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DeepOcean Subsea Services Ltd. Doc. Reference UK.SUR.WP.003 Revision A3 Date September 2008 8 Whiting Road The Norwich Business Park Norwich, NR4 6DN United Kingdom Tel +44 (0)1603 622 088 Fax +44 (0)1603 624 774 Email info@deepocean.no
Revision Sheet
DeepOcean Project Reference Number UK.SUR.WP.003 Project Location/Vessel Client Reference Number
A3 A2 A1 Revision
Revision Description
Prepared
DeepOcean Online Procedures OOS with TSS440 Procedures September 2008 Page 2 of 28
5 6 7
Static Noise Test ....................................................................................24 Effects of Speed on Bathymetric Units................................................24 TSS440 Pipetracker ...............................................................................25
7.1 7.2 TSS440 QINSy Setup (Multi-beam Echo sounder driver) ........................ 26 TSS440 QINSy Setup (Miscellaneous System)......................................... 28
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List of Figures
Figure 2.1.1a DVL Qinsy Database Setup .................................................................................................... 6 Figure 2.1.3.1a Computation Setup ............................................................................................................... 11 Figure 2.13b Filtering Setup........................................................................................................................... 11 Figure 2.1.3.2 Prediction Setup...................................................................................................................... 12 Figure 2.1.3.3 DVL Weighting ........................................................................................................................ 13 Figure 2.1.3.4a Online Track Comparison SD 5.......................................................................................... 14 Figure 2.1.3.4b Online Track Comparison SD 25........................................................................................ 14
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Introduction
This document details Deepocean UK / BV (hereafter referred to as DO) procedures for Out of Straightness surveys (hereafter referred to as OOS). It will concentrates on the general OOS procedures, with the use of the TSS440 pipetracker, and specific set up parameters for the Qinsy online software. Data quality for OOS should be of the highest quality, so all efforts should be made that the surveys are performed in good weather conditions and the survey equipment is working within its acceptable noise thresholds. The online surveyor should have a good awareness of the data that is being collected whilst surveying, and be able to interrupt operations if they believe that the data is of a poor quality. This data should be looked at immediately by the processing team who can analyse the data to confirm whether it is still within the specifications required. These procedures are written on the basis that all calibrations for DGPS, USBL and ROV motion sensors have already been undertaken and accepted. This document will focus on following equipment used in OOS RDI Workhorse 1200 / 600 Doppler (hereafter referred to as DVL) DigiQuartz Pressure Unit Seaking SONV3 Bathymetric Unit (hereafter referred to as Seaking) TSS440 Pipetracker (hereafter referred to as TSS440)
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Equipment
This section will give detailed instructions on the setup of the DVL, Seaking and TSS440 and their interface and use within Qinsy.
2.1
DVL
The DVL is a critical part of OOS as it aids the USBL positioning enabling a reliable distance along the pipeline to be obtained online. When working correctly the ROV track should need very little smoothing. Excessive smoothing of the track stretches the data and can give a misrepresentation of the true top of pipeline versus KP. For that reason it is vital that the DVL is interfaced correctly within Qinsy and calibrated accordingly.
2.1.1
DVL-Qinsy Database Setup In the Qinsy database add the system type Speed Log. Then select the type of DVL that is to be interfaced. In the Qinsy database select the RDI Doppler Bottom Track Speed (ASCII) (Active) driver. Two observations need to be added to the DVL driver, one for speed and the other for direction. If the direction observation is of type angle (as it is for the RDI Workhorse), the rotation observation for the object, usually a gyro heading, as defined in the Controller object definition, is added to the angle data. If it is of type bearing, the direction will not be corrected.
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2.1.2
Ensure that any angle C-Os are set to zero and the scale factor is set to 1. DVL Calibration In order to obtain the best possible integrated ROV track the DVL needs to be calibrated for alignment and scale factor. The DVL shall be interfaced to the Qinsy online navigation software. In conjunction with the Qinsy procedures for DVL calibration, the DVL shall be calibrated with reference to pipe tally data over a section of pipeline not less than 200 metres in length. Enter the correct sound velocity of the water into the DVL unit. The Qinsy Dead Reckoning calibration routine will calculate its own scale factor and Angular misalignment of the Doppler. The raw Doppler and Hipap tracks can be plotted in either Qinsy Line Database manager or AutoCAD. The total distance of these tracks can be compared with that from the pipe tally data. The difference in total length can be used to calculate the scale factor to be applied to the Doppler. This should be used to confirm the results of the automatic calibration performed by Qinsy.
2.1.2.1 Qinsy Dead Reckoning Calibration Module (from Qinsy Knowledge Base) The purpose of this calibration module is to compare a node position from a QINSy computation with the position obtained by using speed and direction observations only. Usually the latter observations are output data from a Doppler velocity log. Two types of results are computed: socalled integrated (C-O) value (offset bias) for the Course Over Ground and (C/O) value (scale factor) for the Speed Over Ground, as well as COG (C-O) and SOG (C/O) values calculated from start to stop positions. Each time that the selected node position from the selected computation is updated, the position of the calibration node is computed using the previously computed Dead Reckoning position and the latest speed and direction observations. The first Dead Reckoning position is equal to the first node position from the computation after the calibration has been started, but after that, only comparisons are made. Online Qinsy Controller When online in Qinsy, click on the computation setup which is found in the Qinsy controller. The following is then needed. Position Filters Setup Do not use the speed and direction observations in the filtering of the ROV object in the calibration computation. Allow the position filter enough time to initialize properly before actually starting the calibration.
Definitions Setup To start the Dead Reckoning Calibration and setup definitions, click on the options menu and then calibrations.
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Select computation and node for the reference position fixes i.e. ROV COG. Select external value to use for COG (direction observation-DVL Angle) and external value to use for SOG (speed observation-DVL Speed). Enter the a priori corrections to be used for the external observations. Define the observation period for calibration.