Acoustic Positioning

      

Acoustic Positioning can be involved in: Pipelines Jacket Installations Template Installations D.P. Vessels ROVs Geophysical Tools

Methods of Acoustic Positioning

Long BaseLine Short BaseLine Ultra Short BaseLine

Long BaseLine

Long Baseline Systems

Most accurate system Accuracy independent of depth Range redundancy gives estimation of fix Limitations: Time taken to deploy & calibrate transponder arrays quality

Simultaneous Mode

Long Baseline Systems

SONARDYNE COMPATT
Frequency LF MF EHF

Max range (std) max accuracy 10kM (3.5kM) 2.5kM (800M) < 1kM (500M) OPTIONS 1 metre 0.3 metre 0.1 metre

(8 - 16kHZ) ( 18 - 36kHZ) ( 50 - 110kHZ)

ROVNAV: Remote LBL transceiver (ROVS etc) serial

link using umbilical cable.

PAN:

(Programmable Acoustic Navigator) surface transceiver for COMPATTS

Acoustic release (mechanical)

Sequential Mode

Short BaseLine

Integrated Long and Short BaseLine

Compatt

Strop Length

Radial Errors

Compatt Strops and Landings

Compatt Release

Fixed Mounting Deployment

Fixed Compatt Mounting

Ultra Short BaseLine

Ultra Short Baseline

Ultra Short Baseline

ROV/tow fish tracking Simple Installation Range accuracy < 1% (Sonardyne)repeatability 0.2% Range accuracy <20cm (HiPAP) angle accuracy 0.3 Both systems depend on MRU and heading for accuracy Sub sea transceiver with serial link for Sonardyne

Ultra Short Baseline

 SONARDYNE USBL TRANSDUCER DESIGN

5 Receive Elements

1Transmit Element

Ultra Short Baseline

 SIMRAD USBL TRANSDUCER DESIGN

Angle Will

dynamically control a 10 listening beam any direction below vessel

accuracy: 0.3degrees
Range

accuracy: Less than 20 cm

Ultra Short Baseline

MONITOR KEYPAD KEYPAD SIGNAL NAVIGATION PROCESSOR PRINTER MONITOR SIGNAL DP SYSTEM
TOPSIDE SUBSEA

VRU THROUGH-HULL USBL TRANSCEIVER GYRO COMPASS

SEABED REFERENCE TRANSPONDERS

Long & Ultra Short Baseline

Long & Ultra Short Baseline

Reliable & stable positioning Improvement in accuracy Fix quality information Fast calibration of transponder array Flexible redundant alternatives

Energy Losses + Noise Effects

S/N = Source level - Transmission losses - Noise losses

Source Level

Source level is the acoustic power, in decibels, which is transmitted into the water

Transmission Losses
SPREADING - acoustics energy spreads out ATTENUTATION - absorption by seawater - scattering of energy due to reflections TL = 20 LOG10 R + ER TL = R = E = total loss range in meters attenuation co-efficient

Noise Levels


Ambient Noise

Self Noise

Reverberation

- Waves - Rain - General ship traffic - Sealife - Propulsion - Machinery - Flow Noise - Volume - Seafloor - Sea surface - Structures

Multipath

Measurement Accuracies
   

Timing circuits Velocity of sound in water Resolution and repeatability Geometry

Velocity of Propagation
The speed of sound in water depends:
  

Temperature Salinity Pressure

Resolution and Repeatability

Depends on:
Bandwith Frequency Envelope detection Pulse Validation time

Signal Detection and Validation

Freq. Band EHF MF LF

Channel Bandwdth 800 Hz 200 Hz 120 Hz

Number of Channels 12` 14 10

Pulse Length 1 ms 4 ms 8 ms

Detection Time 0.2 ms 0.8 ms 1.4 ms

Validation Time 0.8 ms 3.2 ms 6.0 ms

MultiPath / Pulse Overlap