased battery life (up to 15 times)
• Increased accuracy
• Increased range (around 2 times)
• More noise tolerance (up to 12 dB)
• Increased reliability in shallow water

NAUTRONIX PLC
NEW POSITION CONCEPT
ADS2 signalling capability has allowed

Nautronix to develop a new concept in
positioning.
NAUTRONIX PLC
THE PROBLEM
NAUTRONIX PLC
THE PROBLEM
Numerous independent systems

Duplicated effort and expenditure
Difficult integration of operations
Acoustic pollution
Short range
Limited operational life
EXPENSIVE
NAUTRONIX PLC
GLOBAL POSITIONING SYSTEM
Surface positioning has

been revolutionised by the
Global Positioning System -
GPS
NAUTRONIX PLC
GLOBAL POSITIONING SYSTEM
GPS Provides
• Unlimited user capability
• High accuracy
• A universal reference
• Improved efficiency
• Cost savings
Imagine this underwater…

NAUTRONIX PLC
NAUTRONIX PLC
Nautronix Acoustic Subsea Network

NAUTRONIX PLC
PROJECTOR ELEVATED BY 100 METRES

NAUTRONIX PLC
NASNetTM
THE MULTI-USER FIELD POSITIONING SYSTEM

NAUTRONIX PLC
"A step change in acoustic technology"
Providing:
• An unlimited multi user field positioning system

• A global solution
• Integrated subsea positioning
A MAJOR COST SAVING OPPORTUNITY

NAUTRONIX PLC
IN-BUILT TRACKING
NAUTRONIX PLC
NAUTRONIX PLC
KEY FEATURES
Very long range

High accuracy
Unlimited simultaneous users
Surface & underwater positioning
Multi-function and tasking
High immunity to acoustic pollution & ray bending
Data transmission capability
Environmentally friendly
NAUTRONIX PLC
CONCLUSION
“A GLOBAL SOLUTION TO INTEGRATED SUBSEA POSITIONING WITH

SAVINGS OF OVER 68% ON TODAY’S METHODS WITH EVEN GREATER
POTENTIAL AS THE INDUSTRY MOVES TOWARDS DEEPER WATER”
NAUTRONIX
‘Global Leaders in Through Water

Communication and Positioning
Technology’
NAUTRONIX
There are issues with management of codes and

frequency channels
Different frequencies are used depending on the

range and accuracies required.

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NAUTRONIX

MARINE TECHNOLOGY SOLUTIONS www.nautronix.com

Radio signals used by surface positioning systems are absorbed

WHAT IS ACOUSTICS USED FOR?

• Positioning within the water column

• Relative positioning between locations

EXAMPLE OF DEEPWATER FIELD DEVELOPMENT

Flexible Riser Towers

FPSO Mooring Lines

• There are 3 main methods of calculating a position using acoustics

ACOUSTIC POSITIONING METHODS

• Short baseline (SBL)

• Long baseline (LBL)

ACOUSTIC INSTALLATIONS DRILLING

ACOUSTIC INSTALLATIONS SURVEY

ULTRA SHORT BASELINE THEORY OF OPERATION

Phase delay used

Single hydrophone phase comparison system

ERRORS IN USBL MODE

• Echo Range - timing errors

• Offset angles - phase detection errors

• Hydrophone Alignment - measurement errors

• Tilt Compensation - acceleration

USBL ADVANTAGES AND DISADVANTAGES

• Works with Pingers or

• Works with a single subsea beacon

SHORT BASELINE THEORY OF OPERATION

Note: the third hydrophone

ERRORS IN SBL MODE

• Range & Offset angles - Timing Errors

• Platform Alignment - Measurement Errors

– system accuracy directly related to accuracy of VRUs

– calibration methods mitigate errors

SBL ADVANTAGES AND DISADVANTAGES

• Multiple solutions leads to

• Works with Pingers or

• Works with a single subsea beacon

LONG BASELINE THEORY OF OPERATION

ERRORS IN LBL MODE

• Range - Detection timing errors

• Field Calibration errors

• Ray Bending problems increase as slant range

LBL ADVANTAGES AND DISADVANTAGES

• Highest accuracy of three methods

• Single Hydrophone on ship

• Requires calibration each time reference beacon(s) are redeployed

• Position is then carried out by range measurements to nearby

• This is the most common methodology for complex field

• Different frequencies are used depending on the range and accuracies

– 0.5% water depth

Northinhg Error (n)

• LBL -40 -30 -20 -10

NOTES In Construction LBL accuracy is independent of water depth

TRADE OFFS USBL, SBL, LBL

Operating Mode Advantages Disadvantages

Short BaseLine • Good Potential • Accuracy dependent on

UltraShort BaseLine • Requires only a single • Highest Noise susceptibility

Medium Frequency (MF) 19-36 kHz 0.25 – 1m

Extra High Frequency

THE BEST OF BOTH WORLDS

For critical operations systems combining two of the

NAUTRONIX NASDrill 925

Signal Processing Unit

Numerous independent systems