Kongsberg HiPAP 500 High Precision Acoustic Positioning System Instruction manual

Instruction Manual
APOS for the HiPAP system
857-164581
APOS for the HiPAP system
Acoustic Positioning Operator Station
(APOS) - Instruction Manual
About this document
Rev
Date
Written by
Checked by
C
10.05.05
GM
GM
Approved by
ESB
Updated content. New layout.
© 2005 Kongsberg Maritime AS. All rights reserved.
No part of this work covered by the copyright hereon may be reproduced or otherwise
copied without prior permission from Kongsberg Maritime AS.
The information contained in this document is subject to change without prior notice.
Kongsberg Maritime AS shall not be liable for errors contained herein, or for incidental
or consequential damages in connection with the furnishing, performance, or use of this
document.
Strandpromenaden 50
P.O.Box 111
N-3191 Horten,
Norway
Instruction Manual
Sections
This is the Instruction manual for the Acoustic Positioning Operator Station (APOS)
used with a High Precision Acoustic Positioning (HiPAP) system It contains a general
description of the HiPAP system, protocols, and how to get started on the APOS. The
manual includes the following sections:
1
APOS Operator manual
This section includes the standard operator manual for the APOS and includes
an introduction to the APOS, abbreviations and terms, how to getting started
on the APOS, LBL and SBBL principle of operation and operator maintenance.
2
HiPAP product description
This section describes all the HiPAP systems. It includes positioning principles,
applications, system units, configurations and functions. It also includes
technical specifications and drawings.
3
Attitude formats description
This section describes the gyro and VRS formats thethe HiPAP and HPR system
can receive.
4
HPR 400 Binary Communication Protocol
This section describes the HPR 400 standard telegrams sent to external
equipment.
5
HPR 300 telegrams
This section describes the HPR 300 external equipment telegram formats.
6
Transponder Quick Reference Guide
This section includes the Transponder Quick Reference Guide, and references
to the available transponder Instruction Manuals.
857-164581 / C
I
HiPAP system
Remarks
References
Further information about how to operate the Acoustic Positioning Operator Station
(APOS) is found in:
x APOS On-line help system
Further information about the Acoustic Positioning systems using APOS software, are
found in the following manuals
HiPAP system
Hull units
HiPAP Instruction Manual
HiPAP hull units Instruction Manual
The reader
This manual assumes the operator has some knowledge of the general principles of
operation, the standard display modes and terminology used in acoustic positioning
systems.
References
(The information on this page is intended for internal use)
Documents
Sect
Title
Archive
Reg. no.
Rev.
0
Cover and contents
AA000
857- 164581
C
1
Acoustic Positioning Operator Station (APOS)
Operator manual
AA000
850-160841
D
2
HiPAP Product description
AA000
857-164268
E
3
Attitude formats description
AA000
853-201392
C
4
HPR 400 Binary Communication Protocol
AA000
857-160898
C
5
HPR 300 telegrams
AA000
849-108368
C
6
Transponder Quick Reference Guide
AA000
859-164414
B
(* The latest versions of all document modules are included as standard.)
II
857-164581 / C
Operator manual
850-160841
Acoustic Positioning Operator Station
(APOS)
This document is the Operator manual for the Acoustic
Positioning Operator Station (APOS) for use with the High
Precision Acoustic Positioning (HiPAP) and Hydroacoustic
Position Reference (HPR) 400 series of systems.
850-160841/D
1
HiPAP/HPR systems
Document revisions
Rev
Date
Written by
Checked by
Approved by
A
01.06.98
GM
JEF
JEF
B
22.02.99
GM
JEF
JEF
C
08.10.99
GM
HPJ
JEF
D
02.10.03
GM
HPJ
JEF
(The original signatures are recorded in the company’s logistic database)
Document history
Rev. A
First edition.
Rev. B
Updated to implement minor corrections. Refer to EM 160841B.
Rev. C
Updated to implement minor corrections in the text. Refer to EM 160841C.
Rev. D
Implemented Windows XP. Removed the APOS on-line help example. New
keyboard and trackball. Minor corrections in the text. Refer to EM 850-160841D.
2
850-160841/D
Operator manual
Contents
INTRODUCTION.............................................................................................................. 5
Manual content................................................................................................................. 5
General description........................................................................................................... 5
ABBREVIATIONS TERMS AND DEFINITIONS ............................................................ 6
Introduction...................................................................................................................... 6
Abbreviations ................................................................................................................... 6
General terms ................................................................................................................... 6
Windows terminology ...................................................................................................7
General ........................................................................................................................7
Screen..........................................................................................................................9
Cursor operation ......................................................................................................... 10
GETTING STARTED...................................................................................................... 11
General .......................................................................................................................... 11
User levels ..................................................................................................................... 11
Keyboard ....................................................................................................................... 11
Start and stop ................................................................................................................. 12
Start up procedure....................................................................................................... 12
Stop procedure............................................................................................................ 13
To lower and rise the transducer(s) .................................................................................. 14
Using the remote control.............................................................................................. 14
Using the hoist control................................................................................................. 14
APOS on-line help system............................................................................................... 15
OPERATOR MAINTENANCE ....................................................................................... 16
Maintenance philosophy.................................................................................................. 16
Preventive maintenance................................................................................................... 16
Cable terminals ........................................................................................................... 16
Operator station .......................................................................................................... 16
LBL PRINCIPLES OF OPERATION.............................................................................. 17
Introduction.................................................................................................................... 17
Definitions ..................................................................................................................... 17
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HiPAP/HPR systems
Mathematical terms..................................................................................................... 17
LBL terms...................................................................................................................... 18
HiPAP / HPR terms ........................................................................................................ 19
LBL measurement principles ........................................................................................... 20
Positioning ................................................................................................................. 20
Calibration.................................................................................................................. 21
Combined use of LBL and SSBL ................................................................................. 22
Geographical calibration.............................................................................................. 22
Super array and Tp array................................................................................................. 24
Geographical coordinates ................................................................................................ 26
Quality control of the data............................................................................................... 27
Local calibration......................................................................................................... 27
Geographical calibration.............................................................................................. 27
Positioning ................................................................................................................. 28
Transponder Modes ........................................................................................................ 28
Operation....................................................................................................................... 29
Measure ranges ........................................................................................................... 29
Execute the local calibration ........................................................................................ 29
Position a vessel or ROV............................................................................................. 29
Position a transponder ................................................................................................. 30
Geographical calibration.............................................................................................. 30
SSBL PRINCIPLES OF OPERATION ............................................................................ 31
Introduction.................................................................................................................... 31
4
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INTRODUCTION
Manual content
This Operator manual provides a general introduction to the APOS,
and how to get started. Operator maintenance, Long Base Line (LBL)
and Super-Short Base Line (SSBL) principles of operation are also
included.
General description
The HiPAP and HPR 400 Series of systems are both controlled and
operated by use of the APOS software. The APOS runs on the APC 10
as a stand alone system, or on the Common Operator Station (COS)
100 unit in an integrated Dynamic Positioning (DP) and HiPAP / HPR
400 system.
Examples of HiPAP / HPR configurations are shown in section 2,
Product description.
The APOS software includes the following main functions:
x Integrates several HiPAP / HPR 400 transceivers
x Integrates DP and HiPAP / HPR 400 system
x User interface
x Interfacing HiPAP / HPR 400 transceivers
x Ray bending compensation
x Long Base Line calculations
x The SSBL calculations are done in the transceiver
x Interfaces DP and survey computer
x On-line help
The APOS software runs on a Windows XP platform. It uses standard
Windows graphical user interface.
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HiPAP/HPR systems
ABBREVIATIONS TERMS AND DEFINITIONS
Introduction
This chapter includes abbreviations used in this manual, general terms
used within the APOS, and basic Windows terminology.
Abbreviations
APC
Acoustic Positioning Computer
APOS
Acoustic Positioning Operator Station
COS
Common Operator Station
DGPS
Differential GPS
DP
Dynamic Positioning
GPS
Geographical Positioning System
HiPAP
High Precision Acoustic Positioning
HPR
Hydroacoustic Position Reference
LBL
Long Base Line
OS
Operator Station
ROV
Remotely Operated Vehicle
SDP
Simrad Dynamic Positioning
SSBL
Super-Short Base Line
TD
TransDucer
TP
TransPonder
UTM
Universal Transverse Mercator
VRS
Vertical Reference System
General terms
The general terms are described in alphabetically order.
Bearing
The horizontal direction of one terrestrial point from another,
expressed as the angular distance from a reference direction,
clockwise through 360°.
Cartesian coordinate system
A coordinate system (local system) where the axes are mutuallyperpendicular straight lines.
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Clump weight
An anchor line element connected at a fixed position on an anchor
line, causing a concentrated vertical force downwards on the anchor
line.
Course
The horizontal direction in which a vessel is steered or is intended to
be steered, expressed as angular distance from north, usually from
000° at north, clockwise through 360°. Strictly, this term applies to
direction through the water, not the direction intended to be made
good over the ground. Differs from heading.
Datum
Mathematical description of the shape of the earth (represented by
flattening and semi-major axis).
Geodetic coordinate system
A mathematical way of dealing with the shape, size and area of the
earth or large portions of it. Normally UTM coordinates with
reference to a datum.
Heading
The horizontal direction in which a vessel actually points or heads at
any instant, expressed in angular units from a reference direction,
usually from 000° at the reference direction clockwise through 360°.
Differs from course.
Windows terminology
General
Windows are the basic objects of the Microsoft Windows operation
system. They will always be displayed with the same layout and
functionality, as long as the system programmer did not change the
configuration.
Note !
The APOS on-line help includes an illustration of a general window,
and the including general properties.
The following paragraphs present a short description of the most used
general properties in alphabetical order.
Check box
that appears in a dialogue box and
A small square box
that can be turned on and off. A check box contains a tick mark when
it is selected and is blank when it is not selected.
Choose
To perform an action that carries out a command in a menu or
dialogue box. See also Select.
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HiPAP/HPR systems
Command
A word or phrase, usually found in a menu, that you choose in order to
carry out an action.
Command button
A rectangle with a label inside that describes an action, such as OK,
Apply or Cancel. When chosen, the command button carries out the
action.
Cursor
The pointer symbol that is displayed on the screen and that can be
moved with the trackball.
Dialogue/Dialog box
A box that appears when the system needs additional information
before it can carry out a command or action. See also Check box,
Command button, List box, Option button and Text box.
Greyed
Describes a command or option that is listed in a menu or dialogue
box but that cannot be chosen or selected. The command or option
appears in grey type.
List box
A box within a dialogue box containing a list of items. If the list of
available items is longer than the displayed list box, the list box will
have a vertical scroll bar that lets you scroll through the list. A list box
may be closed when you first see it. Selecting the down arrow next to
the first item in the list will display the rest of the list.
Menu
A group listing of commands. Menu names appear in the menu bar
beneath the caption bar. You use a command from a menu by
selecting the menu and then choosing the command.
Option button group
A group of related options in a dialogue box. Only one button in a
group can be selected at any one time.
Point
To move the cursor on the screen so that it points to the item you want
to select or choose.
Radio button
A small round button is appearing in a dialogue box
(also
known as a “Option” button). You select a radio button to set the
option, but within a group of related radio buttons, you can only select
one. An option button contains a black dot when it is selected and is
blank when it is not selected.
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Operator manual
Select
To point and click at the item that the next command you choose will
affect. See also Choose.
Slider
Used to setting parameter values between a minimum and a maximum
value. Drag the slider in the required direction.
Status bar
Displays general useful information.
Text box
A box within a dialogue box
in which you type
information needed to carry out a command. The text box may be
blank when the dialogue box appears, or it may contain text if there is
a default option or if you have selected something applicable to that
command. Some text boxes are attached to a list box, in which case
you can either type in the information or select it from the list.
Title bar
Displays an application-defined line of text. The title bar also used to
move/drag the window.
Toolbar
A collection of buttons to give a fast entry to the most used
commands.
Screen
The screen presentations are described in detail in the APOS on-line
help.
Menus
Main menus are items in the menu bar. They may contain:
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Sub menus:
marked by
Dialogue windows:
marked by …
Commands:
unmarked
9
HiPAP/HPR systems
Cursor operation
The trackball is used to positioning the cursor on the screen. The most
common operations are:
10
Function
Definition
Common use
Click
To press and release a
button, without moving the
cursor. If no trackball
button is specified, the left
button is assumed.
Select the cursor insert
point, activate an operation,
activate / inactivate
windows or controls.
Drag
To press and hold down a
button while moving the
trackball.
Move items. For example,
you can move a dialogue
box to another location on
the screen by dragging its
title bar. Press and hold the
button down while moving
the trackball.
Point
Move the cursor to the
wanted screen location.
Prepare for selection
/operation.
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Operator manual
GETTING STARTED
General
This chapter describes the basic operation, how to switch the APOS
on and off, and how to lower and raise the transducer(s).
The “getting started” description is based on an already installed
APOS software.
Note !
For more information refer to the APOS on-line help system.
User levels
The APOS is - regarding functional possibilities and operation,
configured in the following two user levels:
Operator:
This level is used for the daily normal operation.
Service:
This level requires password, and is for service
personnel only.
Keyboard
(Cd7079a)
The keyboard is a PS/2 keyboard. It has US layout and includes backlighting. The keyboard can be mounted on the APC 10 or be placed on
a desktop.
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HiPAP/HPR systems
Trackball
(Cd7080a)
The trackball is designed for easy use.
Use of trackball
The trackball is used to position the cursor on the screen. Each
movement of the trackball moves the cursor.
x
The left button is used to click on buttons, operate menus and
select displayed symbols.
x
The right button is used to display menus and pop-up windows.
The most common trackball operations are; pointing, clicking and
dragging.
Start and stop
Start up procedure
The following procedure describes how to start the APOS from Power
Off position. (Normally the system is kept on 24 hours a day.)
1.
Switch on the power. (The power On / Off switch is normally
located at the front of the cabinet.) The APOS is ready for use
after approximately 1 minute.
2.
Switch on the monitor. (The power On / Off switch is normally
located at the lower front part of the monitor.)
x First the desktop menu appears, and after some time the
APOS main window appears.
Note !
12
3.
If required, adjust contrast and brightness in order to obtain
required display settings. (The buttons are located at the lower
front part of the monitor.)
4.
Ensure that you are in control of the system by pressing the
button. When in control, the button becomes disabled. (If the
system is already in control, do not click the button).
If there are more than one operator station in the system, the button
will automatically become enabled again if another operator station
takes control.
850-160841/D
Operator manual
Note !
Ensure that the configuration of the transponders available in your
system is performed. How to configure the transponders, see the
APOS on-line help.
Caution !
Remember to lower the transducer(s)! Refer to page 12.
You are now ready for operation!
Note !
How to operate the APOS, see page 15 and the APOS on-line help
system.
Stop procedure
Normally the system is kept on 24 hours a day. If a controlled
shutdown is required, it is important to proceed as follows:
x 1. Select File -> Stop/Shutdown
The following windows is displayed.
850-160841/D
2.
Select Yes.
3.
The APOS software will shut down, and you will return to the
desktop.
13
HiPAP/HPR systems
To lower and rise the transducer(s)
Note !
The HiPAP / HPR may be a part of a larger system. Switching on the
larger system will then normally power up the HPR system as well,
and only lowering of the transducer will be required.
Using the remote control
Note !
1.
To lower the transducer, press the DOWN button on the
Remote Control Unit. Observe that the IN and STOP lamps
extinguish. When the transducer is fully lowered, the yellow
OUT lamp will be lit.
2.
To rise the transducer, press the UP button on the Remote
Control Unit. Observe that the IN and STOP lamps extinguish.
When the transducer is fully risen, the yellow IN lamp will be
lit.
The red STOP button on the Remote Control Unit may be used to stop
the transducer hoisting and lowering operations at any position. When
this button is pressed, the yellow STOP lamp will light. The hoisting
or lowering operations are continued from the stop position by
pressing the UP or DOWN buttons.
Using the hoist control
Note !
14
1.
To lower the transducer, open the Hoist Control Unit door and
set rotary switch S1 to LOWER. Once the Hull Unit has
reached the required position, (will stop automatically) set the
switch S1 to STOP.
2.
To rise the transducer, open the Hoist Control Unit door and set
rotary switch S1 to HOIST. Once the Hull Unit has reached the
required position, (will stop automatically) set the switch S1 to
STOP.
The red STOP button on the remote control unit may be used to stop
the transducer hoisting and lowering operations at any position. When
this button is pressed, the yellow STOP lamp will light. The hoisting
or lowering operations are continued from the stop position by
pressing the UP or DOWN buttons.
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Operator manual
APOS on-line help system
When operating the APOS, the on-line help is available by activating
the APOS Help menu button, or the F1 button on the WinKeyboard.
The on-line help may also be activated from a dialogue box, provided
that the help button is available in that particular dialogue box.
The on-line help menu includes the following selections:
x Help
General help
x About APOS
Includes the APOS version
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HiPAP/HPR systems
OPERATOR MAINTENANCE
Maintenance philosophy
For the APOS, corrective maintenance is normally performed by
replacing modules and circuit boards. This type of maintenance must
be carried out by a qualified maintenance engineer.
Further information about maintenance of the Acoustic Positioning
systems are found in the following manuals:
x HiPAP Instruction manual
x HPR 400 Series Maintenance manual.
Preventive maintenance however, may be performed by the system
operator.
Preventive maintenance
Caution !
Do not use strong liquid detergent when cleaning the units. This
may be fatal to the surface.
Cable terminals
All cables should be checked and tightened at least once every three
months. This will prevent the screws from loosening resulting in poor
contact for the cables.
Operator station
Clean the operator station and display exterior with a damp cloth to
remove dirt, dust, grease etc.
The keyboard should be cleaned carefully with a damp cloth.
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Operator manual
LBL PRINCIPLES OF OPERATION
Introduction
This chapter describes the theory of operation of the LBL. The terms
used in LBL positioning are defined, and the mathematical principles
are described.
Definitions
Mathematical terms
Standard deviation tells how much a variable varies around its mean
value. It is often written as V. If the variable is normally distributed,
68% of its values are expected to be between (Mean_value - V) and
(mean_value + V).
Variance is the square of the standard deviation, i.e. V 2.
Root Mean Square (RMS) of a set of values is a mean of the values in
which the greater values contribute more than the smaller values. It is
often used instead of the mean value.
Iteration is a repetitive mathematical process. Some algorithms need
starting values for some of the variables before they may be executed.
The result of the calculation is a new set of values for those variables
that are closer to the answer than the old ones. By repeating the
algorithm starting at the new values, the result becomes more accurate
each time. Each execution is called an iteration, and the algorithm is
termed iterative.
Cartesian coordinates are measured in a coordinate system with three
mutually perpendicular axes. In this text, the axes are named EAST,
NORTH and DEPTH. NORTH is normally the geographical north
direction, and EAST the geographical East direction. You are allowed
to select other directions, but you must be consistent. The origin of the
coordinate system has the coordinates (0,0,0).
Polar coordinates. The polar coordinates of a point are:
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x
Range - The horizontal distance from the origin to the point.
x
Bearing - The horizontal direction from the origin to the point. 0
is the north direction. The bearing increases clockwise to 360º.
x
Depth - The vertical distance from the origin to the point.
17
HiPAP/HPR systems
LBL terms
TP Array. LBL positioning is based on range measurements to the
transponders on the seabed. These transponders are called a
“transponder array”.
Local calibration. The LBL positioning algorithms must know the
coordinates of the transponders in the transponder array relative to a
local origin. The process to decide these coordinates is called the local
calibration of the transponder array. It is performed by first measuring
the ranges between the transponders in the array and then calculating
their coordinates based on the ranges.
Geographical calibration. Decides the location of the local origin in
latitude and longitude, and the rotation of the local north axis relative
to geographical north.
Range residual. HiPAP / HPR measures ranges to decide the position
of a transponder or a transducer. Normally, more ranges than
necessary are measured. Then the position is calculated based on a
best fit of the measured ranges. The residual of a range is the
measured range minus the range calculated by using Pythagoras'
theorem on the calculated positions.
Local coordinates. The origin of the local coordinate system is in the
area covered by the transponder array. The axes are called EAST,
NORTH and DEPTH. The NORTH axis is not necessarily pointing in
the geographical north direction. The names of the axes in the
coordinate system are written in upper case letters (EAST, NORTH),
and the geographical directions are written in lower case letters.
Geographical coordinates. When a geographical calibration is
performed, positions may be presented in geographical coordinates;
either in latitude and longitude or in UTM coordinates.
Initial positions. The positions of the transponders in the transponder
array inserted before the local calibration is performed. The positions
are given in local or geographical coordinates. The only requirement
to the accuracy of these positions is that they roughly indicate the
transponder positions relative to each other.
Calibrated positions. The positions of the transponders in the
transponder array calculated in the local calibration. The positions are
given in local coordinates.
Error ellipse. There is an uncertainty associated with all positions,
both initial and calibrated. This uncertainty is expressed as a 1-sigma
error ellipse both in the input to and the output from the HiPAP / HPR
system. The error ellipse has a major and a minor semi-axis, and the
direction of the major semi-axis relative to north is specified.
Assuming that the uncertainty of the position is normally distributed,
the probability that the position really is within the error ellipse is 0.67
x 0.67 = 45%.
18
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Operator manual
HiPAP / HPR terms
The APOS is the HiPAP / HPR System Controller. It consists of a
Pentium based PC. It can also contain a keyboard and circuit boards
for serial lines, Ethernet etc. as options.
HPR 400 is a transceiver. It consists of single Europe circuit boards
normally mounted in a 19" rack. The PCBs may be mounted in a
cylinder for subsea use. The transceiver measures ranges and SSBL
directions and handles telemetry.
HiPAP is a transceiver with one spherical transducer.
A Transducer consists of elements (vibrators) and some electronics. It
converts the electrical transmission signals generated by the
transceiver into hydroacoustic pulses. It also converts the
hydroacoustic pulses received into electrical signals for the
transceiver.
The transducer may be of the ordinary LBL type or of the SSBL type.
Both are capable of measuring ranges. The SSBL transducer can also
measure directions.
The HPR 4xx consists of an Operator unit, transceiver(s) and
transducer(s). There may be up to four transceivers connected to the
Operator Unit, and there may be two LBL transducers plus two SSBL
or
LBL
transducers
connected
to
each
transceiver.
HPR 410 is an SSBL system, HPR 408 is an LBL system while HPR
418 is a combined LBL and SSBL system.
A Transponder consists of a LBL type transducer, electronics and
batteries. It is placed on the seabed or on an ROV. The transponders may
be commanded by telemetry to execute functions.
Most LBL transponders contain a pressure and a temperature sensor.
These are used to decide the transponder depth.
When enabled for positioning, the transponder may be interrogated by
two pulses on different frequencies and will then reply with a pulse on
a third frequency. The HiPAP / HPR system may command it to
switch frequencies.
Each transponder is uniquely identified by a serial number.
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HiPAP/HPR systems
LBL measurement principles
LBL positioning is based on range measurements, both for the
calibration and for the positioning. The principle is basically the same
for positioning and for calibration, but the explanation is split into
separate paragraphs in this text.
Positioning
The HiPAP / HPR system measures ranges from a transducer to the
transponders on the seabed. A common interrogation channel is used
for all the transponders in the transponder array. The HiPAP / HPR
system knows the transponder positions. Each range measurement
indicates that the transducer is on a sphere with its centre at the
transponder and with its radius equal to the range. If more than one
range measurement is made, the transducer's position must be on the
lines where the spheres intersect.
When the measurements are done on a SSBL type of transducer, the
directions may be used together with the range in the calculations. In
shallow water, and when an accurate HiPAP transducer is used, the
measured directions contribute to a more accurate position.
The depth of the transducer is often known. In these cases, each range
measurement indicates that the transducer is on the circle where the
sphere around the transponder intersects with the horizontal plane at
the transducer. This is illustrated in Figure 1. Here three circles are
drawn where the transducer's depth plane crosses the three spheres.
Normally there will be noise on each measurement. That is illustrated
on the figure by not letting the three circles intersect exactly in one
point. There are three intersections close to each other, and the
position can be assumed to be somewhere in the triangle formed by
the intersections.
Figure 1 LBL positioning
20
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Operator manual
Normally, more ranges than necessary are measured, and the number
of intersections close to each other increases. Still the best guess of the
position is somewhere in the space between these intersections. The
program uses a weighted least square error algorithm to decide the
position. The algorithm is iterative, and the errors are the differences
between the measured ranges and the corresponding ranges calculated
by using Pythagoras' theorem on the vessel position. These errors are
called range residuals.
The iterations start at the vessel's previous known position, and
continue until the increment from the previous iteration is less than a
preset number of centimetres. The accuracy of the old position does
not influence the accuracy of the new position.
Situations may arise when too few ranges are measured. Then there
are two possible solutions for the new position. The programs will
iterate towards the position closest to the old one.
In standard LBL, the replies from the transponders in the TP array are
received on the same transducer as doing the interrogation of the
array. In the APOS you can request the replies to be received on other
transducers too. The extra measurements make the LBL system more
accurate and robust.
Calibration
The ”position” used during the calibration consists of the position of
each array transponder. Consequently, it contains many coordinate
values.
The programs must know something about the transponder positions
before the calibration calculations can start. These positions are called
“Initial positions”. That information must be inserted by you, or it
may be read from an ASCII file. SSBL measurements may be used to
identify the initial transponder positions.
You must inform the system of the accuracy of the initial positions.
This is achieved by specifying a 1-sigma error ellipse for the
horizontal position and a standard deviation for the depth. The
transponders are often at approximately the same depth, and the range
measurements then contain no information about their relative depths.
In this case, the depth standard deviation should be set to 0.00 m for
all the transponders.
The next step of the calibration is to measure the subsea ranges
between the transponders. The range from one transponder to another
is normally measured many times. The mean value and the standard
deviation of these ranges are then calculated and used later in the
calculations.
The programs use a weighted least square error algorithm to decide
the positions of the transponders. The algorithm is iterative, starting at
the initial positions of the transponders. There are two types of errors
as seen from the algorithm.
850-160841/D
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HiPAP/HPR systems
The range errors are the differences between the measured ranges
and the corresponding ranges calculated by using the Pythagoras
formula on the transponder positions. These errors are called range
residuals. In the algorithm the squares of the range residuals are
weighted with the inverse of the variance calculated during the range
measurements. In this way the ranges measured with a small standard
deviation have a greater impact on the resulting transponder positions
than the ranges measured with a large standard deviation.
The position errors are the differences between the calculated
transponder positions and the starting values of those positions. In the
algorithm, the squares of these errors are weighted with the inverse of
the squares of their uncertainties. The uncertainty of a transponder
position starts at the error ellipse for the initial position. The
uncertainty reduces in size during the calculation, and the result is the
uncertainty of the calibrated transponder position.
Combined use of LBL and SSBL
When a transponder array is active on an SSBL transducer, the HiPAP
/ HPR system may perform SSBL measurements when receiving the
replies. The direction information is then used together with the range
information to make the system more accurate and robust. The
transponders in the transponder array are still classified as LBL
transponders.
Transponders may be interrogated as SSBL transponders. They are
interrogated using their individual frequencies, and the SSBL
measurements are performed as on a pure SSBL system.
The same transponder may not be interrogated as an SSBL
transponder and an LBL transponder simultaneously.
When both a transponder array and one or more SSBL transponders
are active, the system will alternate between LBL interrogations and
SSBL interrogations. The sequence is controlled by the interrogation
rate parameters for the LBL and SSBL interrogations.
The transponders used as SSBL transponders are of the same physical
type as the LBL transponders. They are, however, commanded to be
interrogated on their individual channels and not on the LBL common
interrogation channel.
Geographical calibration
Many LBL applications do not perform geographical calibrations. For
those applications, you may ignore this chapter.
The relative positions of seabed transponders in TP arrays are
calculated based on range measurements between the transponders.
When finished, the transponder positions relative to an origin are
calculated. This process is called the local calibration.
22
850-160841/D
Operator manual
Normally the position of the origin, and the rotation of the local North
axis relative to the geographical north axis, remain unknown after the
local calibration. These unknowns are decided in the geographical
calibration.
The APOS uses positions of the vessel, simultaneously received from
a DGPS system and calculated by the LBL system, as basis for the
geographical calibration. DGPS and LBL position pairs are logged at
many positions in the area before the calculation is performed. The
calculation decides the origin latitude and longitude, and the rotation
of the local north axis relative to geographical north axis, using a least
square error algorithm.
When the latitude, longitude and rotation of the local origin are
calculated, the LBL positions logged are converted to geographical
coordinates. There is normally a difference between the LBL
geographical position and the DGPS position logged in the same
place. This is called the distance residual of the position pair. The
residual is the statistical sum of the DGPS error and the LBL error.
When these systems work correctly, the sound velocity profile used is
accurate, and the local calibration was performed accurately, these
residuals are normally in the 1 m order of magnitude.
The most accurate results for the origin position calculations are given
if the position pairs are logged evenly distributed around the area. If
for example the sound velocity profile is inaccurate, the distance
residuals of the position pairs logged in the outer parts of the array
may be much larger than the error in the origin calculated. If, on the
other hand, position pairs are logged in only one part of the array, the
situation could be the opposite - with small residuals but an inaccurate
calculation of the origin. It must always be remembered that the
objective of the calibration is to establish accurate positions, not to
obtain small residuals.
The three parameters calculated in the geographical calibration are the
latitude, longitude and rotation. When performing LBL positioning in
the area later, errors in latitude and longitude will always contribute to
errors in the LBL geographical position. The error in the rotation
contributes an error proportional to the distance from the centre of the
area in which the position pairs were logged.
The origin calculated is valid for the locations in the transponder
arrays used in the LBL positioning during the geographical
calibration.
850-160841/D
23
HiPAP/HPR systems
Super array and Tp array
A limit of eight transponders can be in use simultaneously when
performing LBL positioning or range measurements for local
calibration. The limit is due to the use of frequencies within the
frequency band available. The transponders in use simultaneously are
named a TP array. The APOS can handle many TP arrays, but only
one can be active at any one time.
In many applications, as for example pipe laying and inspection, there
is a need to use more than 8 transponders. The places on the seabed
where the transponders are placed are called locations.
When all the locations are grouped together, the resulting array is
often called the “superarray”.
Each location is a physical transponder. The same physical
transponder may be used in more than one TP array, meaning that the
TP arrays can overlap.
24
850-160841/D
Operator manual
Example:
Location 8 and 9 are used in both TP array 1 and TP
array 2 because the arrays overlap, as shown in below.
Figure 2 Two TP arrays with overlapping locations
All range measurements for the local calibration are performed within
the TP arrays. When finished with the measurements in one TP array,
a calculation using only those measurements should be performed to
check the measurements. Then, only the locations specified as being
part of the actual TP array receive new calibrated positions. The
positions of the other locations will remain at their initial values.
Normally, some of the locations receiving new calibrated positions
will also be used in other TP arrays. The new positions will then also
be valid for those arrays, i.e. one location has one and only one
position, even when used in more than one TP array.
When the ranges are measured in all the TP arrays with overlapping
locations, a local calibration calculation for the super array should be
performed. The range measurements performed in all the TP arrays
are then used, and all locations receive new calibrated positions.
850-160841/D
25
HiPAP/HPR systems
Geographical coordinates
Many LBL applications do not use geographical coordinates. For
those applications, you may ignore this chapter.
The APOS may receive geographical positions from a DGPS receiver,
and it may present the calculated LBL positions in geographical
coordinates.
Geographical coordinates are always referred to a datum defining the
ellipsoid model of the earth. The APOS may work with three datum
simultaneously. They are:
1.
A reference datum. This datum is used by the HiPAP / HPR
system in the internal calculations. It is by default WGS 84, and
you should not change it.
2.
A GPS datum. This datum is the one used by the DGPS
receiver. After having received a geographical position from the
DGPS receiver, the HiPAP / HPR system converts the position
to the reference datum before starting any calculations. You
may select the GPS datum from a list of datum in a menu.
3.
An APOS datum. This datum is used by the HiPAP / HPR
system when presenting LBL positions in geographical
coordinates, both on the screen, in printouts and in binary
telegrams. You may select the APOS datum from a list of
datum in a menu.
The system always performs the LBL calculations in local
coordinates. If the LBL positions are to be presented in geographical
coordinates, the transformation from local to geographical is
performed just before the presentation. The APOS must know the
geographical coordinates of the local origin and the rotation of the
local north axis to perform this conversion.
When the initial coordinates for the locations are entered in UTM
coordinates, the APOS must convert the position to local coordinates
before performing any calculations. To perform this conversion, it
must know the geographical coordinates of the local origin to be used.
That is inserted by you as a UTM centre. The rotation parameter of
this origin is calculated automatically to the angle between the
geographical north and the UTM north. You should not change the
UTM centre when it is in use for the locations.
The use of the UTM centre as an origin is similar to the use of the
origin calculated in a geographical calibration.
The UTM centre or the origin calculated in the geographical
calibration may be transferred to the origin(s) of the TP array(s).
When transferred to a TP array, the origin is used when:
x
26
Positioning in the TP array. The LBL position calculated may be
presented in UTM or in geographical coordinates.
850-160841/D
Operator manual
x
Printing the calibrated positions of the locations. The calibrated
positions are always printed in local coordinates. Those locations
used in a TP array with an origin are also printed in UTM
coordinates.
Quality control of the data
The quality control of the data is performed on many levels. The
HiPAP / HPR system measures more than is strictly necessary, and
thereby gains the possibility to check the quality of the results.
Local calibration
The calibration is primarily based on range measurements between the
transponders. Each range is measured many times, and the program
calculates a standard deviation on each range. You may examine the
measurements, and the ranges may be measured anew. You may
exclude ranges from the calibration calculations if no acceptable
standard deviation is obtained.
The inverse of the standard deviations are used by the algorithms as
weights when calculating the optimum transponder array positions.
After having calculated optimum positions for the array transponders,
the APOS checks how the measured ranges fit with the calculated
positions. Ranges that do not fit well have large range residuals, and
these ranges may be measured anew or excluded before the calibration
calculations are performed again.
The APOS calculates the uncertainties of the calibrated positions, and
presents them as error ellipses around the positions.
Geographical calibration
The APOS uses positions of the vessel, simultaneously received from
a DGPS system and calculated by the LBL system, as the basis for the
geographical calibration. Only two DGPS / LBL position pairs are
necessary to calculate the origin latitude, longitude and rotation, but
up to many hundreds position pairs may be logged and used in the
weighted least square error calculation. The calculation is over
determined, and distance residuals are calculated for each position
pair. The RMS value of these residuals indicate how well the position
pairs match.
Each position pair has associated statistical information indicating its
uncertainty. This information is used in the calculations, and it
contributes to the statistical data giving the uncertainty of the origin
calculated.
850-160841/D
27
HiPAP/HPR systems
Positioning
During positioning the HiPAP / HPR system normally measures more
ranges and SSBL directions than is necessary. After having calculated
the position, it checks how well the measured ranges and directions fit
with the position. Measurements obviously wrong may be
automatically excluded when the position is calculated again.
The APOS calculates residuals of all measurements, and the
uncertainty of the LBL position
The uncertainty of the local LBL position calculated, depends on
several factors:
x The number of ranges and SSBL angles measured, and the
geometrical crossings of the vectors from the transponders to the
transducer.
x The accuracy with which the ranges and the angles are measured.
x The uncertainty of the sound velocity profile used. You insert this
uncertainty in a menu.
x The uncertainty of the calibrated positions of the transponders in the
array.
The local LBL positions calculated may be presented in geographical
coordinates. In that case, the uncertainty of the origin is statistically
added to the uncertainty of the local position before being presented.
(The graphical presentation on the screen is always in local
coordinates. The printouts however may be in geographical
coordinates.)
Transponder Modes
Each transponder may be in one of the following modes.
x SSBL mode. The transponder enters this mode after power on and
after reset. It must be in this mode when being interrogated as an
SSBL transponder.
x LBL calibration mode. The transponder must be in this mode when
performing the subsea range measurements during the Local
calibration.
x LBL positioning mode. The transponders must be in this mode
when measuring ranges from a transducer to the transponders. In
this mode, the transponder is interrogated on an LBL interrogation
channel, which is usually different from the transponder s channel.
The transponder s reply frequency is decided by its channel
number. This mode enables all the transponders in an array to be
interrogated on the same interrogation channel, while replying on
their individual frequencies.
In the LBL positioning mode, the turnaround delay is set individually
for each transponder. This possibility is used to prevent the
transponder replies being received at the transducer simultaneously.
28
850-160841/D
Operator manual
Operation
The following paragraphs give an overview of the operations without
going into details. For detailed description of the operation, refer to
the APOS on-line help system.
Measure ranges
The transponders in the transponder array must all be in the
Calibration mode before the subsea ranges are measured.
The local calibration is primarily based on range measurements
between the transponders. They send the results up to the HiPAP /
HPR system by telemetry. You may choose to request one transponder
at a time to measure the ranges to all the others, or you may request all
the transponders, one at a time, to measure the ranges to all the others.
This operation will last for some minutes, depending upon the ranges
and the number of ranges to measure. The second option should only
be selected when the vessel has good telemetry communication with
all transponders from a single position. In both cases only one
telemetry function is performed at any one time in the water.
Execute the local calibration
Once the subsea ranges have been measured, the positions of the
transponders in the array can be calculated.
When the APOS has completed the calculations, it displays the
maximum and the RMS values of the range residuals. These indicate
how well the calibrated positions fit with the measured ranges. If you
are not satisfied with the residuals, you should identify the ranges
contributing the most to the RMS value of the residuals. Ranges with
large residuals should be measured again and the calibration
calculations repeated. This iteration may need to be performed many
times before the resulting residuals are considered to be small enough.
The left part of the screen is normally used to present graphical
information. In the LBL local calibration process, it is better to use it
to display the ranges. Then the display gives an overview over the
ranges, the standard deviations and the range residuals. The ranges
and the standard deviations are updated after each range measurement.
The range residuals are updated after each local calibration
calculation.
Position a vessel or ROV
When satisfied with the result of the local calibration, you can start the
positioning operation. First the turnaround delays of those
transponders in the array must be decided, then the transponders must
be commanded to the LBL positioning mode.
850-160841/D
29
HiPAP/HPR systems
Position a transponder
The transponders are able to measure the ranges to other transponders,
and send the result, on telemetry, to the HiPAP / HPR system. This
capability is used in the LBL transponder positioning mode. The
transponder to be positioned is called the master transponder, and it is
not part of the TP array. The master transponder measures ranges to
transponders in a TP array, these other transponders being called the
slaves. Up to six slaves may be used simultaneously by one master.
The transponders in the TP array must be in the calibration mode. The
master is commanded to be in a special TP range positioning mode, in
which it knows the channels of the slaves to which it is to measure the
ranges. The positioning sequence is initiated by the HiPAP / HPR
system transmitting a short message to the master on telemetry. The
master measures the ranges to the slaves, just as in calibration mode.
Only one range is measured towards each slave. When it has finished,
the master transmits the ranges, on telemetry, up to the HiPAP / HPR
system, then waits for the next request to measure ranges.
The LBL transponder positioning mode is a flexible and simple
solution for many applications. The drawback is the speed. Both the
ranges and the request to measure are sent on telemetry, and the
master transponder measures only one range at a time. The time used
for a sequence depends on the number of slave transponders used, and
if there are timeouts on the replies from the slaves. The positions may
be updated as fast as once every 12 seconds, though more time may
well be required, resulting in a slower update rate.
Geographical calibration
The geographical calibration requires that you position the vessel in
local LBL coordinates and that the APOS reads the vessel position
from a DGPS receiver simultaneously. An LBL position and a DGPS
position, logged simultaneously, are named a position pair.
When logging the position pair, the vessel should be drifting to avoid
noise and air bubbles from the thrusters and propellers disturbing the
LBL measurements. 8 to 10 position pairs should be logged while the
vessel is drifting in one position, then the vessel should be moved to
another position and a new 8 to 10 position pairs should be logged.
This procedure should be repeated at many positions, evenly
distributed, in the area covered by the transponder array. Do not log
only while located in the centre of the area as that will give a high
uncertainty for the rotation of the local north axis.
When logging position pairs, attention should be paid to the ranges
measured and the range residuals calculated. The best results are
achieved when the position pairs are logged when many ranges are
measured correctly and their residuals are small.
30
850-160841/D
Operator manual
When enough position pairs are logged, the geographical calibration
calculation is performed. Some position pairs will often have larger
distance residuals than the others. In that case, you may exclude some
of the position pairs with the large distance residuals and repeat the
calculation. When performing the exclusions, be aware that the
position pairs used in the calculation should be evenly distributed in
the area.
SSBL PRINCIPLES OF OPERATION
Introduction
For Super-Short Base Line (SSBL) information please refer to the
HiPAP / HPR 400 Product description – section in the APOS HiPAP /
HPR 400 Instruction manual.
850-160841/D
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HiPAP/HPR systems
Blank page
32
850-160841/D
Product description
855-164268
HiPAP system
High Precision Acoustic Positioning system
This document describes the High Precision Acoustic
Positioning (HiPAP) system. The HiPAP system is
designed for positioning of subsea targets on both shallow
and deep water.
The system uses both Super Short Base Line (SSBL) and
Long Base Line (LBL) positioning techniques.
855-164268/E
1
HiPAP
Revisions
Rev.
E
Written by
Date
02.05.05
Sign.
GM
Checked by
Date
02.05.05
Sign.
THG
Approved by
Date
Sign.
10.05.05
JEF
Document logistics
Rev. E
Implemented the HiPAP 450 system, the MPT 341 “Shorty” transponders, and new
19” display. Updated function list. Minor corrections in the text.
The information contained in this document is subject to change without prior notice.
Kongsberg Maritime AS shall not be liable for errors contained herein or for incidental
or consequential damages in connection with the furnishing, performance, or use of this
document.
© 2005 Kongsberg Maritime AS. All rights reserved. No part of this work covered by
the copyright hereon may be reproduced or otherwise copied without prior permission
from Kongsberg Maritime AS.
Kongsberg Maritime AS
Strandpromenaden 50
P.O.Box 111
N-3191 Horten,
Norway
2
Telephone: +47 33 02 38 00
Telefax: + 47 33 04 44 24
www.kongsberg.com
E-m ail: [email protected]
855-164268/E
Product description
Contents
INTRODUCTION ...........................................................................................................1
Contents.............................................................................................................................1
List of abbreviations ..........................................................................................................1
HiPAP system....................................................................................................................2
HiPAP 500 ................................................................................................................ 2
HiPAP 450 ................................................................................................................ 3
HiPAP 350 ................................................................................................................ 3
Operating modes ....................................................................................................... 4
APOS......................................................................................................................... 4
Sensors...............................................................................................................................4
POSITIONING PRINCIPLES.......................................................................................5
Introduction .......................................................................................................................5
SSBL positioning...............................................................................................................5
LBL positioning.................................................................................................................7
Calibration................................................................................................................. 7
Positioning................................................................................................................. 7
Combined SSBL and LBL positioning ..................................................................... 9
Multi-User LBL positioning ..................................................................................... 9
MEASUREMENT COMPENSATION .......................................................................11
Roll - pitch - heading compensation................................................................................11
Ray bending compensation..............................................................................................12
Transducer alignment ......................................................................................................13
APPLICATIONS ...........................................................................................................15
Dynamic Positioning (DP) reference...............................................................................15
Subsea survey and inspection..........................................................................................15
Rig and Riser monitoring ................................................................................................15
Acoustic Blow Out Preventer (BOP) control ..................................................................15
Construction work and metrology ...................................................................................16
LBL Transponder positioning ................................................................................. 16
LBL High Accuracy Metrology .............................................................................. 16
SYSTEM UNITS ...........................................................................................................17
General ............................................................................................................................17
Operator station ...............................................................................................................17
General .................................................................................................................... 17
Operator Station configuration................................................................................ 18
Standard operator station......................................................................................... 18
Operator console ..................................................................................................... 19
Operator console integrated with SDP XX ............................................................. 19
855-164268/E
3
HiPAP
HiPAP transceiver units ..................................................................................................20
General .................................................................................................................... 20
Transceiver function................................................................................................ 20
HiPAP 500 transducer .....................................................................................................21
HiPAP 450 transducer .....................................................................................................21
HiPAP 350 transducer .....................................................................................................21
HiPAP hull units..............................................................................................................22
Introduction ............................................................................................................. 22
HiPAP 500 .............................................................................................................. 22
HiPAP 450 .............................................................................................................. 22
HiPAP 350 .............................................................................................................. 22
Hoist Control Unit ...........................................................................................................23
Remote Control Unit .......................................................................................................23
Gate valves ......................................................................................................................23
Mounting flange ..............................................................................................................23
EXTERNAL INTERFACES ........................................................................................24
Position outputs ...............................................................................................................24
Surface navigation ...........................................................................................................24
Vertical Reference Unit (VRU).......................................................................................24
Gyro compass ..................................................................................................................24
Integrated attitude sensors ...............................................................................................25
Interface specification......................................................................................................25
SYSTEM CONFIGURATIONS...................................................................................26
General ............................................................................................................................26
Single HiPAP system ......................................................................................................26
Redundant HiPAP system ...............................................................................................26
Dual HiPAP 500 system..................................................................................................26
Accuracy improvement ........................................................................................... 27
Redundancy improvement ...................................................................................... 27
TRANSPONDERS ........................................................................................................30
General ............................................................................................................................30
MPT series.......................................................................................................................31
SPT series ........................................................................................................................32
MPT 341 “Shorty” series.................................................................................................33
MST series.......................................................................................................................34
SYSTEM FUNCTIONS ................................................................................................35
Introduction .....................................................................................................................35
Main functions.................................................................................................................35
General .................................................................................................................... 35
List of main functions ............................................................................................. 35
4
855-164268/E
Product description
TECHNICAL SPECIFICATIONS ..............................................................................41
SSBL accuracy ................................................................................................................41
HiPAP 500 .............................................................................................................. 41
HiPAP 450 .............................................................................................................. 44
HiPAP 350 .............................................................................................................. 44
LBL accuracy ..................................................................................................................46
Range capabilities............................................................................................................47
Unit specifications ...........................................................................................................48
APC 10 computer .................................................................................................... 48
Keyboard ................................................................................................................. 48
Trackball ................................................................................................................. 49
Display 19” TFT ..................................................................................................... 49
HiPAP transceiver unit............................................................................................ 49
Heading reference (both models) ............................................................................ 50
Roll and pitch reference (both models) ................................................................... 50
HiPAP hull units ..................................................................................................... 51
Hoist Control Unit................................................................................................... 51
Remote Control Unit ............................................................................................... 52
Flanges .................................................................................................................... 52
Gate valves .............................................................................................................. 53
Outline dimensions..........................................................................................................54
APC 10 computer .................................................................................................... 54
Keyboard ................................................................................................................. 55
Trackball ................................................................................................................. 55
19” TFT display ...................................................................................................... 56
Operator console ..................................................................................................... 57
HiPAP transceiver unit – outline dimensions ......................................................... 58
HiPAP transceiver unit door w/cooling unit ........................................................... 59
Gate valve and flange – 500 mm............................................................................. 60
Gate valve and flange – 350 mm............................................................................. 61
Hoist Control Unit................................................................................................... 62
Remote Control Unit ............................................................................................... 63
HiPAP hull units..............................................................................................................64
HiPAP 500 .............................................................................................................. 64
HiPAP 450 .............................................................................................................. 64
HiPAP 350 .............................................................................................................. 64
HiPAP 500 HL 2180 ............................................................................................... 65
HiPAP 500 HL 2180 without dock and gate valve ................................................. 66
HiPAP 500 HL 3770 ............................................................................................... 67
HiPAP 500 HL 4570 ............................................................................................... 68
HiPAP 500 HL 6120 ............................................................................................... 69
HiPAP 350 HL 2180 ............................................................................................... 70
HiPAP 350 HL 3770 ............................................................................................... 71
HiPAP 350 HL 6120 ............................................................................................... 72
Blank page
855-164268/E
5
Product description
INTRODUCTION
Contents
This description covers the High Precision Acoustic Positioning
(HiPAP) system. It provides a general description of the
systems, each module, the functions and technical
specifications.
List of abbreviations
855-164268/E
ACC
ACS
APC
APOS
BOP
Acoustic Control Commander
Acoustic Control Subsea
Acoustic Positioning Computer
Acoustic Positioning Operator Station
Blow Out Preventer
DGPS
DP
GPS
HiPAP
LBL
MST
MPT
Differential Global Positioning System
Dynamic Positioning
Global Positioning System
High Precision Acoustic Positioning
Long Base Line
Mini SSBL Transponder
Multifunction Positioning Transponder
MULBL
ROV
SPT
SSBL
VRU
Multi-User Long Base Line
Remotely Operated Vehicle
SSBL Positioning Transponder
Super Short Base Line
Vertical Reference Unit
1
HiPAP
HiPAP system
The HiPAP system is designed to provide accurate positions of
subsea targets such as Remotely Operated Vehicles (ROVs),
towed bodies or fixed transponders. To achieve the accuracy, the
HiPAP system uses a spherical shaped transducer design and a
new signal processing technique. This new technique enables
narrow beams to be generated in all directions within the lower
half of the transducer using only electronic beam control.
The HiPAP system operates as an SSBL system, measuring
angles and range by using a unique processing technique that
provides very high accuracy. For LBL operation the system can
simultaneously position several seabed transponders and
compute the vessel’s position.
The following HiPAP systems are available:
• HiPAP 500
• HiPAP 450
• HiPAP 350
All HiPAP systems have common software and hardware
platforms and thereby offer the same kind of additional
functionality and options.
HiPAP 500
The HiPAP 500 has a full spherical transducer body including
241 transducer elements. This model has close to full accuracy
in the half sphere sector and is the preferred system where the
best possible performance is required. The HiPAP 500 can also
track targets above the half sphere sector.
The use of very narrow beams provides:
− High accuracy
− long range
− good noise reduction capabilities.
The HiPAP 500 transducer has a diameter of 392 mm and will
be installed with the 500 mm gate valve.
2
855-164268/E
Product description
HiPAP 450
The HiPAP 450 system has the same operational and technical
performance as the HiPAP 350 system.
i Refer to HiPAP 350 system description on page 3.
The HiPAP 450 transducer is the same unit as the HiPAP 500
transducer, but only the 46 lower sector elements of the
sphere are “activated” and in use.
The HiPAP 450 uses the same hull units as the HiPAP 500.
i Refer to HiPAP 500 system description on page 2.
Upgrade to HiPAP 500
The HiPAP 450 can be upgraded to full HiPAP 500
performance. This is done by:
• Installation of 6 additional Transmitter / Receiver Boards in
the transceiver unit.
• APOS software upgrade.
HiPAP 350
The HiPAP 350 has a spherical transducer with a cylindrical
body including 46 transducer elements. This model has good
accuracy in the ± 60° coverage sector and is suited for
operations where the major positioning targets are within this
sector.
The use of narrow beams provides:
− High accuracy
− long range
− good noise reduction capabilities.
The HiPAP 350 transducer has a diameter of 320 mm and it
will be installed with a 350 mm gate valve. Installing the
system with a 500 mm gate valve, will enable an easy upgrade
to a HiPAP 500 system.
855-164268/E
3
HiPAP
Operating modes
•
SSBL - Positions various targets by directional and range
measurements.
•
LBL - Positions the surface vessel by simultaneously use of
combined directional and range measurements to
transponders in an LBL array.
•
MULBL - Positions the surface vessel in an MULBL
transponder array.
•
Telemetry mode – acoustic communication to:
− transponders for LBL calibration, metrology
measurements and set-up
− instrument units and BOP systems.
APOS
The HiPAP system is operated from the APOS, which is a
Windows XP based software used to operate the HiPAP system.
The system can be operated from one single APOS station or
from a wide number of APOS operator stations connected on a
network.
The APOS software can also be integrated with the Kongsberg
DP system.
Sensors
The HiPAP system has a wide range of interfaces to sensors
from different manufacturers.
A gyro compass and a vertical reference sensor will normally be
interfaced to a HiPAP system.
4
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Product description
POSITIONING PRINCIPLES
Introduction
The HiPAP system uses two different principles for positioning;
the SSBL and the LBL. These two principles have different
properties that make the system flexible for different
applications.
• The SSBL principle is based on a range and direction
measurement to one transponder, while the LBL principle is
based on range measurements to minimum three transponders
on the seabed.
• The position accuracy in SSBL is proportional to the slant
range to the transponder, while the LBL accuracy is
determined by the geometry of the seabed transponders array
and the vessel that is being positioned.
• The SSBL principle, due to its simple operation, is the
obvious choice if the accuracy is good enough for the
application being done. The LBL principle is the obvious
choice if the SSBL accuracy is not good enough for the
application being done, though it requires a more complex
operation.
SSBL positioning
In SSBL, the system calculates a three-dimensional subsea
position of a transponder relative to a vessel-mounted
transducer. The position calculation is based on range and
direction measurements to one transponder. The onboard
transducer transmits an interrogation pulse to a subsea
transponder, which then answers with a reply pulse. When using
a responder the interrogation is replaced by a hard wire trigger
connection.
• The onboard system will measure the time from the
interrogation to the reply pulse is detected and use the sound
velocity to compute the range.
• The transponder position is presented both numerical and
graphically on the operator station. Only one onboard SSBL
type transducer is necessary to establish this position.
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HiPAP
Using a pressure sensor in the subsea transponder can increase
position and depth accuracy. The pressure is measured and
transmitted to the surface HiPAP system using acoustic
telemetry. The depth is then used in the algorithms for
establishing the 3D position. The system can also read the depth
via a serial line input from a pressure sensor. Simultaneous use
of many transponders is made possible by using individual
interrogation and reply frequencies.
Figure 1 – SSBL principle
6
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Product description
LBL positioning
Calibration
The LBL principle is based on one vessel-mounted transducer,
and normally 4 - 6 transponders on the seabed. This seabed
transponder array must be calibrated before LBL positioning
operations can begin. The calibration shall determine the
transponder’s positions in a local geographical co-ordinate
frame. The HiPAP system supports two calibration techniques:
Baseline measurements
This technique uses automatic calibration functions in the
HiPAP system. This allows all the ranges to be measured and
made available by acoustic telemetry communication between
the transponders and the vessel’s system. Based on the baseline
measurements and initial positions of the transponders, the
calibrated transponder positions are computed.
Runtime calibration
To use this technique, the system is run in LBL positioning
mode, using the SSBL positions of the seabed transponders for
the vessel LBL position calculation. The runtime calibration
function logs the measurements. Based on this, new optimised
seabed transponder positions will be computed. This technique
makes the baseline measurements redundant. If the baselines
measurements are done, they are also used in the calculations.
The calibration is performed only once prior to positioning
operation, since the transponders will remain in the same
location during the operation.
Positioning
When the transponder positions are known, positioning of the
surface vessel can begin. All the seabed transponders will be
interrogated simultaneously, and each will respond with its
specific reply signal. The LBL system will then calculate the
ranges from the individual transponders. By using the
calibration data together with the calculated ranges in software
algorithms, the vessel or an ROV can be positioned. ROV
positioning requires an HPR 400S transceiver to be mounted on
the ROV.
• The system can take the depth from an ROV-mounted
pressure sensor via a serial line. By using this depth in the
computation, it will increase the position accuracy of the
ROV.
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7
HiPAP
• The range capabilities of a medium frequency LBL system
will be approximately the same as those of an SSBL system.
• LBL positioning will give better position accuracy at greater
water depths, but is more complex to operate, and it needs
more transponders than the SSBL.
• LBL TP positioning method uses one transponder to measure
the ranges to the transponders in the array and telemetry the
data to the surface vessel, which computes the position of the
transponder.
Figure 2 LBL principle
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Product description
Combined SSBL and LBL positioning
The combined SSBL/LBL system uses an onboard multielement transducer. The system may operate as an SSBL system
and as an LBL system simultaneously.
As an example, the vessel may be positioned relative to the
seabed using LBL while an SSBL transponder/responder on an
ROV is positioned relative to the vessel. The vessel is displayed
relative to the array origin and the ROV relative to the vessel.
The combined system will also use the measured directions in
2D together with the measured ranges in the LBL positioning.
The combined measurement gives a robust system with
increased accuracy. An LBL solution is achievable when only
two transponder replies are detected.
Multi-User LBL positioning
Several individual vessels and ROV units can now position
themselves using the same seabed transponder array. The system
and principle has the following main advantages:
• Provides high position accuracy (comparable to standard
LBL).
• A small number of transponders serve all vessels and ROVs.
• Secures high position update rate (down to approx. 2
seconds), which is essential in DP operations.
• Avoids transponder frequency collisions when vessels are
working in the same area (all vessels are ”listening” only).
A transponder array is deployed and calibrated by use of subsea
baseline measurements. One transponder is used as the Master
in the positioning phase. The other transponders are called the
Slaves.
The Master transponder acts as a beacon. It starts a positioning
sequence by doing the steps described below. This is done
regularly with an interval set by telemetry from one of the
vessels.
855-164268/E
1
The Master interrogates the Slaves.
2
The Master transmits its individual transponder channel to
be received by the vessels/ROVs positioning in the array.
3
Each Slave transponder receives the interrogation from the
Master and transmits its individual reply channels after a
turnaround delay.
9
HiPAP
A MULBL system positioning in the array listens for the
individual channels transmitted by the master beacon, and by the
Slave transponders. When they are received, the system uses its
knowledge about their positions in the TP array to calculate the
differences in range to the transponders in the TP array. The
time difference between the Master interrogation and the start of
the reception of the pulses at the system is unknown. It has to be
calculated together with the position of the vessel or ROV.
All vessels to use the MULBL array need the coordinates of the
transponders and the channel numbers, which will be distributed
of a file.
Figure 3 Multi-User LBL positioning
10
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Product description
MEASUREMENT COMPENSATION
Roll - pitch - heading compensation
In order to compensate for the vessels roll / pitch / heading
movements, vertical reference sensors and heading sensors are
interfaced. Data from these sensors are used to compute position
data that is relative to horizontal level and to north.
The absolute accuracy and the standard deviation of the position
are very dependent of the roll / pitch / heading sensors
performance. Especially when working at great waterdepths the
roll / pitch / heading error contribution is significant and when
working at long horizontal range the heading error contribution
is significant. This compensation is used in all positioning
modes.
The accuracy of the attitude data is of crucial significance for
the total accuracy of the HiPAP system, and the error from the
attitude sensor will add to the error of the HiPAP system.
Example:
A roll or pith error of 0.25 degrees will give an error of 4.4 m at
1000 m depth, and an error of 13 m at 3000 m depth while a roll or pitch error of 0.05 degree will give respectively
0.9 m and 2.6 m.
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HiPAP
Ray bending compensation
Positions calculated from the raw measurements are influenced
by variable sound velocity through the water column. The
variable sound velocity causes an error in both range
measurements and the angular measurements. By use of a sound
profile, the system can correct these errors.
Figure 4 Sound profile - APOS presentation
The sound velocity values may be measured by a probe and
transferred to the system. If the depth of the target (transponder)
is known either by depth sensor in the transponder or by an
ROV depth sensor, these data can be transferred to the system
and they will be used in the compensation.
The range calculation is compensated for the error caused by
different sound velocities in the water column, and for the extra
propagation path caused by the ray bending. The angular
measurements are compensated for the ray bending.
The compensation is used in all positioning modes.
12
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Product description
Transducer alignment
After a HiPAP installation, it is necessary to determine a number
of offsets between various sensor reference points and axes.
These are:
• Vertical angular - The offset between transducer axis and roll
/ pitch sensor axis.
• Horizontal angular - The offset between roll / pitch sensor
and heading reference.
• Horizontal angular - The offset between transducer axis and
heading reference.
• Horizontal distance - The offset between transducer location
and reference point.
The principles for these alignment adjustments are based on the
position of a fixed seabed transponder relative to the vessel and
the geographical position of the vessel.
In order to simplify and improve the quality of the alignment
scenario, the alignment function in APOS is used. By logging
the vessel position from DGPS along with the measured HiPAP
position of a seabed transponder, the program computes the
alignment parameters. The normal procedure is to locate the
vessel at four cardinal points and on top of the transponder with
four headings.
Immediately the alignment parameters can be computed and
automatically be transferred to the APOS alignment parameters.
No manual transfer is needed. The results from the alignment
are shown both numerical and graphically on the APOS. An
example is shown in the two figures below.
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13
HiPAP
Figure 5 Result of transducer alignment - APOS presentation
Figure 6 Transponder positioning - APOS presentation
The figure shows the positions at the seabed transponder in
UTM co-ordinates after the compensation values are determined
and applied. The various symbols are used so readings from
different locations easy can be separated from each other.
14
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Product description
APPLICATIONS
Dynamic Positioning (DP) reference
The position data can be used by a DP system as the reference
signals for keeping the vessel in the desired position. High
position accuracy and reliability ensure a secure and stable
reference input to the DP systems. SSBL and LBL systems may
be used.
Subsea survey and inspection
Positioning of ROVs carrying instruments for survey and
inspection is another important application for the HiPAP
system. The ROV position relative to the vessel is integrated
with the position from surface navigation to provide a
geographical position of the ROV. In this application, a
responder is suitable.
Tracking towed bodies for similar applications may also be
done. In survey applications, a best possible geographic position
is wanted. To obtain this, sound velocity and depth (pressure)
sensor input to the HiPAP system may be used.
Rig and Riser monitoring
The HiPAP system can be used to monitor the drill rig position
relative to the well/Blow Out Preventer (BOP). It can also be
used with inclinometer transponders to monitor the BOP and
riser inclination. For HSC 400, interface to electrical riser angle
measurement is available. Used with the Acoustic Control
Subsea (ACS 400) it can be used for BOP.
Acoustic Blow Out Preventer (BOP) control
The HiPAP system is also used for transmitting and receiving
acoustic telemetry command with high security. This is used for
acoustic BOP control, which includes BOP valve operation and
monitoring critical functions by reading subsea status
information and sending this information to the operator
onboard the vessel.
A separate unit, the ACS 400, is required on the BOP stack. The
ACS 400 contains electronics and batteries for interfacing the
BOP.
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15
HiPAP
A portable control unit, the Acoustic Control Commander (ACC
400), is also available. The ACC 400 contains electronics and
batteries for operating the BOP functions.
Construction work and metrology
LBL Transponder positioning
A feature in the HiPAP system is to position one transponder
relative to an LBL array. One Multifunction Positioning
Transponder (MPT) is used to measure the range to other MPTs
in an LBL array, and to transmit the ranges via telemetry to the
surface HiPAP system. The HiPAP system computes the
position of the transponder in the array.
The transponders may be interrogated simultaneously or in
sequence. The ranges can be transmitted automatically after the
measurement or on a controlled sequence from the surface
HiPAP system.
The operator can control the speed of the telemetry link. A
position update rate of 4 seconds is achievable. This function is
ideal in applications like subsea construction and other object
positioning where high accuracy is required and where there is
no possibility to have an umbilical.
LBL High Accuracy Metrology
The MPT transponders have a High Accuracy mode that has a
very good range accuracy performance. It is possible to measure
baselines with accuracy better than 0.05 m. The MPT’s are
standard units that are operated by the HiPAP system.
The high accuracy and range capabilities obtained using MPTs
in medium frequency mode reduces the need for high frequency
transponders. High frequency transponders often need additional
equipment to be installed onboard.
16
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Product description
SYSTEM UNITS
General
A HiPAP system consists of four main units:
• Operator station
• Transceiver unit
• Hull unit with transducer and hoist control
• Gate valve and mounting flange
Each transducer requires a dedicated hull unit arrangement and
transceiver unit. One operator station can control several
transceiver units.
→
The units are shown in the system diagrams on page 28
and 29.
Operator station
General
The Operator station comprises (same for all HiPAP systems):
• APC 10 computer
• Keyboard
• Trackball
• Colour monitor
The computer runs on the Microsoft Windows XP operating
system. The user interface is a graphical user interface, designed
as a standard Windows XP application.
A Keyboard and trackball, controls the operation.
The screen is divided into 3 windows in which the operator can
select several different views. Typical views are graphical
position plot, numerical data, inclination and roll, pitch and
heading. A normal display configuration is shown in the
following figure.
One system may have one or several operator stations, which
communicates on an Ethernet. One of the operator stations will
be the Master. This is selected by the operator(s).
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17
HiPAP
Figure 7 APOS presentation
Operator Station configuration
A HiPAP system may be configured with the Operator Station
in two ways:
• Stand alone APC 10 computer, monitor, keyboard and
trackball.
• Operator console, integrated with the Dynamic Positioning
(SDP).
Standard operator station
APC 10 - Acoustic Positioning Computer
The APC 10 is the computer in the HiPAP Operator Station. It
holds all the operational software and interfaces to display,
keyboard, printers, network and other peripheral devices as
required. The unit is normally fitted with a 3.5” floppy drive and
a CD-read / write unit.
The APC 10 may be mounted desktop attached to the colour
monitor, or in a 19” rack.
18
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Product description
Display
The colour display, the flat-screen 19” TFT is a general purpose,
is a micro-processor based and digitally controlled display unit.
The display can be installed in several ways; desktop, roof,
panel or 19” rack.
Keyboard
The keyboard is a PS/2 keyboard. It has US layout and includes
back-lighting. The keyboard can be mounted on the APC 10 or
be placed on a desktop.
Trackball
The trackball is designed for easy use.
Operator console
The stand alone operator console integrates a 21” monitor, the
system controller and a keyboard. The console is identical to
consoles used with the Kongsberg DP systems. The console is to
be mounted on the deck and normally in line with the DP
consoles.
Operator console integrated with SDP XX
The integrated HiPAP and DP operation is available as two
different solutions.
HiPAP and DP - multiple integrated operator
stations
When several operator stations are available, the operator can
select to view and operate the DP and the HiPAP on any station.
The operation is the same as for a single operator console.
HiPAP and DP - multiple operator stations
When several operator stations are available, it is also possible
to dedicate one of the SDP consoles for the HiPAP operator
station, and in addition, use other consoles as integrated operator
stations for both DP and HiPAP use.
The operation is the same as for a single operator console.
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19
HiPAP
HiPAP transceiver units
General
Two types of HiPAP transceiver units are available:
1
HiPAP 500 Transceiver Unit
- also used for the HiPAP 450 system
2
HiPAP 350 Transceiver Unit
The two transceiver units are in principle the same. A HiPAP
transceiver unit is interfaced to the spherical transducer array.
The transceiver contains transmission amplifiers, A/D
conversion circuits and a signal-processing computer. It is
interfaced to one HiPAP transducer, attitude sensor(s), and
controls the triggering of up to 4 responders. The transceiver
outputs the transponder position to the APC 10. The unit is
designed for bulkhead mounting close to the hull unit.
Transceiver function
• HiPAP SSBL processing
− The HiPAP system determines the position of a subsea
target (transponder or responder) by controlling a narrow
reception beam towards its location. The system uses a
digital beam-former, which takes its input from all the
transducer elements.
− The system uses a number of wide fixed beams to generate
an approximate position for the target. Once this is
achieved, it uses data from all the elements on the
hemisphere facing the target to compute the narrow
reception beam and optimise the directional measurement.
− The range is measured by noting the time delay between
interrogation and reception. The system will control the
beam dynamically so it is always pointing towards the
target. The target may be moving, and the vessel itself is
affected by pitch, roll and yaw. Data from a roll/pitch
sensor is used to stabilise the beam for roll and pitch,
while directional data from a compass is input to the
tracking algorithm to direct the beam in the correct
horizontal direction.
− The HiPAP transceiver can operate with up to 56
transponders simultaneously. The data is sent to the APC
10.
20
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Product description
• HiPAP LBL processing
− This mode is similar to the HiPAP SSBL processing, but
the transceiver positions up to 8 LBL transponders for
each single LBL interrogation. Both ranges and directions
to the transponders are measured.
• HiPAP MULBL processing
− This mode is similar to the HiPAP LBL processing, but
the transceiver does not interrogate the MULBL
transponder array, it only listen for the replies from the
array. The transceiver can listen for to 8 LBL
transponders. The direction to the transponders and the
time difference between the received replies is transmitted
to the APC 10.
• HiPAP Telemetry processing
− The unit transmits acoustic telemetry messages, and
receives and decodes the acoustic telemetry message from
the transponder. The data is sent to the APC 10.
HiPAP 500 transducer
The HiPAP 500 model has a full spherical transducer body
including 241 transducer elements, the elements covers its entire
surface area except for a small cone around the ”north-pole”.
The large number of elements enables narrow receiver beams to
be generated. The transducer is mounted on the hull unit.
HiPAP 450 transducer
The HiPAP 450 transducer is the same unit as the HiPAP 500
but only the 46 lower sector elements of the sphere are
“activated” and in use.
HiPAP 350 transducer
The HiPAP 350 has a spherical transducer with a cylindrical
body including 46 transducer elements, the elements covers its’
+/- 60° cone pointing downwards. The large number of elements
enables narrow receiver beams to be generated. The transducer
is mounted on the hull unit.
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21
HiPAP
HiPAP hull units
Introduction
The hull unit enables the transducer to be lowered, under either
local or remote control, through the vessel’s hull to a depth
sufficient to minimise the effects of noise and air layers below
the vessel. The hull unit is installed on top of a gate valve, which
can be closed during maintenance (cleaning) of the transducer.
The hull unit also holds the guide-rail arrangement for keeping
the transducer exactly aligned with the vessels reference line.
The following HiPAP hull units are available:
HiPAP 500
HL 3770 with HiPAP 500 transducer for 500 mm gate valve
This is the normally supplied hull unit for the HiPAP 500. It is
supplied with a 500 mm transducer dock to fit on a 500 mm gate
valve.
HL 2180 with HiPAP 500 transducer
This HiPAP 500 hull unit has reduced length. It is supplied with
500 mm transducer dock to fit on a 500 mm gate valve.
HL 2180 HiPAP 500 transducer without transducer dock
This HiPAP 500 hull unit has reduced length and is designed in
stainless steel for low magnetic permeability. This unit is
without transducer dock. The foundation is shipyard supply.
HL 4570 HiPAP 500 transducer for 500 mm gate valve
This hull unit has extended length for HiPAP 500. It is supplied
with 500 mm transducer dock to fit on a 500 mm gate valve.
HL 6120 with HiPAP 500 transducer for 500 mm gate valve
This hull unit has extended length for HiPAP 500. It is supplied
with 500 mm transducer dock to fit on a 500 mm gate valve.
HiPAP 450
The same as the HiPAP 500 hull units are used.
i
Refer to HiPAP 500 hull units description.
HiPAP 350
HL 3770 with HiPAP 350 transducer for 350 mm gate valve
This is the normally supplied hull unit for the HiPAP 350. It is
supplied with a 350 mm transducer dock to fit on a 350 mm gate
valve.
22
855-164268/E
Product description
HL 3770 with HiPAP 350 transducer for 500 mm gate valve
This is a hull unit for HiPAP 350. It is supplied with a 500 mm
transducer dock to fit on a 500 mm gate valve.
HL 2180 with HiPAP 350 transducer for 350 mm gate valve
This hull unit has reduced length for HiPAP 350. It is supplied
with a 350 mm transducer dock to fit on a 350 mm gate valve.
HL 2180 with HiPAP 350 transducer for 500 mm gate valve
This hull unit has reduced length for HiPAP 350. It is supplied
with a 500 mm transducer dock to fit on a 500 mm gate valve.
HL 6120 with HiPAP 350 transducer for 350 mm gate valve
This hull unit has extended length for HiPAP 350. It is supplied
with a 350 mm transducer dock to fit on a 350 mm gate valve.
HL 6120 with HiPAP 350 transducer for 500 mm gate valve
This hull unit has extended length for HiPAP 350. It is supplied
with a 500 mm transducer dock to fit on a 500 mm gate valve.
A HiPAP hull unit is equipped with the following sub-units:
Hoist Control Unit
This unit holds the power supplies and control logic for the hoist
and lower operation of the hull unit. It also has a local control
panel for local control of the hoist / lower operation.
Remote Control Unit
This unit is normally mounted close to the display unit in the
operation room. It allows remote control of the hoist and lower
operation of the hull unit.
Gate valves
There are two different gate valves available, one with 500 mm
aperture and one with 350 mm aperture. The valve is handwheel operated, delivered with electrical interlock for
prevention of lowering the transducer into the gate.
As an option the gate vale can be delivered with an electrical
actuator (electrical gate valve operation).
Mounting flange
There are two different flanges available one with 500 mm
aperture and one with 350 mm aperture. Standard height is 600
mm. Optional length is available on request.
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23
HiPAP
EXTERNAL INTERFACES
Position outputs
The HiPAP system can be interfaced to other computers
allowing them to process the position data for various
applications. The system is flexible in the way it interfaces other
computes. Several binary and ASCII formats are available on
serial line and Ethernet using UDP protocol.
A dual Ethernet is available for secure DP operations.
An accurate time-tagged position output is available if the
system is interfaced to a DGPS and synchronised to 1PPS.
→
Refer to the NMEA 0183 sentences description, doc no.
850-160045.
Surface navigation
The HiPAP system can be interfaced to a surface navigation
system. As standard the system uses DGPS. When DGPS is
interfaced, a number of features will become available; UTM
grid on display, UTM position of transponders, transducer
alignment and geographical calibration of LBL arrays.
Vertical Reference Unit (VRU)
The Vertical Reference Unit (VRU) is interfaced to the HiPAP
system transceiver unit. The system can thereby automatically
compensate for the vessel’s roll and pitch movements. The
HiPAP system can use the same VRU as the Dynamic
Positioning (DP) system (if one is fitted).
The VRU may or may not be a part of the Kongsberg Maritime
delivery. In any case, the unit is documented separately by the
applicable manufacturer.
Gyro compass
The gyro compass supplies the HiPAP system with the vessel’s
heading relative to north. The HiPAP system may then provide
transponder coordinates relative to north. It is also used to
update the position filter as the vessel changes heading.
24
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Product description
Integrated attitude sensors
These sensors integrate rate gyros, accelerometer and GPS to
provide an accurate roll, pitch, heave and heading output. These
sensors are superior to traditional gyros and VRUs. The HiPAP
system may be interfaced to such sensors.
Interface specification
The HiPAP system has several interface formats available.
These are described in the Attitude formats description
document.
→
855-164268/E
Refer to the Attitude formats description, doc no. 853201392.
25
HiPAP
SYSTEM CONFIGURATIONS
General
A HiPAP system may be configured in several different ways,
from a single system to a redundant system with several
operator stations. Some configurations are described below.
These are shown with both a HiPAP 500 transducer and a
HiPAP 350 transducer, indicating that the two systems are
configured in the same way.
Single HiPAP system
The single HiPAP system has one transceiver and hull unit, but
it may have one or more operator stations.
→
See the system diagram on page 28.
Redundant HiPAP system
The redundant HiPAP system has two or more operator stations
and two or more transceivers and hull units. All transceivers are
accessible from all operator stations. The redundant system will
operate with 2 transponders, one on each transducer. The
redundant system shall still be operational after one single
failure in the system.
→
See the system diagram on page 29.
Dual HiPAP 500 system
A dual system applies for the HiPAP 500 only. HiPAP is
designed to operate two sets of transceivers / transducers, both
operated from the same operator station(s).
→
See the system diagram on page 29.
The dual system uses both transducers to measure the position
of one single target (transponder / responder) by controlling
beam forming and directional measurement separately for each
system in parallel. This means that both systems will measure
and calculate a position for the same reply pulse from the
transponder.
If the signal is lost on one of the transducers, it may still be
possible to receive it on the other one.
26
855-164268/E
Product description
A position estimator will use the position information from both
systems to estimate one optimal transponder position. Each
system calculates a variance for its measurements, determined
from the known system accuracy and the standard deviation of
the measurements. The position estimator receives the position
and the variance from the two systems, and calculates the
weighted mean of the two positions. The variances are used as
the weights.
The quality control function uses variance data, standard
deviation and position difference to perform a quality control of
the position. If the variance and the position difference are
outside a pre-set limit, a warning will be displayed for the
operator.
For the dual configuration, a synchronisation line between the
transceivers is required.
The following paragraphs indicate the benefits of a dual system:
Accuracy improvement
The improvement factor from 1 to 2 transducers is 2. This is
based on the statistical improvements when using two
independent systems.
Redundancy improvement
The two transducers will normally be installed at different
locations onboard. One transducer may then have a better
location with respect to noise environments and reflections than
the other. The computed position will be a weighted mean of
these two measurements, if one of the systems fails to receive a
reply, the other system may still receive it and the position will
still be computed.
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27
HiPAP
Single HiPAP - system diagram
Operator Station
Display
Position output
APC 10
APC 10
GPS Input (option)
Transceiver Unit
Power
Roll/pitch
Gyro
Responder drive
Hull Unit
Power
Hoist
Control Unit
Power
Gate valve
Remote
Control Unit
(Cd4783d)
Gate valve
position indicator
A
iP
H
28
P
HiPAP 500
Transducer
HiPAP 350
Transducer
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Product description
Redundant and Dual HiPAP - system diagram
Operator Station
Operator Station
Operator Station
Dual ethernet
Sync. (for dual system only)
HiPAP
Hull Unit
HiPAP
Hull Unit
HiPAP
Transceiver Unit
HiPAP
Transceiver Unit
Power
Power
Roll, pitch
Gyro
Roll, pitch
Gyro
Hoist
Control Unit
Hoist
Control Unit
Power
Power
Power
Gate valve
(Cd4070c)
Gate valve
position indicator
HiPAP 500
Transducer
HiPAP 350
Transducer
855-164268/E
Power
Gate valve
Remote
Control
Unit
Gate valve
position indicator
Remote
Control
Unit
HiPAP 500
Transducer
HiPAP 350
Transducer
29
HiPAP
TRANSPONDERS
General
The position calculation is based on range and/or direction
measurements from the onboard transducer to the subsea
transponder(s). For the HiPAP system, there is a wide range of
transponders available. The various transponders models have
different depth rating, source level, lifetime, beam pattern and
function. The transponder models consist of three series:
• MPT - Multifunction Positioning Transponders
• SPT - SSBL Positioning Transponders
• MPT “Shorty” Transponder
• MST - Mini SSBL Transponders
The MPT / SPT transponders - are available with 1000, 3000
and 4000 m depth rating. Two types of low frequency MPT
transponders are available with 6000 m depth rating. The MPT
and SPT transponders do all have acoustic telemetry included.
By use of acoustic telemetry from the HiPAP system several
parameters can be controlled:
• Read battery status
• Enable / disable
• Transmitter power
• Receiver sensitivity
• Change channel - frequency
• Read sensors, if any
• Acoustic release
The MPT “Shorty” transponders - are based on the standard
MPT transponders and can be field-rebuild.
The MST - are available with 1000, 2000 and 4000 m depth
rating.
For details, please see the Product Specification
for each of the models.
30
855-164268/E
Product description
MPT series
(Cd5792)
The MPT series consists of a wide number of transponders all
suited for SSBL and LBL use. Depth rating, beam pattern,
release mechanism, pressure and temperature sensor are among
the options / choices available.
1835 mm
MPT 331/DTR DuB
855-164268/E
1800 mm
MPT 339/DTR
1140 mm
MPT 339/
R 110 Vac
1470 mm
MPT 319/R
905 mm
MPT 316/DT EEx
31
HiPAP
SPT series
1650 mm
SPT 331
32
1630 mm
SPT 331/II
1140 mm
SPT 331/
RspSx 110 Vac
1470 mm
SPT 314/R
1470 mm
(Cd5797)
The SPT series consists of a wide number of transponders. All
suited for SSBL use. The SPT has the same hardware as the
MPT, but only the SSBL functionality. Depth rating, beam
pattern, release mechanism, inclinometers, pressure and
temperature sensor are among the options / chooses available.
SPT 319/R
855-164268/E
Product description
MPT 341 “Shorty” series
The medium frequency MPT 341 “Shorty” series transponders,
are transponders designed for shorter duration subsea jobs, like
subsea construction applications - small size, light weight, but
full MPT capability. This means:
• All models have an acoustic telemetry link for command and
data transfer.
• All units are designed for ROV manipulator handling.
• The transponder unit is designed with a modular construction
such that the transducer, transponder electronics, battery pack
and options (where applicable) can be replaced individually.
tra
Se
ria
l
int
erf
a
ce
Sp
lit
Re
lea
se
ns
du
ce
r -h
ea
d
Ba
sic
• The MPT “Shorty” transponder can be field-rebuild.
855-164268/E
33
HiPAP
MST series
The MST is an SSBL mini transponder suited for ROV
operation and where the size of the transponder can be a limiting
factor. The transponder models cover various water depths. The
MST series consists of the following models:
• MST 319 - rated for 1000 m water depth
• MST 324 - rated for 2000 m water depth
• MST 342 - rated for 4000 m water depth
All units have a rechargeable battery, can operate in responder
mode and can also be externally powered.
(Cd6424b)
34
855-164268/E
Product description
SYSTEM FUNCTIONS
Introduction
The HiPAP system consists of a wide range of functions. A
function is selected by the operator. The basic systems have
standard functions included, to ensure normal operation. The
systems may be delivered with additional options selected from
the system option list.
Main functions
General
The main functions in the HiPAP system are described below.
The system may be configured with one or several of these
functions. They will appear in the systems main menu.
List of main functions
The list below shows which functionality each of the functions
includes. The ”reg. no” is the unique identification for this
function.
Example; the reg. no for APOS Base version is 886 - 212745.
855-164268/E
35
HiPAP
Reg. no
Description
886-212745
APOS Base Version
APOS - Acoustic Position Operator Station
Base for running all applications, includes:
• Sound velocity profile function
• Ethernet interface for position data
• Serial line, RS-422 for transceiver interface
• Serial line, RS-422 for position data
Transponder telemetry for SPT/MPT transponders including:
• Set transmit power level
• Set receive sensitivity
• Change channel
• Enable/Disable
• Transponder release
• Read battery status
• Read sensor data, if any
Position and angle alarm:
• APOS software for HiPAP providing alarm for transponder
position and riser angle alarm.
APOS Depth sensor interface:
• APOS software for interfacing a depth sensor for depth
compensation of position. Suitable for ROV or Tow fish
positioning.
Interface to DGPS for providing data to transducer alignment:
• An SSBL transponder position
geographical coordinates.
can
be
presented
in
• The clock may be synchronised to 1PPS from the DGPS
receiver.
36
855-164268/E
Product description
Reg. no
Description
886-212746
HiPAP 500 SSBL function
APOS software for HiPAP 500 SSBL operation includes:
• Transponder positioning
• Responder positioning
• Serial interface for gyro and vru or attitude sensor maximum 3 units
• SSBL simulator for training
886-212747
HiPAP 350 SSBL function
APOS software for HiPAP 350 SSBL operation includes:
• Transponder positioning
• Responder positioning
• Serial interface for gyro and vru or attitude sensor maximum 3 units
• SSBL simulator for training
886-212748
LBL function
APOS software for LBL operation using HiPAP or HPR 400
includes:
• Calibration of transponder array in local grid
• Positioning of vessel / ROV in LBL array
• Necessary transponder telemetry
• LBL simulator for training
• Geographical position output if origin is entered in geo
coordinates
On HiPAP it requires HiPAP SSBL function reg. no: 212746 /
212747.
Positioning of an ROV in LBL requires an HPR 400 Subsea Unit.
886-212750
HiPAP MULBL function
APOS software for HiPAP MULBL operation includes:
• Calibration of transponder array in local grid
• Positioning of vessel in MULBL array
• Necessary transponder telemetry
It requires HiPAP SSBL and LBL, reg. no.: 212746 and 12748.
855-164268/E
37
HiPAP
Reg. no
Description
ADDITIONAL OPTIONS
886-212752
Beacon Mode
APOS software for HiPAP or HPR 400 beacon and depth beacon
operation.
886-212753
Inclinometer Mode
APOS software for HiPAP or HPR 400 inclinometer transponder
operation.
886-212754
Compass Transponder
Mode APOS software for HiPAP or HPR 400 compass transponder
operation.
886-212755
GEO LBL Calibration
APOS software for HiPAP or HPR 400 for calibration of LBL array
in geographical coordinates. In positioning mode the position may be
reported in geographical coordinates. It requires DGPS interface:
212756.
886-212757
LBL Transponder Positioning Mode
APOS software for HiPAP or HPR 400 for use of MPT transponders
to be positioned in an LBL network. (old name was Tp Range Pos).
886-212758
DUAL HiPAP SSBL function
APOS and HiPAP software for dual SSBL operation. Provides
simultaneous measurement of transponder position by use of two
HiPAP transducers, includes:
• Dual HiPAP provides increased accuracy
• Transponder positioning
• Responder positioning
• Provides two separate and one integrated position
Requires two HiPAP transceivers/transducers for SSBL operation.
886-212759
APOS Master Slave function
An extra copy of the functionality of the master operator station for
installation on additional operator stations.
The operator can select which station shall be the master. it can be
used for both HiPAP and HPR 400 systems.
38
855-164268/E
Product description
Reg. no
Description
886-212760
APOS Upgrade software
Upgrade from HSC 400 software to APOS software, including old
functionality. This may require a new monitor and an APC 10
computer and keyboard.
886-212761
APOS External synch.
APOS software for synchronising the HiPAP or HPR 400
transceivers to external equipment.
886-212763
HiPAP Transceiver DUAL Ethernet
An SDN 400 module mounted in HiPAP transceiver cabinet for
interface to dual Ethernet.
886-212765
APOS ACS BOP function
APOS software for telemetry to ACS 400 used on BOP.
Telemetry to ACS 300 only available on HPR 400 systems.
886-212766
APOS ACS OLS function
APOS software for telemetry to ACS 300 system used on OLS.
Telemetry to ACS 300 only available on HPR 400 systems.
886-212767
APOS STL function
APOS software for HiPAP or HPR 400 systems for STL fields
special functions including:
• Scanning of MLBE depth and position
• Positioning of STL buoy
• Scanning of transponder battery status
• Graphics showing STL connection point
886-215836
APOS Anchor Line Monitoring function
APOS software for HiPAP and HPR 400 systems.
Scanning of up to 9 transponder(s) installed on Anchor Lines/Anchor
Line Buoys, presenting individual:
• Depth
• Position
• Scanning of transponder battery status
886-215837
HiPAP Transponder Relay Function
Enables use of relay-function, relay-transponder frequency
allocation, operator interfaces and displays functionality.
855-164268/E
39
HiPAP
Reg. no
Description
886-215939
SAL Tension & Yoke monitoring
APOS software HiPAP or HPR 400 systems for showing Tension
and Yoke including:
• Graphical presentation of yoke-angle
• Graphical presentation of tension
• Table for converting inclination angle to tension
886-212769
APOS Training version
A CD containing the APOS software and a copy of the APOS
manual. This is suitable for demonstrations and training purposes.
The APOS can be operated as normal and a simulator replaces
transceiver and transponders. It can also be used to check telegram
interfaces.
This requires a computer with CD-ROM player, running NT40, and a
monitor with 1024 x 768 resolution.
40
855-164268/E
Product description
TECHNICAL SPECIFICATIONS
SSBL accuracy
The angular figures are errors in both axis, elevation and
orthogonal.
The specification is based on:
Note
The specification is based on:
− Free line of sight from transducer to transponder.
− No influence from ray-bending.
− Signal to Noise ratio in water in the 250 Hz receiver band.
− No error from heading and roll / pitch sensors.
HiPAP 500
HiPAP 500 Single system
S/N [dB rel. 1µPa]
20
10
0
Angular Accuracy [°]
(At 0° elevation)
0.12
0.18
0.3
Range Accuracy [m]
0.1
0.15
0.2
10
Receiver beam [°]
+/-100
Coverage [°]
HiPAP 500 Dual system
20
10
0
Angular Accuracy, 1σ [°]
(At 0° elevation)
0.085
0.13
0.21
Range Accuracy, 1σ [m]
0.1
0.15
0.2
Receiver beam [°]
Coverage [°]
855-164268/E
S/N [dB rel. 1µPa]
10
+/-100
41
HiPAP
Definition of elevation and orthogonal – HiPAP 500
The elevation and orthogonal angles are used in the accuracy
curves.
42
855-164268/E
Product description
Accuracy curves – HiPAP 500
The figure above shows the accuracy as a function of elevation
angle. The signal to noise ratio of 10 dB is in the bandwidth.
The figure above shows the accuracy as a function of signal to
noise ratio. The elevation and the orthogonal angles are 0° (at
vertical).
855-164268/E
43
HiPAP
HiPAP 450
Same as for HiPAP 350.
i
Refer to HiPAP 350 SSBL accuracy.
HiPAP 350
HiPAP 350/450 Single
system
S/N [dB rel. 1µPa]
20
10
0
Angular Accuracy, 1σ [°]
(At 0° elevation)
0.18
0.23
0.4
Range Accuracy, 1σ [m]
0.1
0.15
0.2
Receiver beam [°]
Coverage [°]
15
+/-80
Definition of elevation and orthogonal – HiPAP 350
The elevation and orthogonal angles are used in the accuracy
curves.
44
855-164268/E
Product description
Accuracy curves – HiPAP 350
The figure above shows the accuracy as a function of elevation
angle. The signal to noise ratio 10 dB is in the bandwidth.
The figure above shows the accuracy as a function of signal to
noise ratio. The elevation and the orthogonal angles are 0° (at
vertical).
855-164268/E
45
HiPAP
LBL accuracy
The position accuracy for LBL operation is very dependent on
the transponder array geometry, sound velocity errors and signal
to noise ratio. However, the accuracy can be shown by
simulations.
Range accuracy’s down to a few centimetres can be obtained,
while ROV and vessel positions can be calculated to within a
few decimetres.
The following ”one sigma” error contribution to the range
measurements is assumed (20-30 kHz system):
• Range reception with 20 dB S/N:
0.15 m
• Range reception in the transponder:
0.15 m
• Range error due to TP movement:
0.10 m
• Range error due to rig movement:
0.20 m
The random errors are added as Gaussian noise to the
measurements.
Figure 8 Error in the horizontal position
The figure above shows the error in the horizontal position when
the Rig moves within the transponder array. The simulations are
done with the following parameters:
• Four LBL transponders placed on the seabed in a circle with
radius 636 m.
• The water depth is 1200 m.
46
855-164268/E
Product description
The error is showed as a function of the East coordinate. The
north coordinate is retained at zero, and the East coordinate zero
is consequently the centre of the array. We have assumed that
the wide beam of the transducer is used, and that the S/N when
receiving the transponder replies is 20 dB. The effect of a
systematic error in the Sound velocity of 1 m/s is also showed.
When being in the centre of the array, that error causes no
position error. When being in the outer parts of the array, that
error causes a significant systematic error in the position.
Range capabilities
The range capabilities are very dependent of the vessels noise
level and attenuation of the transponder signal level due to ray
bending.
• The HiPAP system will in most cases have longer range
capabilities that specified below due to its narrow receiving
beam.
• The figures are based on 20-32 kHz systems and are
approximate values for guidance.
Standard transponder:
w/ 188 dB rel.1µPa ref.1m
Typical max. 1500 m
High power transponder:
w/ 195 dB rel.1µPa ref.1m
Typical max. 2000 m
High power transponder:
w/ 206 dB rel.1µPa ref.1m
Note
Typical max. 3000 m
The specification is based on:
− Free line of sight from transducer to transponder
− No influence from ray bending
− Signal to Noise ratio ≥ 20 dB. rel. 1µPa
855-164268/E
47
HiPAP
Unit specifications
APC 10 computer
General:
Unit for desktop installation
Approximately 17 kg
Unit for rack installation
(including rails and side plates)
Approximately 17 kg
Colour graphics resolution
Eligible max. 1600 x 1200
Video output
15 pin, analogue VGA
Floppy drive
3.5”
Printer interface
parallel
Electrical interfaces
RS-422, RS-232, Ethernet
Power supply:
Voltage
180-264 Vac / 90-132 Vac
Frequency
50-60 Hz
Max Inrush current
80 A
Nominal
80 W
Environment:
Storage
-40° C to +70° C
Operating
+10° C to +55° C
Humidity Storage / operating
85% / 95% relative
Vibration:
Range
Excitation level
5-100 Hz
5-13.2 Hz ±1.5 mm, 13.2-100 Hz 1 g
Telegram formats:
Serial lines
Ethernet
- Proprietary NMEA
- Proprietary NMEA
Keyboard
Weight
0.5 kg
Cable length
1.5 m
Degree of protection
48
IP65
855-164268/E
Product description
Trackball
Weight
1.5 kg
Cable length
2.8 m
Degree of protection
IP64
Display 19” TFT
General:
Vertical frequency range
Horizontal frequency range
Supply current
Resolution
Weight
60 - 85 Hz
31.5 - 91.1 kHz
0.7 - 1.7 A
1280 x 1024 pixels
12 kg (w/bracket)
Environment:
Operating temperature
-15° C to +55° C
Storage temperature
-20° C to +60° C
Humidity operating / storage
Power supply display:
Supply voltage
Power supply unit:
Input voltage
30 - 90% relative /
10 - 90% relative
24 Vdc
115/220 Vac
HiPAP transceiver unit
The following specifications are common for the HiPAP 500
and the HiPAP 350 transceiver units.
The HiPAP 450 system uses a HiPAP 500 Transceiver Unit.
Power supply:
Voltage
Frequency
50-60 Hz
Inrush max
500 W
Nominal
250 W
Protection:
Degree of protection
855-164268/E
230 Vac +/-10%
IP 44
49
HiPAP
Operating temperature:
Standard (no cooling door)
0° C to +35° C
Allowable maximum temperature for a 12
hour period (no cooling door)
+55° C
With cooling door (309-216005)
0° C to +55° C
Environment:
Storage temperature
Storage / operational humidity
Note
-20° C to + 65° C
90% / 80% relative
The unit must be operating in a non-corrosive and dust-free
atmosphere, with temperature and humidity within the specified
limits.
Cooling unit
Height x width x depth
(320 x 110 x 520) mm
Weight
14.2 kg
HiPAP 500
Weight
Approximately 55 kg
HiPAP 350
Weight
Approximately 47 kg
Heading reference (both models)
− Serial RS-422 SKR format
− Serial RS-422 STL format
− Serial RS-422 NMEA format
− Serial RS-422 Seatex MRU or Seapath
− Serial RS-422 DGR format (Tokimec DGR 11)
− Serial RS-422 NMEA HDT, VHW
− Serial RS-422 SKR format
Roll and pitch reference (both models)
− Serial RS-422 Seatex MRU or Seapath
50
855-164268/E
Product description
HiPAP hull units
The following specifications are common for all HiPAP hull units.
Power supply:
Voltage
Frequency
Consumption max.
Environment:
Storage
Operating
Storage / operating humidity
Protection:
Degree of protection
Weight:
HL 3770 (standard with 500 mm dock)
HL 2180 (without transducer dock)
230/440 Vac 3-phase
50-60 Hz
1100 W
-20° C to +60° C
0° C to +55° C
90% / 80% relative
IP 54
1225 Kg
950 Kg
HL 3770 (standard with 350 mm dock)
1200 Kg
HL 4570(including dock and transducer)
1430 Kg
HL 6120 (extra long transducer shaft)
1575 Kg
Hoist Control Unit
Weight
12 kg
Degree of protection
IP 54
Power supply:
Voltage
Frequency
Consumption max.
Environment:
Storage
Operating
Storage / operating humidity
855-164268/E
230 / 440 Vac 3 Phase
50-60 Hz
1100 W
-20° C to +60° C
0° C to +55° C
90% / 80% relative
51
HiPAP
Remote Control Unit
Weight
1.5 kg
Degree of protection
IP 54
Power supply:
The Remote Control Unit is supplied with 24 Vdc from the
Hoist Control Unit.
Voltage
Frequency
240 Vdc
50-60 Hz
Consumption
6W
Temperature:
Storage
-20° C to +60° C
Operating
0° C to +55° C
Humidity:
Storage
10 - 90% relative
Operational
30 - 80% relative
Flanges
Certificates
Lloyd’s and DNV certifications are standard, others on request.
500 mm mounting flange
Standard height
600 mm
Optional height
Specified by customer
Internal diameter
500 mm
Flange diameter
670 mm
Wall thickness
Weight, standard
52
20 mm
Approximately 90 Kg
855-164268/E
Product description
350 mm mounting flange
Standard height
200 mm
Optional heights
Specified by customer
Internal diameter
350 mm
Flange diameter
505 mm
Wall thickness
Weight, standard
28 mm
Approximately 70 Kg
Gate valves
Certificates
Lloyd’s and DNV certifications are standard, others on request.
500 mm gate valve
Type
Height
Length (from centre)
DN500
350 mm
1335 mm
Internal diameter
500 mm
Flange diameter
670 mm
Weight
510 Kg
350 mm gate valve
Type
Height
290 mm
Length (from centre)
940 mm
Internal diameter
350 mm
Flange diameter
505 mm
Weight
855-164268/E
DN350
225 Kg
53
HiPAP
Outline dimensions
The outline dimensions shown in this section are for information
only and must not be used for installation or manufactory
purposes. For exact information, please use the installation
manuals.
APC 10 computer
54
855-164268/E
Product description
Keyboard
(Cd7079)
142 mm
Cable length 1.5 m
298 mm
(Cd7080)
50 mm
Trackball
130
mm
855-164268/E
0
12
mm
55
HiPAP
4
6
3
4
0
19” TFT display
+
3
6
R
E
W
O
P
+
56
855-164268/E
Product description
)
7
0
8
6
d
(C
Operator console
855-164268/E
57
HiPAP
HiPAP transceiver unit – outline
dimensions
58
855-164268/E
Product description
HiPAP transceiver unit door w/cooling
unit
Transceiver unit door
Cooling unit
Power plug
Note:
The drawing is not in scale.
Page 1 of 1
(CD31006)
855-164268/E
Transceiver unit door with colling unit
860-216006
Rev.D
59
HiPAP
Gate valve and flange – 500 mm
60
855-164268/E
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Product description
Gate valve and flange – 350 mm
4
1
-2
0
3
.8
v
e
R
3
4
0
C
855-164268/E
61
HiPAP
Hoist Control Unit
62
855-164268/E
Product description
Remote Control Unit
855-164268/E
63
HiPAP
HiPAP hull units
The following hull units outline dimensions are included:
HiPAP 500
• HiPAP 500 HL 2180, see page 65.
• HiPAP 500 HL 2180 without dock and gate valve, see page 66.
• HiPAP 500 HL 3770, see page 67.
• HiPAP 500 HL 4570, see page 68.
• HiPAP 500 HL 6120, see page 69
HiPAP 450
The HiPAP 450 uses the HiPAP 500 hull units.
HiPAP 350
• HiPAP 350 HL 2180, see page 70.
• HiPAP 350 HL 3770, see page 71.
• HiPAP 350 HL 6120, see page 72.
64
855-164268/E
Product description
HiPAP 500 HL 2180
o
1
e
g
a
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8
0
6
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6
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855-164268/E
65
HiPAP
HiPAP 500 HL 2180 without dock and gate
valve
66
855-164268/E
Product description
HiPAP 500 HL 3770
855-164268/E
67
HiPAP
HiPAP 500 HL 4570
68
855-164268/E
Product description
HiPAP 500 HL 6120
855-164268/E
69
HiPAP
HiPAP 350 HL 2180
Page 1 of 1
(CD6090)
70
Outline dimensions - HL 2180
HiPAP 350
830-215864
Rev.A
855-164268/E
Product description
HiPAP 350 HL 3770
855-164268/E
71
HiPAP
HiPAP 350 HL 6120
72
855-164268/E
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
857-201392 / AA000/6-12
Attitude formats description
This document describes the gyro and vru formats the
HiPAP and HPR 400 Series can receive.
857-201392/C
1
Kongsberg Simrad HiPAP/HPR 400 Series
Document revisions
Documentation
Department
Rev
Date
Sign
A
Hardware/Software
design
Date
Sign
08.08.97
OB
Project/Product
Management
Date
Sign
B
27.02.98
GM
27.02.98
OB
27.02.98
JEF
C
02.05.01
GM
02.05.01
THG
02.05.01
JEF
D
(The original signatures are recorded in the company’s logistic database)
2
857-201392/C
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
Contents
1
INTRODUCTION .......................................................................................................5
Abbreviations ..........................................................................................................................5
2
GYRO FORMATS .......................................................................................................6
SKR serial line format.............................................................................................................6
STL serial line format .............................................................................................................7
DGR serial line format ...........................................................................................................8
NMEA serial line format........................................................................................................9
MRU serial line format......................................................................................................... 10
Seapath serial line format ....................................................................................................10
Synchro...................................................................................................................................11
Sin Cosin ................................................................................................................................11
4-20 mA ..................................................................................................................................11
Sync spare ..............................................................................................................................11
3
VRU FORMATS .......................................................................................................12
NMEA serial line format......................................................................................................12
MRU serial line format......................................................................................................... 12
Seapath serial line format ....................................................................................................12
Piro40 90° ...............................................................................................................................12
Piro40 15° ...............................................................................................................................12
Sync spare ..............................................................................................................................12
Sperry analogue ....................................................................................................................13
Schaevitz ................................................................................................................................13
MRU 20° 10v..........................................................................................................................13
Vru 200A ................................................................................................................................13
857-201392/C
3
Kongsberg Simrad HiPAP/HPR 400 Series
Document history
(The information on this page is for internal use)
Rev. A
Original issue.
Rev. B
Document updated to correct minor errors. Ref. EM 857-201392B.
Rev. C
Removed DGR format for HiPAP. Corrections in the MRU serial line format.
New layout. Ref. EM 857-201392C.
4
857-201392/C
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
1 INTRODUCTION
This note is a technical documentation that may be changed.
The connections between HPR and gyro’s or vru’s are not
described here.
• HiPAP can receive the serial line formats, i.e. SKR, STL,
NMEA, MRU and SEAPATH.
• HPR 400 can use all formats.
The note is divided in chapters like the install gyro and vru
menu in the HSC.
Abbreviations
857-201392/C
HPR
Hydroacoustic Positioning Reference system
HiPAP
High Precision Acoustic Position system
HSC
HPR system controller, the operator unit
rms
Root mean square
bps
Baud per second
ms
Millisecond
deg
Degrees
rad
Radians
m
Meter
5
Kongsberg Simrad HiPAP/HPR 400 Series
2 GYRO FORMATS
SKR serial line format
Robertson SKR80/82 serial line format.
Interface format: RS-422.
9600 bps, 8 data bits, 1 stop bit, odd parity.
< 150 ms between each telegram.
Telegram format:4 bytes, LSD first and MSD last.
Bit
Description
Values
7-6
Not used
0 (ignored)
5-4
Address
0 = tenths
1 = units
2 = tens
3 = hundreds
3-0
Example:
6
Data
0 - 9, BCD-code
Course:
234.5 deg.
Telegram: 05 14 23 32
857-201392/C
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
STL serial line format
STL serial line format.
Interface format: RS-422.
9600 bps, 8 data bits, 1 stop bit, no parity.
< 5 seconds between each telegram.
Telegram format:
Telegram consists of 7, 8 or 13 ascii-coded bytes, starting
with STX and ending with ETX, COMMA or CR. The 7 and 8
byte telegram contains course information, and the 13 byte
telegram contains course and ships speed information. The
speed is ignored.
Byte
1
Description
Values
02h
1
1
STX
2
2
K
2
3
3
hundreds
30h-33h
3
4
4
tens
30h-39h
4
5
5
units
30h-39h
5
6
6
POINT
2Eh
6
7
7
tenths
30h-39h
8
L
9
tens
30h-39h
10
units
30h-39h
11
POINT
2Eh
12
tenths
30h-39h
13
ETX, COMMA or CR
03h, 2Ch or 0Dh
7
8
(course)
(speed)
4Bh
4Ch
Examples: Course: 234.5 deg.
7 byte telegram: 02 32 33 34 2E 35 03
8 byte telegram: 02 4B 32 33 34 2E 35 2C
13 byte telegram: 02 4B 32 33 34 2E 35 4C 31 32 2E 33 0D
857-201392/C
7
Kongsberg Simrad HiPAP/HPR 400 Series
DGR serial line format
DGR serial line format.
Interface format: RS422.
9600 bps, 7 data bits, 2 stop bit, no parity.
Any length between each telegram.
Telegram format: Telegram consists of 6 ascii-coded bytes.
Byte
Description
Values
1
Hundreds
30h-33h
2
Tens
30h-39h
3
Units
30h-39h
4
Tenths
31h-36h
31h: 0 deg.
32h: 2/6 deg. ~ 0.3
33h: 1/6 deg. ~ 0.2
34h: 4/6 deg. ~ 0.7
35h: 5/6 deg. ~ 0.8
36h: 3/6 deg. = 0.5
5
Anything
Ignored
6
LF
0Ah
Example:
8
Course:
234.5 deg.
Telegram: 32 33 34 36 0D 0A
857-201392/C
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
NMEA serial line format
NMEA serial line format.
Interface format: RS-422.
2400-9600 bps auto detect,
8 data bits, 1 stop bit, no parity.
< 5 seconds between each telegram.
Telegram format: Contains ascii characters.
$ address ,data, … ,data *checksum “CRLF”
These sentence formatters are decoded.
Approved:
HDT, VHW.
Special:
HRC (Yokogawa).
Proprietary:
SXN (Seatex Norway).
Seatex proprietary MRU NMEA telegram:
$PSXN ,id ,token ,roll ,pitch , , , , ,*checksum “CRLF”
Id:
10 or 11. 10 if valid data, 11 if invalid data.
Token:
Not decoded.
Roll/pitch: Scientific float data, i.e. 1.23e-1. [rad]
Example: $SPSXN,10,014,-9.100e-3,-1.823e-2,,,,,*20"CRLF"
857-201392/C
9
Kongsberg Simrad HiPAP/HPR 400 Series
MRU serial line format
Seatex Simrad EM1000 and EM3000 serial line format. EM1000
format is only decoded by HPR 400. EM3000 is the preferred
format.
Interface format: RS-422.
9600 bps, 8 data bits, 1 stop bit, no parity.
Any length between each telegram.
Telegram format:The telegram consists of 10 bytes.
Note !
For each of the data groups, LSB first and MSB next.
Byte
1
Description
Values
Status
EM1000 format: 00h.
EM3000 format:
90h:
valid data,
full accuracy.
91h - 99h: valid data,
reduced acc.
9Ah - 9Fh: non-valid data,
normal operation
A0h - AFh: error.
2
90h
3, 4
Roll lsb, msb
+/-179.99 deg. Positive port up.
Negative data as 2's complement.
5, 6
Pitch lsb, msb
+/-179.99 deg. Positive bow up.
2's complement.
7, 8
Heave lsb, msb
+/-9.99 m. Positive up.
2's complement.
9, 10
Heading lsb, msb
0 - 359.99 deg.
Example:
Roll: 2.0, Pitch: -2.0, Heave: 0.9, Course: 155.1
Telegram: 9090 C800 38FF 5900 963C
Seapath serial line format
Seatex Simrad EM1000 and EM3000 serial line format.
Further details see chapter Gyro formats MRU serial.
10
857-201392/C
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
Synchro
Format: Synchronous 16-bit.
Signal:
11.8/90 Vrms.
Reference: 26/115 Vrms, 400 hz.
Sin Cosin
Not Implemented.
4-20 mA
Compass 4-20 mA current loop.
Format: 4 – 20 mA = 0 - 360 deg.
Sync spare
Connected to SDCM synchro 0 in spare position.
Format: Synchronous 16-bit.
Signal:
11.8/90 Vrms.
Reference: 26/115 Vrms, 400 hz.
857-201392/C
11
Kongsberg Simrad HiPAP/HPR 400 Series
3
VRU FORMATS
NMEA serial line format
NMEA serial line format.
Further details see chapter Gyro formats NMEA serial.
MRU serial line format
Seatex Simrad EM1000 and EM3000 serial line format.
Further details see chapter Gyro formats MRU serial.
Seapath serial line format
Seatex Simrad EM1000 and EM3000 serial line format.
Further details see chapter Gyro formats MRU serial.
Piro40 90°
Piro40 - 90.
Type:
Analogue sinus vru.
Format: +/-10 V = +/-90 deg.
Piro40 15°
Piro40 - 15.
Type:
Analogue sinus vru.
Format: +/-10 V = +/-15 deg.
Sync spare
Connected to SDCM synchro 1 and 2 in spare position.
Format: Synchronous 16-bit.
Signal:
11.8/90 Vrms.
Reference: 26/115 Vrms, 400 hz.
12
857-201392/C
Kongsberg Simrad HiPAP/HPR 400 gyro and vru formats
Sperry analogue
Sperry accustar. This vru is mounted in the PMT transducer.
Type:
Analogue linear vru.
Format: +/- 10 V = +/-60 deg.
Schaevitz
Schaevitz LSRP - 14.5.
Type:
Analogue linear vru.
Format: +/-5 V = +/-14.5 deg.
MRU 20° 10v
Seatex MRU.
Type:
Analogue linear vru. Use the MRC programme to
program the unit.
Format: +/-10 V = +/-20 deg.
Vru 200A
Honeywell VRU200A.
Type:
Analogue linear vru.
Format: +/-15 V = +/-67.5 deg.
857-201392/C
13
Kongsberg Simrad HiPAP/HPR 400 Series
Blank page
14
857-201392/C
HiPAP / HPR 400 systems
HPR 400 Binary
Communication Protocol
This document describes the binary telegrams transmitted
from the Operator Station in the HiPAP / HPR 400
systems. It also describes some of the ASCII sentences
transmitted from and received by the Operator Station.
The ASCII sentences complying with the NMEA 0183
rules are described in the APOS on-line help
857-160898/C
1
HPR 400 Binary Communication Protocol
Document revisions
Rev
Documentation
Department
Date
Sign
Hardware/Software
design
Date
Sign
Project/Product
Management
Date
Sign
A
10.03.98
GM
24.07.98
HJP
03.08.98
JEF
B
15.05.03
GM
15.05.03
THG
15.05.03
JEF
C
03.05.04
GM
06.05.04
THG
06.05.04
JEF
D
(The original signatures are recorded in the company’s logistic database.)
2
857-160898/C
HiPAP / HPR 400 systems
Contents
1
1.1
INTRODUCTION ....................................................................................................... 5
Definitions ..................................................................................................................... 5
2.1
2.2
2.3
2.4
2.5
GENERAL TELEGRAM FORMAT......................................................................... 7
Time of telegram transmission ...................................................................................... 8
Floating point data format.............................................................................................. 8
Serial line format ........................................................................................................... 9
Ethernet format .............................................................................................................. 9
ADP Ethernet header ..................................................................................................... 9
2
3
3.1
3.2
3.3
TELEGRAMS SENT FROM THE OPERATOR STATION .............................. 10
Message 1, Transponder position data......................................................................... 10
Example ....................................................................................................................... 14
Message 2, LBL position ............................................................................................. 15
Time Header ................................................................................................................ 18
Example ....................................................................................................................... 18
Message 4, LBL Ranges .............................................................................................. 19
857-160898/C
3
HPR 400 Binary Communication Protocol
Document history
(The information on this page is for internal use)
Rev. A
Rev. B
Rev. C
4
Original issue.
Earlier, the HPR 400 binary protocol document was distributed as an
unofficial document, not included in the manuals. The last unofficial
document was "Communication Protocol V2.1" - file name SWTS013.H /
94.11.17.
Updated the Message 2, LBL position - Pos_north. Removed sections 3.4 /
3.5 / 3.6 and chapter 4.
Updated layout. Miner corrections in the text.
857-160898/C
HiPAP / HPR 400 systems
1 INTRODUCTION
This note is a technical documentation that may be changed. Please
contact Kongsberg Maritime before implementing the reception of
telegrams to assure that the note matches the SW version in the actual
HiPAP/HPR system to be interfaced.
1.1 Definitions
The following abbreviations are used in this document:
APOSAcoustic Positioning Operator Station, the “new” Operator
Station.
BYTE
HiPAP
HPR
HSC 400
LBL
8 bit data
High Precision Acoustic Positioning
Hydroacoustic Positioning Reference system
HPR 400 System Controller, the “old” Operator Station.
Long Base Line
ms
Milliseconds
REAL
32 bit floating point data
REAL_64
64 bit floating point data
ROV
Remotely Operated Vehicle
SSBL
Super Short Base Line
TD
Transducer
TP
TransPonder
WORD_16 16 bit data
APOS is the Acoustic Positioning Operator Station with Windows.
All telegrams are implemented in the APOS.
HPR 400 and HiPAP are two different types of transceivers. They
may both be connected to an APOS Operator Station. The telegrams
are delivered by the Operator Station, and the format is independent of
the physical units involved.
Later in the note, the term The system means the HiPAP / HPR 400
system. The term The Operator Station is used for APOS.
The binary telegrams and the ASCII sentences are the transmitted to
the Com ports and to the Ethernet as specified in the configuration
menus in the Operator Station. The same telegram may be configured
to be sent to many, to one or to none destinations.
857-160898/C
5
HPR 400 Binary Communication Protocol
The following “terms” are used:
X - POSITION
Athwart ship distance to transponder, positive
direction towards starboard.
Y - POSITION
Fore and Aft ship distance to transponder,
positive direction forward.
Z - POSITION
The transponder depth, positive direction
downwards.
SLANT RANGE
The distance to the transponder.
COURSE
Vessels heading, 0 - 360 degrees, positive
direction turning clockwise.
ROLL
Vessels roll, -180 -, 0, - 180 degrees, positive
direction is vessels port side up.
PITCH
Vessels pitch, -180 -, 0, - 180 degrees, positive
direction is bow up.
Positive vessel y-axis is forward, positive vessel x axis is towards
starboard and positive vessel z-axis is downwards. This is a left-hand
coordinate system.
6
857-160898/C
HiPAP / HPR 400 systems
2 GENERAL TELEGRAM FORMAT
The binary telegrams transmitted on asynchronous serial lines follow
the same general format with telegram heading and telegram tail. The
content of the data block depends on the message type, as described
for each message.
The telegrams transmitted on Ethernet have another heading, as
described in 2.4 and 2.5.
Index
Content
Size
000
Start character
BYTE
001
Block length N
WORD_16
003
Message type
BYTE
004
Destination
BYTE
005
Data Block with N bytes
N+5
Sumcheck
WORD_16
N+7
Stop character
BYTE
Start character The start character is 55 hex.
Block length The block length defines the length of the data block.
Message type The message type defines the message transmitted. It is a number
between 1 and 255.
Destination The destination defines the device to which this telegram is
transferred. It is not in use, and it is always set to 0.
Data block The data block contains the message itself.
The length N depends on the Message type. The data block for the
different message types are explained in the next chapters.
Sumcheck The sumcheck is the 16 bit sum of all bytes in the telegram, except
the sumcheck itself and the stop character. The sum is calculated by
byte+byte addition.
Stop character The stop character is equal to 0AAH.
Note !
857-160898/C
The start character and the stop character are not unique. They may
also occur as data within the telegram.
7
HPR 400 Binary Communication Protocol
2.1 Time of telegram transmission
The time delay between the end of one telegram and the start of the
next one is at least 30 ms. It separates the telegrams.
2.2 Floating point data format
Both 32 bits and 64 bits floating formats are used in the telegrams.
They are coded according to the IEEE standard 754. 32 bits floating
numbers use the single precision data format. They are named REAL
throughout the note. 64 bits floating numbers use the double precision
data format. They are named REAL_64 throughout the note.
The REAL format occupies 4 contiguous bytes of memory,
(32 bits).
SIGN
31
EXPONENT
30
23
SIGNIFICANT
22
0
Sign Sign = 0 if value is positive or zero
Sign = 1 if value is negative.
Exponent The exponent field contains a value offset by 127. The actual
exponent can be obtained from the exponent field by subtracting
127. The field is zero if the REAL value is zero.
Significant The byte with the lowest address contains the least significant 8 bits
of the significant, and the byte in the highest address contains the sign
and the 7 most significant bits of the exponent.
The REAL_64 format occupies 8 contiguous bytes of memory as
shown below. The explanation of the fields is similar to the
explanation for REAL, except that the exponent is biased with 1023
instead of 127.
SIGN
63
8
EXPONENT
62
52
SIGNIFICANT
51
0
857-160898/C
HiPAP / HPR 400 systems
2.3 Serial line format
The serial line format is:
Baud rate:
Parity:
Selectable between 300 and 38400 baud.
The default value is 9600 baud.
none
Data bits:
8
Stop bits:
1
The least significant byte (bit 0-7) is transmitted first in both
WORD_16s, REALs and REAL_64s, followed by the more
significant bytes.
2.4 Ethernet format
When the telegrams are sent to external units via Ethernet, they are
sent as an UDP message. They can be sent as individual messages or
as broadcast messages.
The telegram contains the "Message type" and the "Data Block" in
addition to the UDP blocks.
Index
Content
Size
0
Message type
BYTE
1
Data block with N bytes
The meaning of the "Message Type" and the "Data Block" is as
described in the start of the chapter for the serial lines.
2.5 ADP Ethernet header
The Kongsberg Maritime ADP header consists of 16 bytes. They
replace the message type in the normal header explained above. The
Kongsberg Maritime ADP header is only used when explicitly
requested in the Operator Station menus.
857-160898/C
9
HPR 400 Binary Communication Protocol
3 TELEGRAMS SENT FROM THE OPERATOR
STATION
3.1 Message 1, Transponder position data
The position message telegram contains SSBL transponder position
data and sensor data related to the position measurement. It is
transmitted each time a new position is calculated.
10
Block content
Size
Tp_index
Operation_mode
Sync_mode
Tp_type
Tp_operation
Pos_data_form
Reply_status
Filt_X_pos
Filt_Y_pos
Filt_Z_pos
X_pos
Y_pos
Z_pos
Slant_range
P_course
P_roll
P_pitch
Td_beam
Td_type
Td_num
Diagnostic
Stand_dev
Instr_data (*)
WORD_16
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
BYTE
BYTE
WORD_16
WORD_16
REAL
REAL
857-160898/C
HiPAP / HPR 400 systems
Tp_index defines the Tp for which the position is valid.
It is a number from 1 to 298. The indexes below 100 are for the low
frequency Tps (The Axx Tps), the indexes between 100 and 200 are
for the medium frequency Tps (The Bxx Tps), and the indexes
between 200 and 298 are for the high frequency Tps (The Cxx Tps).
Examples: A02 is coded with Tp_index
B01
--“-B56
--“--
2.
101.
156.
Operation_mode Contains the Operation mode of the transceiver.
00
01
equals
"
standard navigation mode.
simulated position test mode. (Training)
Sync_mode Contains the synchronization mode of the transceiver.
0
equals No synchronization.
1
"
Sequence sync.
2 " Interrogation sync.
Tp_type Defines the transponder type:
000 equals
001
"
002
"
003
"
004
"
005
"
006
"
007
"
010
"
011
"
012
"
013
"
transponder
depth transponder
inclinometer transponder
diff. incl. transponder
compass transponder
acoustic control transponder
beacon
depth beacon
responder drive 1
responder drive 2
responder drive 3
responder drive 4
Tp_operation Defines the operation mode of the transponder:
000 equals
001
"
fixed standard transponder
mobile -------"-----------
Pos_data_form Defines the position coordinate format:
Bit 0 = 0
vessel oriented, cartesian.
Bit 0 = 1
north oriented, cartesian.
Bit 3 = 1
Ping count data valid
The coordinates are normally vessel oriented, that is bit 0 is 0.
857-160898/C
11
HPR 400 Binary Communication Protocol
Reply_status Defines the transponder reply status. When the whole byte is zero, the
reply is ok.
Bit 0 and 1 contains information about timeouts.
Value 1 means timeout on the first pulse, value 2 means
timeout on the second pulse and value 3 means timeout
on the third pulse.
Bit 2 set
Ambiguity error X angle.
Bit 3 set
Ambiguity error Y angle.
Bit 4 set
Reply rejected by the software filter.
Bit 5 set
VRU or gyro error. The position is calculated with zero
course and/or zero roll and pitch. The VRU and/or gyro
error is reported in the DIAGNOSTIC parameter.
Filt_X_pos The filtered x - position coordinates of the transponder. Transponders
horizontal athwart ship distance from reference point. A meter value
in REAL format.
Filt_Y_pos The filtered y - position coordinates of the transponder. Transponders
horizontal fore and aft ship distance from reference point. A meter
value in REAL format.
Filt_Z_pos: (Depth) The filtered z - position coordinates of the transponder. Transponders
vertical distance from reference point. A meter value in REAL
format.
X_pos The raw x - position coordinates of the transponder. Transponders
horizontal athwart ship distance from reference point. A meter value
in REAL format.
Y_pos The raw y - position coordinates of the transponder. Transponders
horizontal fore and aft ship distance from reference point. A meter
value in REAL format.
Z_pos: (Depth) The raw z - position coordinates of the transponder. Transponders
vertical distance from reference point. A meter value in REAL
format.
Slant_range The direct raw slant range from the vessel's transducer to the
transponder. A meter value in REAL format.
P_course The vessels course at the time of transponder position measurement.
A value in REAL format, 0 to 360 degrees.
P_roll The vessels roll at the time of transponder position measurement. A
value in REAL format, +/-180 degrees.
P_pitch The vessels pitch at the time of transponder position measurement. A
value in REAL format, +/-180 degrees.
Td_beam Defines the transducer beam, 0=wide, 1=narrow.
12
857-160898/C
HiPAP / HPR 400 systems
Td_type defines the transducer type.
0
1
2
3
equals
"
"
"
4
5
6
7
8
9
"
"
"
"
"
"
30 kHz
30 kHz
30 kHz
30 kHz
baseline.
15 kHz
30 kHz
15 kHz
30 kHz
30 kHz
30 kHz
wide beam only
wide/medium beam
wide/narrow beam
PMT-300, wide/wide extended
wide/medium
LBL
LBL
SSBL NMT-301
SSBL tracking td-er
HiPAP
Td_num defines the transducer number 1 to 4 used in the positioning.
Diagnostic Defines the transceiver hardware status.
Error information
15
8 7
Error index
0
The least significant byte of this WORD_16 parameter contains an
index, defining one error. If there is more than one error, the index
will alter between the error indexes. The most significant byte of the
parameter contains additional information for the error reported by
the index.
The error indexes are reserved according to the following plan:
1 to 31
General errors
32 to 63
Application specific errors
64 to 255
Debug diagnostics.
The General errors are:
1
HW reset
2
Fatal transceiver error
3
VRU error
4
Gyro error
5
External serial line error
6
Transmitter error
7
DSP error
8
Tracking td error
When the Operator unit receives an error index, it is displayed
together with the additional information. The additional information
is displayed as a hex number. The meaning of the numbers is
explained in the Operator's manual.
857-160898/C
13
HPR 400 Binary Communication Protocol
Stand_dev The expected accuracy of the position. It is based on the covariance
data calculated for the SSBL position. It is equal to the statistical sum
of the major and minor semi axes of the error ellipse displayed
around the position.
Instr_data (*) This is only used if any of the below cases are true:
If the message contains data from a Inclinometer transponder,
( Tp_type = 2 or 3 ), the first two reals contain the Inclination of the
transponder. The first contains X inclination and the second contains
the Y inclination.
If the message contains data from a compass transponder,
( Tp_type = 4 ), the first real in Instr_data contains the heading of the
compass transponder.
If the message contains data from a depth transponder,
( Tp_type = 1), the first real in Instr_data contains the depth
measured by the transponder.
If bit 3 in Pos_data_form is set, the first real in Instr_data contains the
ping count from the transponder with resolution million ping.
If Td_type is tracking td, the last real value contains the tracking td
angle.
Example
Telegram:
55 3a 00 01 00 94 00 01 00 00 00 00 00 fc e4 c9 42 72 46 6e c2
47 cd 80 40 bb ed c9 42 25 85 6e c2 c2 cc 8c 40 80 5b e8 42 00
00 00 00 00 00 00 00 00 00 00 00 01 01 02 00 00 00 58 5c 00 40
b0 11 aa
The data block of the telegram decoded:
TpOmSmTtToPfSt
148 1 0 0 0 0 0
X
Y
Z
100.95 -59.57 4.03
100.96 -59.63 4.40
Rang Crs Roll Pitc TbTtT#Diag Std
116 0.0 0.00 0.00 1 1 2 0 2.01
14
857-160898/C
HiPAP / HPR 400 systems
3.2 Message 2, LBL position
The LBL position telegram contains a position relative to the origin of
the Tp array. The position is of the vessel or of another object. The
telegram is transmitted each time a new position is calculated. If the
Transponder array is north oriented, the coordinates are relative to true
North, else they are relative to local north.
Block content
Size
Sequence_number
Time_header (7)
Interrogation_age
Tp_array
Td_num
Pos_east
Pos_north
Depth
Hor_err_ellipse_direction
Hor_err_ellipse_major
Hor_err_ellipse_minor
Z_standard_deviation
Pos_type
Pos_status
P_course
P_roll
P_pitch
Diagnostic
WORD_16
BYTE
WORD_16
BYTE
BYTE
REAL_64
REAL_64
REAL
REAL
REAL
REAL
REAL
BYTE
BYTE
REAL
REAL
REAL
WORD_16
Sequence_number The sequence number is incremented for each LBL interrogation. It is
reset each time LBL positioning is started. Range 0 - 65535.
Time_header See subchapter below.
Interrogation_age Time since interrogation of transponder array. The resolution is 1ms.
Tp_array When the LBL position is calculated in Navigation mode, it contains
the Tp array number in use (1 and upwards).
When the position is calculated in Training mode, it contains 255.
857-160898/C
15
HPR 400 Binary Communication Protocol
Td_num Defines the transducer number in use.
1 to 4
means td 1 to 4 on transceiver 1
5 to 8
"
2
9 to 12
"
3
13 to 16
"
4
0 has a special meaning. Then the position is calculated based on
measurements on more than one transducer.
Pos_east The East and North coordinate of the position in meters. Positive East
Pos_north value is towards east, and positive North value is towards north.
The coordinates are local coordinates.
The HSC 400 also includes global UTM coordinates.
Depth The depth coordinate in meters. Positive value is downwards.
It is the vertical distance from the sea level to the reference point of
the object being positioning.
Hor_err_ellipse_ Each LBL position has an one sigma error ellipse associated with it.
direction The direction is the angle in degrees between the north axis and the
major axis of the ellipse.
Hor_err_ellipse_ The major semi axis of the error ellipse.
major
Hor_err_ellipse_ The minor semi axis of the error ellipse.
minor
Z_standard_ The standard deviation of the depth.
deviation
Pos_type 0
1
:
16
17
:
20
-
Position of the vessel
Position of ROV1
:
Position of ROV16
Position of TP range Position no 1
:
Position of TP range Position no 4
Bit 7 is 0 if the coordinates are local. It is set if the they are UTM
coordinates.
16
857-160898/C
HiPAP / HPR 400 systems
Pos_status This variable tells the status of the position calculation. The statuses
with an asterisk in the table below are so serious that no position is
contained in the telegram.
0
Ok position.
1
The measured ranges match badly the calculated position. The
range residuals are big.
2
The position calculation did converge in the horizontal plane,
but not vertically.
3
The calculation of the interrogation time in MuLBL mode did
not converge.
16* Too few ranges are measured.
17* The position calculation does not converge.
18* Internal HPR computation error.
19* No initial position is calculated.
P_course An average of course read at the time of pulse arrival.
P_roll An average of roll read at the time of pulse arrival.
P_pitch An average of pitch read at the time of pulse arrival.
Diagnostic See Message 1, Transponder position data.
857-160898/C
17
HPR 400 Binary Communication Protocol
Time Header
The format of the Time_header is:
Block
content
Day
Month
Year
Hours
Minutes
Seconds
1/100th
seconds
Size
Index
Resolution
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE
0
1
2
3
4
5
6
1 Day
1 Month
1 Year
1 Hour
1 Minute
1 Second
1/100 second
Range
1-31
1-12
0-99
0-23
0-59
0-59
0-100
It defines the clock when the position is valid.
Example
Telegram:
55
f8
a3
ff
00
50
41
0a
fb
3a
00
17
00
ff
5d
07
00
aa
02
02
14
3e
00
00
7a
59
da
00
08
a5
c0
a1
00
00
cf
70
fc
00
18
f8
01
3d
00
07
d3
9c
ca
00
62
fc
c0
39
00
0d
68
ef
18
00
2b
40
b3
3e
00
23
3d
a8
00
00
4a
e2
41
00
00
The data block of the telegram decoded:
Seqno ddmmyyhhmmss.hh Age Ar Td
8 240798134335,74 2808 ff 2
North Depth
-100.32 -4.88
Crs
0.0
18
Dir
21
Major
0.13
Minor
0.12
Dsigm
0.15
East
199.90
Pt Ps
0 0
Roll Pitch Diag
0.00 0.00 0
857-160898/C
HiPAP / HPR 400 systems
3.3 Message 4, LBL Ranges
The LBL_ranges message contains raw measured ranges to the
transponders, and VRU and compass data. This Message is
transmitted just after the Message 2 (LBL position). The two
messages have the same sequence number.
Block content
Size
Sequence_number
Range_age
(8)
Tp_array
Td_num
Operation_mode
Sync_mode
Pos_type
Reply_status (8)
Range
(8)
P_course
P_roll
P_pitch
Diagnostic
WORD_16
WORD_16
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE
REAL
REAL
REAL
REAL
WORD_16
Range_age, reply_status and range consist of a list with 8 entries, one
for each transponder.
Sequence_number The sequence number is incremented for each LBL interrogation. It is
reset each time LBL positioning is turned ON. Range 0 - 65535.
Range_age Time since reception of the range. Resolution 1ms.
Tp_array When the LBL position is calculated in Navigation mode, it contains
the Tp array number in use (1 and upwards).
When the position is calculated in Training mode, it contains 255.
Td_num Defines the transducer number in use.
1 to 4
5 to 8
9 to 12
13 to 16
means td 1 to 4 on transceiver
"
"
"
1
2
3
4
Operation_mode See Message 1, Transponder position data.
Sync_mode contains the synchronization mode of the transceiver.
0
1
2
857-160898/C
equals
"
"
No synchronization.
Sequence sync.
Interrogation sync.
19
HPR 400 Binary Communication Protocol
Pos_type 0
1
:
16
17
:
20
-
Position of the vessel
Position of ROV1
:
Position of ROV16
Position of TP range Position no 1
:
Position of TP range Position no 4
Reply_status_n Defines the reply status. When bit 0 to 5 are zero, the measurement is
OK.
Bit 0 and 1 contains information about timeouts.
Value 1 means timeout on the first pulse, value 2 means
timeout on the second pulse and value 3 means timeout
on the third pulse.
Bit 2 set
Ambiguity error or angle rejected X angle.
Bit 3 set
Ambiguity error or angle rejected Y angle.
Bit 4 set
Range rejected by the software filter.
Bit 5 set
Vru or gyro error. The position is calculated with zero
course and/or zero roll and pitch. The VRU and/or gyro
error is reported in the DIAGNOSTIC parameter.
Bit 6 and 7 contain information about what is measured. The contents
of the two bits are either 00 (no measurement), 80H (only the range is
measured) or C0H (both the range and the directions are measured).
Bit 7 set
Bit 6 set
The range is measured OK.
The SSBL directions are measured OK.
Range_n The measured range to the transponders.
P_course An average of course read at the time of pulse arrival.
P_roll An average of roll read at the time of pulse arrival.
P_pitch An average of pitch read at the time of pulse arrival.
Diagnostic See Message 1, Transponder position data.
20
857-160898/C
Information note
849-108368
HPR 300 telegrams
This document describes the HPR 300 external
equipment telegram formats.
849-108368/C
1
HPR 300 telegrams
Document revisions
Rev
Date
Written by
Checked by
Approved by
A
23.04.91
NB
JB
RB
B
27.01.99
GM
RB
KE
C
10.05.05
GM
GM
EB
D
2
849-108368/C
Information note
Contents
1
TRANSPONDER TELEGRAMS .................................................................................... 7
1.1 Summary ......................................................................................................................... 7
1.2 Introduction .................................................................................................................... 8
1.3 Format of telegrams sent from the HPR system ........................................................ 9
1.3.1
Telegram contents ........................................................................................................9
1.3.2
HEAD (1 byte).............................................................................................................10
1.3.3
ROLL, or inclinometer TP X-angle (2 bytes).........................................................10
1.3.4
PITCH, or inclinometer TP Y-angle (2 bytes)......................................................11
1.3.5
COURSE (2 bytes) ......................................................................................................11
1.3.6
TRANSPONDER INDEX (1 byte) ...........................................................................11
1.3.7
X-POS RANGE (3 bytes), Y-POS OR
BEARING (3 bytes), Z-POS DEPTH (3 bytes).......................................................11
1.3.8
STATUS (1 byte) .........................................................................................................13
1.3.9
TIMEOUT (1 byte)......................................................................................................13
1.3.10 TRANSPONDERS IN SEQUENCE (3 bytes) .......................................................14
1.3.11 TRACKING TD-ANGLE (2 bytes) ..........................................................................14
1.3.12 TEST (1 byte) ...............................................................................................................15
1.3.13 TRANSPONDER TYPE (1 byte) ..............................................................................15
1.3.14 TRANSPONDER SPECIFICATION (1 byte)........................................................16
1.3.15 TRANSDUCER (1 byte) ............................................................................................17
1.3.16 TD STATUS (1 byte) ..................................................................................................18
1.3.17 STANDARD DEVIATION SIGMA (1 byte)..........................................................18
1.3.18 CHECKSUM (1 byte).................................................................................................18
1.3.19 END OF TELEGRAM (1 byte) .................................................................................18
1.4 Format of telegrams received by the HPR system .................................................... 19
1.4.1
Telegram contents ......................................................................................................19
1.4.2
HEAD (1 byte).............................................................................................................19
1.4.3
TRANSPONDER INDEX (1 byte) ...........................................................................20
1.4.4
TRANSPONDER TYPE (1 byte) ..............................................................................20
1.4.5
TRANSPONDER SPECIFICATION (1 byte)........................................................20
849-108368/C
3
HPR 300 telegrams
1.4.6
TRANSDUCER (1 byte) ............................................................................................21
1.4.7
COORDINATE ORIENTATION AND REFERENCE POINT (1 byte) ............21
1.4.8
SYMBOL 1 (6 bytes) ...................................................................................................22
1.4.9
SYMBOL 2 (6 bytes) ...................................................................................................22
1.4.10 VECTOR 1 (4 bytes) ...................................................................................................22
1.4.11 SYMBOL MODE (1 byte) ..........................................................................................23
1.4.12 SPARE (1 byte)............................................................................................................23
1.4.13 CHECKSUM (1 byte).................................................................................................23
1.4.14 END OF TELEGRAM (1 byte) .................................................................................23
1.5 Time of telegram transmission ................................................................................... 23
2
2’S COMPLIMENT BINARY CODING ..................................................................... 25
2.1 Introduction .................................................................................................................. 25
2.2 Telegram reception....................................................................................................... 25
2.3 Position data in cartesian coordinates ....................................................................... 26
2.3.1
General .........................................................................................................................26
2.4 Positioning data in polar coordinates........................................................................ 30
2.4.1
General .........................................................................................................................30
2.4.2
Course...........................................................................................................................30
2.4.3
Roll and Pitch ..............................................................................................................30
3
PRACTICAL POINTS .................................................................................................... 34
4
HARDWARE INTERFACE CONNECTIONS........................................................... 35
4
849-108368/C
Information note
Document history
Rev. A
First issue.
Rev. B
Updated to new document standard.
Rev. C
Updated layout.
849-108368/C
5
HPR 300 telegrams
Blank page
6
849-108368/C
Information note
1 TRANSPONDER TELEGRAMS
1.1 Summary
Kongsberg Maritime's Hydroacoustic Position Reference (HPR)
system is often used by other equipment to determine the
position of the vessel relative to an underwater structure on the
seabed or a remotely operated vehicle (ROV).
Normally the HPR system and the external equipment
exchange the necessary information using "telegrams". Each
telegram consists of a number of bytes sent over a serial
communications link (20 mA current loop or RS232C).
Normally, the HPR system sends a telegram to the external
equipment with new position information as soon as new data
is available. The telegrams contain the following information as
standard:
x The position of a transponder.
x The transponders entered into the system by either external
equipment or the operator.
x The transducer and beam width being used.
x Other control information.
209 systems delivered in 1981 or earlier, which do not have this
telegram format, may be updated if convenient.
849-108368/C
7
HPR 300 telegrams
1.2 Introduction
The telegrams between the HPR system and external equipment
are transmitted using asynchronous drivers and receivers.
Each byte has a 7-bit code, 1 parity bit (odd parity), 1 start bit
and 2 stop bits. The format of the bytes is shown in Figure 1.
6
5
4
3
2
1
0
Six bits of data
Start bit
End of telegram
(Set in the last byte of a telegram)
Parity bit (odd)
2 stop bits
Figure 1 The format of the telegram bytes
8
849-108368/C
Information note
1.3 Format of telegrams sent from the HPR system
1.3.1 Telegram contents
Telegrams sent from the HPR system consist of the following
bytes:
Byte contents
No. of bytes
Byte index
in telegram
HEAD
1 byte
0
ROLL (or X-angle)
2 bytes
1
PITCH (or Y-angle)
2 bytes
3
COURSE
2 bytes
5
TRANSPONDER INDEX
1 byte
7
X-POS OR RANGE
3 bytes
8
Y-POS OR BEARING
3 bytes
11
Z-POS OR DEPTH
3 bytes
14
STATUS
1 byte
17
TIMEOUT
1 byte
18
TP's IN SEQUENCE
3 bytes
19
TRACKING TD ANGLE
2 bytes
22
TEST
1 byte
24
TP TYPE
1 byte
25
TP SPECIFICATION
1 byte
26
TRANSDUCERS
1 byte
27
TD STATUS
1 byte
28
KALMAN FILTER WINDOW
1 byte
29
CHECKSUM
1 byte
30
END OF TELEGRAM
1 byte
31
32 bytes
The rest of this chapter contains a description of the bytes.
849-108368/C
9
HPR 300 telegrams
1.3.2 HEAD (1 byte)
The HEAD byte defines the mode in which the HPR system is
running, and some parameters concerning the coordinates used
in the telegrams.
Bit 0 is set when
(run mode).
running
in
normal
acoustic
mode
Bit 1 is set when running in test mode.
Bit 2 is set if the position is calculated in polar coordinates. It is
zero if the position is calculated in cartesian coordinates.
Bit 3 is set if north is the Y direction in cartesian coordinates
and the zero bearing direction in polar coordinates (north
oriented coordinates). It is zero if the heading of the vessel
is the Y-direction in cartesian coordinates and the zerobearing direction in polar coordinates (vessel oriented
coordinates).
Bit 4 is set if the coordinates contained in the telegrams are
filtered by a Kalman filter. It is zero if the coordinates are
unfiltered. This has to be agreed between the customer
and Kongsberg Maritime.
Bit 5 is set if the position reference point is the spare (e.g. the
bow) reference point of the vessel. It is zero if the
reference point is the main (e.g. the moonpool) reference
point of the vessel.
If the telegram does not contain any position information, bits 2,
3, 4 and 5 are invalid.
Bits 0, 1 and 5 may be changed by the operator using the control
unit. The other bits may not be altered.
1.3.3 ROLL, or inclinometer TP X-angle
(2 bytes)
These bytes normally contain the roll angle read from the
Vertical Reference Unit.
When the telegram contains transponder/responder position
information, the angle is read when the reply is received.
Otherwise it will be read immediately before the telegram
transmission.
The first byte contains the 6 MSBs of the angle, and the last byte
contains the 6 LSBs. The angle is coded in 2's complement.
10
849-108368/C
Information note
The resolution (weight of the LSB) is .0878906 degrees (equal to
360 degrees divided by 212) and the angle is consequently in the
range +180q to -180q. A positive roll angle means that the
vessel's starboard side is down.
If the telegram contains information about an inclinometer TP,
these bytes contain the X-angle of the TP (marked 1 on the top
of the TP). The format is the same as for the roll angle. A
positive X-angle means that the TP is leaning towards
starboard.
1.3.4 PITCH, or inclinometer TP Y-angle
(2 bytes)
These bytes contain the pitch angle read from the vertical
reference unit.
It is read just after the roll angle, and they have the same format.
A positive pitch angle means that the bow of the ship is up.
If the telegram contains information about an inclinometer TP,
these bytes contain the Y-angle of the TP (marked 2 on the top
of the TP). The format is the same as for the pitch angle. A
positive Y-angle means that the TP is leaning forwards.
1.3.5 COURSE (2 bytes)
These bytes contain the angle read from the Gyro Compass.
It is read just after the roll angle, and they have the same format.
Normally, the course angle is the angle between the north
vector and the Y-direction. Seen from above, clockwise is the
positive angle direction.
1.3.6 TRANSPONDER INDEX (1 byte)
If the telegram contains transponder position information, this
byte contains the number of that transponder (from 1 to 16).
Otherwise this byte is zero.
The transponders 1 to 9 have indices 1-9. The transponders …,
~, ’, X,Y, emergency-A and emergency-B, have indices 10 to 16
(decimal).
1.3.7 X-POS RANGE (3 bytes), Y-POS OR
BEARING (3 bytes), Z-POS DEPTH (3 bytes)
These bytes contain the position of the transponder/responder.
The position is either in cartesian coordinates X, Y and Z or in
polar coordinates; range, bearing and depth (indicated in bit 3,
Head byte).
849-108368/C
11
HPR 300 telegrams
The Y direction is alongships forward when vessel-oriented, and
north when north-oriented.
The X direction is atwartships starboard when vessel-oriented,
and east when north-oriented.
The Z direction is downward, i.e. depth.
The
range
is
the
horizontal
distance
transponder/responder measured on the sea surface.
to
the
The bearing angle is the angle between the Y direction
(along-ships forward or north) and the range vector. Positive
angle is clockwise seen from above.
The format of the X, range, Y and Z bytes are shown in the figure
below.
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
First byte of position data
Decimal point
The position is coded in 2's complement. The resolution (weight
of the LSB) is 0.125 m, and the position is consequently in the
range ± 4096 m.
The format of the bearing angle is the same as for the roll angle.
When polar coordinates are used, there is a spare byte between
the 2 bearing bytes and the depth bytes.
12
849-108368/C
Information note
1.3.8 STATUS (1 byte)
This byte contains some the HPR system status information.
The format of the byte is shown below:
5
4
3
2
1
0
No response
Beam limit
The "no response" bit is set when:
x No position reply within the timeout limit.
x The reply is rejected by the programs.
x There is an interrogator failure.
When "No Response" is received, the TRANSPONDER CODE
byte tells the system which transponder/responder the HPR
system failed to receive a correct reply from. The position bytes
do not contain any position information.
The BEAM LIMIT bit is set when the reply is received in the
outer part of the beam in operation. It is only valid for a fixed
transducer without the tracking-medium or tracking-narrow
facilities.
1.3.9 TIMEOUT (1 byte)
A TP may reply with one or more pulses.
Bit 0 in timeout is set if the first pulse is not received.
Bit 1 is set if the second pulse is not received.
Bit 2 is set if the third pulse is not received.
849-108368/C
13
HPR 300 telegrams
1.3.10 TRANSPONDERS IN SEQUENCE
(3 bytes)
These 3 bytes define the total number of transponders operating
in the system introduced by either the operator or the external
equipment.
The format of the bytes is shown below. The bits associated with
transponders activated in the system at the present, are set.
Byte 1
5
4
3
2
1
0
B
A
Y
X
Byte 2
5
4
3
2
1
0
’
~
…
9
8
7
5
4
3
2
1
0
6
5
4
3
2
1
Byte 3
The TP numbers and symbols are drawn inside their associated
bits.
1.3.11 TRACKING TD-ANGLE (2 bytes)
These 2 bytes contain the angle of the tracking transducer when a
reply from the transponder is received.
The first byte contains the 6 MSBs of the angle, and the last byte
contains the 6 LSBs.
The format of the angle is as for the roll angle.
14
849-108368/C
Information note
1.3.12 TEST (1 byte)
This byte contains information about the self diagnostics
performed by the transceiver unit.
Bit 0 is set when a data memory (RAM) error is detected.
Bit 1 is set when a program memory (PROM) error is detected.
Bit 2 is set when an error in one of the other cards in the
interrogator is detected. (FIC-TRAN, SDC-TRAN,
TSB-TRAN, TRC-TRAN, RPC-TRAN, IOC-TRAN,
FIL-TRAN, TRANSDUCER).
Bit 3 is set when an error in one of the serial lines connected to
the transceiver is detected. (INTF-DP, INTF-DSPL,
INTF-TRAN, INTF-STB, INTF-PORT, STB-MOTOR,
PORT-MOTOR).
Bit 4 is set when the processor is restarted. (UMC-TRANC).
1.3.13 TRANSPONDER TYPE (1 byte)
This byte contains a binary number indicating what transponder
type the telegram contains data from.
0 means standard TP
1 " responder
2 " depth TP
3 " beacon
4 " depth beacon
5 " inclinometer TP
849-108368/C
15
HPR 300 telegrams
1.3.14 TRANSPONDER SPECIFICATION
(1 byte)
This byte contains some parameters of the transponders of the
telegram.
Bit 0 is set if the TP is mobile (e.g. mounted on a ROV), and
zero if it is fixed. This information is entered by the
operator and may be used by the DP system to decide
which TPs should be used as DP reference.
Bit 1 is set if the TP is a low interrogation rate TP. It is zero if it
is a normal interrogation rate TP.
Bit 2 is set if the TP is a low priority TP. It is zero if it is a
normal priority TP.
Bit 3 is set if the operator has specified a fixed depth for the TP.
The fixed depth information is used by the programs to
compensate for ray bending.
16
849-108368/C
Information note
1.3.15 TRANSDUCER (1 byte)
This byte contains information about the transducer and the
beam width.
The format is as shown below:
4
3
2
1
0
Set when starboard transducer
Set when port transducer
Set to 1 when narrow beam
Set to 0 when wide beam
Set to 1 when narrow beam
Set to 0 when wide beam
Bit 2 defines the beam selected by the operator for the TP.
Bit 4 identifies the beam used by the HPR system in the last
interrogation. When the operator selects narrow beam,
the HPR system has to use wide beam to establish TP
position before switching to narrow beam. When the
operator selects wide beam, the HPR system uses wide
beam.
When the telegram contains position information of the Z
transponder/responder, the byte defines the status when the
reply was received. Otherwise they define the status when the
telegram was built up.
The term "narrow beam" in this code is rather imprecise. It
means the narrow beam of the actual TD, (i.e. not the wide
beam).
The "narrow beam" may be either the medium beam (± 30
degrees) of the standard TD, the narrow beam (± 15 degrees) of
the fixed TD or one of the narrow beams of the tracking TD.
849-108368/C
17
HPR 300 telegrams
1.3.16 TD STATUS (1 byte)
This byte defines the status of the transducers connected to the
HPR system.
5
4
3
2
1
0
Bits 5, 4 and 3 are for the port transducer, while bits 2, 1 and 0 are
for the starboard transducer.
For the 2 LSBs (0 & 1, and 3 & 4)
00 = auto track
01 = stopped
10 = train manual left
11 = train manual right
For the MSBs (2 and 5)
0
= fixed transducer
1
= tracking transducer
1.3.17 STANDARD DEVIATION SIGMA (1 byte)
Standard deviation is calculated within the software filter,
based on 4 measurements. When "timeout" and "Ping accepted"
Sigma will increase up to a value of 13,5% of predicted range.
1.3.18 CHECKSUM (1 byte)
This byte contains the exclusive-or of all bytes of the telegram,
not including the checksum byte itself and the end of telegram
byte.
1.3.19 END OF TELEGRAM (1 byte)
This byte contains 40H, and defines the end of the telegram.
It is the only byte of the telegram with bit 6 set.
18
849-108368/C
Information note
1.4 Format of telegrams received by the HPR system
1.4.1 Telegram contents
The telegrams sent from external equipment to the HPR system
consist of the following bytes:
Byte contents
No. of bytes
Byte index
in telegram
HEAD
1 byte
0
TRANSPONDER INDEX
1 byte
1
TRANSPONDER TYPE
1 byte
2
TP SPECIFICATION
1 byte
3
TRANSDUCER
1 byte
4
AND REFERENCE POINT
1 byte
5
SPARE
1 byte
6
SYMBOL 1
6 bytes
7
SYMBOL 2
6 bytes
13
VECTOR 1
4 bytes
19
SYMBOL MODE
1 byte
23
SPARE
1 byte
24
CHECKSUM
1 byte
25
END OF TELEGRAM
1 byte
26
COORDINATE ORIENTATION
32 bytes
1.4.2 HEAD (1 byte)
The HEAD byte specifies whether the HPR system must change
the mode in which it is running, and if the rest of the telegram is
valid or not.
Bit 0 set means that the whole telegram is valid. If this is zero,
only the head byte will be handled by the HPR system.
Bit 2 set means change to test mode.
Bit 3 set means change to run mode.
849-108368/C
19
HPR 300 telegrams
1.4.3 TRANSPONDER INDEX (1 byte)
This byte specifies a transponder to be either inserted into or
removed from the transponder sequence.
The format of the byte is the same as for the transponder index
byte sent from the HPR system.
Examples:
x Transponder index byte equal to zero means no change in
the transponder sequence.
x Transponder index byte equal to 05 means that transponder
5 shall be either inserted into or removed from the
transponder sequence. If transponder 05 is already in the
transponder sequence, it will be removed. Otherwise it will
be inserted.
As may be seen from the examples, a transponder index other
than 00 specifies a change in the transponder sequence.
1.4.4 TRANSPONDER TYPE (1 byte)
This byte defines the type of transponder being inserted into the
transponder sequence by this telegram.
0 means standard TP
1 " responder
2 " depth TP
3 " beacon
4 " depth beacon
5 " inclinometer TP
1.4.5 TRANSPONDER SPECIFICATION
(1 byte)
This byte defines some parameters of the transponder being
inserted into the transponder sequence by this telegram.
Bit 0 is set if the TP is mobile, and is zero if it is fixed.
Bit 1 is set if the TP is a low interrogation rate TP, and is zero if
it is a normal interrogation rate TP.
Bit 2 is set if the TP is a low priority TP.
20
849-108368/C
Information note
1.4.6 TRANSDUCER (1 byte)
This byte specifies the transducer and beam width to be used for
the TP in the transponder index byte.
Set when starboard transducer
Set when port transducer
Set to 1 when narrow beam
Set to 0 when wide beam
The HPR system will start to interrogate the TP on the selected
transducer in wide beam.
If the HPR system receives valid replies from the TP in wide
beam, and the external equipment has specified narrow beam,
the HPR system will switch to narrow beam. It will then
continue to interrogate in narrow beam. If the system receives
too many timeouts or too great a variance in the measurement,
it will switch back to wide beam.
It will use wide beam until the TP position is re-established,
then it will switch to narrow beam. All this will be done
automatically by the HPR system.
1.4.7 COORDINATE ORIENTATION AND
REFERENCE POINT (1 byte)
This byte defines the orientation of the coordinates and their
reference point used in telegrams sent from the HPR system.
Bit 0 set means that the information in bit 4 is valid.
Bit 1 set means that the information in bit 5 is valid.
Otherwise this information is as specified by the operator.
Bit 4 set means that the coordinate system will be north
oriented. Otherwise it will be vessel oriented. The
orientation selected by the operator will always be used
on the HPR system display.
Bit 5 set means that the spare reference point is to be used as
the reference point of the coordinates. Otherwise the main
reference point of the vessel will be used. Bit 5 will effect
both the data in the telegrams sent from the HPR system,
and the data on the HPR system display.
849-108368/C
21
HPR 300 telegrams
1.4.8 SYMBOL 1 (6 bytes)
The external equipment may specify up to 2 custom defined
symbols and 1 vector to be displayed at the HPR system
display. The symbol mode byte, which will be explained later,
defines which of these 3 symbols/vectors are to be displayed,
and if they shall blink or not.
The form of the 2 symbols must be discussed with Kongsberg
Maritime.
The first 3 bytes of symbol 1 define the X-coordinate of the first
symbol. The last 3 bytes of symbol 1 define the Y-coordinate of
the first symbol.
The format of the X and Y values are the same as for the X, Y and
Z position data in the telegrams sent from the HPR system.
The X and Y values are vessel-oriented, with the vessel in the
origin.
1.4.9 SYMBOL 2 (6 bytes)
These 6 bytes define the X and Y coordinates of the second
custom symbol. The format is the same as for symbol 1.
1.4.10 VECTOR 1 (4 bytes)
These 4 bytes define the direction of the custom specified vector.
The first 2 bytes contain the sine value of the angle between the Y
direction and the vector, and the 2 last bytes contain the cosine
value of the same angle.
Seen from above, clockwise is the positive angle direction.
The format of the angle is described in the figure.
LSB
Decimal point
Sign bit (2ís compliment)
22
849-108368/C
Information note
1.4.11 SYMBOL MODE (1 byte)
The format of this byte is explained in the figure below.
5
4
3
2
1
0
Set if symbol 1 is to be displayed
Set if symbol 1 is to be blinking
Set if symbol 2 is to be displayed
Set if symbol 2 is to be blinking
Set if vector 1 is to be displayed
Set if vector 1 is to be blinking
When the bits 0, 2 or 4 are zero, the corresponding symbol or
vector (if it is displayed) will be removed from the display.
1.4.12 SPARE (1 byte)
Not used in the standard systems.
1.4.13 CHECKSUM (1 byte)
This byte only contains the exclusive-or of all the bytes of the
telegram, not including the checksum byte itself and the end-oftelegram byte.
1.4.14 END OF TELEGRAM (1 byte)
This byte is equal to 40H, and defines the end of the telegram.
1.5 Time of telegram transmission
The external equipment or the operator determines the number
of transponders to be in the system. The HPR system does
however determine the sequence of transponder activations,
and when to activate them.
The transponders are activated in the sequence …, ~, ’, X, Y, 1,
2, 3, 4, 5, 6, 7, 8, 9, emergency A and emergency B. (Assuming
they are active in the system at the time).
The interval between the activation of the same transponder is
constant if possible under the physical circumstances. If that is
not possible, they are activated with as little delay as possible.
The telegrams with position information are sent to the external
equipment immediately after the position is calculated.
849-108368/C
23
HPR 300 telegrams
When no transponder is in the system, dummy telegrams are
sent with fixed intervals (6.2 secs.). That is done to allow the
external equipment to test that the HPR system is alive. These
dummy telegrams do not contain any transponder codes, and
consequently no position information. The rest of the dummy
telegrams, however, are valid.
The interval between the end of one telegram and the start of
the next is a minimum of 150 ms. This may be changed if
required by the customer.
As explained in chapter 1, each byte consists of 7 data bits, 1
parity bit, 1 start bit and 2 stop bits, i.e. a total of 11 bits.
The transmission time of one byte is consequently 11/baud rate
seconds.
Example:
The transmission time T of a telegram from the 209/200 and
309/300 transceiver with a baud-rate of 2400 baud, is:
T = 32 x 11/2400 s = 0,147 s = 147 ms
This may easily be seen on an oscilloscope.
The computing time of a TP reply in the HPR system
transceiver is approximately 300 ms. The computing of a TP
reply is done while the next TP in the sequence is being
interrogated. When the travel time of the interrogation and the
reply pulse in water is less than 300 ms (corresponds to slant
range 225 m), the HPR system may interrogate 3 TPs each
second. That matches with a 150 ms interval between stop and
start of telegrams and a baud-rate of 2400 baud.
If a longer interval or a slower baud-rate is selected, the
telegram transmission will become a bottleneck in the system.
Then TP interrogations have to wait for telegram transmissions
to be finished. We therefore recommends 2400 baud and an
interval between stop and start of telegrams of less than or
equal to 150 ms.
24
849-108368/C
Information note
2 2’S COMPLIMENT BINARY CODING
2.1 Introduction
This part is a guide to deciphering the 2's complement coded
information contained in the HPR system telegrams. It is
designed for those programmers unfamiliar with binary
number manipulation.
Three logic operators are used: AND, OR and EX-OR, which
might be unfamiliar to some. No attempt is made to explain
what these operators do in logic terms, the reader is simply
instructed when to use them. In these examples, it is assumed at
all times that each byte of data is contained in a 16 bit register.
However, this might not necessarily be so. This will depend on
the computing system in use.
2.2 Telegram reception
The initial problem in dealing with the HPR system telegrams is
that of receiving one full telegram in the same order that it was
transmitted. The usual method of accomplishing this is to use
the "End of Telegram" byte as a reference to mark the end of a
telegram. (This is the only byte which has bit 6 set, and this
corresponds to 64 decimal or 40 in hexadecimal). Thus, a
method of telegram reception could be as follows:
The receiving computer should store bytes until it receives 64
decimal, which corresponds to the end of a telegram. It may
now process the bytes of the telegram just received.
x The first step in this processing should be to check that the
number of bytes in the telegram are correct and that the EXOR of all bytes in the telegram is 64 decimal.
The next byte that the computer receives (after 64 decimal) is
the first byte of the next telegram. The interval between these
two bytes can vary from 0.15 secs to 4 secs. There is no interval
between bytes belonging to the same telegram.
Figure 2 illustrates the above.
849-108368/C
25
HPR 300 telegrams
Figure 2 Telegram reception flow diagram
2.3 Position data in cartesian coordinates
2.3.1 General
The three coordinates, X, Y and Z, are each given as 3 bytes.
These 3 bytes need to be assembled to make one 16-bit number,
before decoding the 2's complement. The following is a method
for accomplishing this:
1.
Of the three bytes, the first contains 4 bits and the second
and third each contain 6 bits of relevant data.
15
14
13
12
1st byte of position data
11 10
9
8
7
6
2nd byte of position data
5
3
Bit 7
Note !
26
4
2
1
Decimal
point
0
3rd byte of position data
Bit 0
Only the lower 8 bits of the 16-bit register are shown.
849-108368/C
Information note
Take the first byte and "AND" it with decimal 15 (00001111
binary). This clears bits 4 to 15. Shift the result twelve places to
the left. Take the second byte, and "AND" it with 63 decimal
(00111111 binary). This clears bits 6 to 15. Shift the result six
places to the left. Take the third byte, and "AND" it with
decimal 63 (00111111 binary). Leave this result as it is. The data
is now in the following positions:
The shaded areas contain only zeros.
The first and second bytes should now be "OR'd", and the result
"OR'd" with the third byte. The coordinate will now be a 16-bit
binary number, held in 2's complement form.
2.
Check the most significant bit (MSB) (i.e. bit 15).
If bit 15 is zero, convert the binary to a decimal number and
divide the result by 8 to place the decimal point in the correct
position. This is a positive number.
If bit 15 is a one, complement the complete number and add 1
to it. Convert the binary number to a decimal, and divide it by
eight to place the decimal point in the correct position. This
number should then be multiplied by -1 to make it negative.
The above procedure should be used for all three coordinates
(X, Y & Z).
849-108368/C
27
HPR 300 telegrams
Example 1:
The 3 bytes for the X coordinate are:
00001111
byte 1
00110011
byte 2
00001011
byte 3
Bits 0 to 3 of byte 1 contain relevant information. Bits 0 to 5 of
bytes 2 and 3 also contain relevant information.
"AND-ing" byte 1 with decimal 15 masks out bits 4 to 15, and
"AND-ing" bytes 2 and 3 with decimal 63 masks out bits 6 and 7
in each byte. After shifting byte 1 twelve places to the left and
byte 2 six places to the left, the situation is as shown below:
1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 byte 1
0 0 0 0 1 1 0 0 1 1 0 0 0 0 0 0 byte 2
0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1 byte 3
n
n
bit 15
bit 0
"OR" the numbers to give:
1111110011001011
n
n
bit 15
bit 0
Refer to note on page 33 .
Bit 15 is a 1, therefore the number is negative. Take the
complement of the number and add one. This gives:
0 0 0 0 0 0 1 1 0 0 1 1 0 1 0 1 = 821 decimal
Divide this by 8 to place the decimal point correctly, and
multiply by -1 to make it negative.
X = 821 x(-1) = - 102.63 metres
8
28
849-108368/C
Information note
Example 2:
The 3 bytes for the Y coordinate are:
0 0 0 0 0 0 0 0 byte 1
0 0 0 0 1 1 0 1 byte 2
0 0 1 0 1 1 1 0 byte 3
After the "AND" and "OR" operations, this gives:
0 0 0 0 0 0 1 1 0 1 1 0 1 1 1 0 = 878 decimal
n
n
bit 15
bit 0
Refer to note on page 33 .
Bit 15 is zero, so the number is positive and no complementing is
required. Divide by 8 to put the decimal point in the correct
position.
Y = 878 = 109.75 metres
8
849-108368/C
29
HPR 300 telegrams
2.4 Positioning data in polar coordinates
2.4.1 General
The range and depth are deciphered in the same manner as
shown for the X, Y and Z coordinates.
The bearing is deciphered in a slightly different manner. Byte 3
of the 3 bearing bytes is a spare and can be ignored.
"AND" the first byte with decimal 63 and shift it six places to
the left. "AND" the second byte with decimal 63 and "OR" it
with the first byte. The result is a 12 bit number. To convert this
to an angle between 0q and 360q, convert the binary number to
decimal and multiply by 0.0878906. This gives an angle in the
required range.
0.0878906 = 360q (in a circle)
4096 (max. decimal number with 12 bits)
That is: 0.0878906 is the weight of the LSB (least significant bit).
2.4.2 Course
The course can be decoded by the same method used to decode
the bearing given with the position in polar coordinates.
2.4.3 Roll and Pitch
Convert the 2 bytes to a 12 bit number as shown for the bearing
in polar coordinates.
x
x
x
x
11 10 9
8
7
6
5
Bit 15
4
3
2
1
0
Bit 0
Positions marked with an X will be zero.
It is usual to convert roll and pitch to an angle between
-180q and +180q.
This is achieved as follows:
If bit 11 is a zero, convert the binary number to a decimal and
multiply it by 0.0878906.
30
849-108368/C
Information note
If bit 11 is a one, complement all 12 bits and add one to the
resulting number. Convert the binary number to decimal, and
multiply by -0.0878906 to make the number negative and to
place decimal point correctly.
A negative ROLL corresponds to Starboard side up.
A negative PITCH corresponds to Stern up.
Example 3:
For position data given in polar coordinates, the bearing bytes
are as follows:
00100100
byte 1
00011010
byte 2
00000000
byte 3
Byte 3 will always be zero so this can be ignored. Bits 0 to 5 of
bytes 1 and 2 contain the relevant information, so "AND" both
bytes with decimal 63. Byte 1 must be shifted 6 places to the left.
This gives:
0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 byte 1
0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 byte 2
"OR" the two numbers to give:
0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 = 2330 decimal
Refer to note on page 33 .
As the bearing angle is required in the range 0q to 360q, there is
no need to worry about the 2's complement. Multiply the
number by 0.0878906 to obtain the angle.
2330 x 0.0878906 = 205q
849-108368/C
31
HPR 300 telegrams
Example 4:
The two Roll bytes received are the same as given in Example 3
for bearing. After "AND-ing" and "OR-ing", this gives:
0000100100011010
n
Bit 11
As the pitch and roll angles are required in the range -180q to
+180q, bit 11 must be checked and the 2's complement taken
into account. Bit 11 is set (negative angle) so complement the
number and add 1. This gives:
0 0 0 0 0 1 1 0 1 1 1 0 0 1 1 0 = 1766 decimal
Multiply by -0.0878906 to make number negative and to place
the decimal point correctly.
Roll = 1766 x -0.08789O6 = -155q (i.e. starboard side up)
Example 5:
The two pitch bytes received are:
0 0 0 1 0 1 0 0 byte 1
0 0 0 1 1 0 1 0 byte 2
After "AND-ing" and "OR-ing", this gives:
0 0 0 0 0 1 0 1 0 0 0 1 1 0 1 0 = 1306 decimal
n
bit 11
n
bit 0
Bit 11 is zero so there is no need to complement. Multiply by
0.0878906 to obtain the pitch.
Pitch = 1306 x 0.0878906 = 114.8q (i.e. bow up)
32
849-108368/C
Information note
Note !
849-108368/C
OR, EX-OR or ADD may be used here. Although these are by no
means the same operation, they will each give the same result when
used in this case.
33
HPR 300 telegrams
3 PRACTICAL POINTS
When using the HPR system in conjunction with a radio
navigation system to accurately plot the position of an
underwater object, it is important that both systems give data
for a similar moment in time. Occasionally a reply might not be
received from a transponder upon interrogation (as might
happen during vessel manoeuvring). When this happens, the
telegram transmitted for that interrogation will not contain
"valid" position data, and this can be detected by examining bit
0 of the status byte of the telegram. Equally important is the fact
that if the radio navigation system is read first and the
computing system is waiting for a "valid" telegram from the
HPR system (i.e. one which contains position data) a time delay
occurs between the reading of the radio navigation and the
HPR systems. Thus the following points should be kept in mind
to help reduce errors due to software:
34
1.
Check the status byte for validity of position data.
2.
Check that no significant time delay can occur between
the reading of the HPR system and any other system
which requires to be time referenced with the HPR
system.
849-108368/C
Information note
4 HARDWARE INTERFACE CONNECTIONS
The telegrams described in this note are sent from the HPR
system transceiver on two current loop interfaces and two
RS232C interfaces.
The baud-rate of these four interfaces may be 110, 300, 600,
1200, 2400 or 4800 bauds. The four interfaces have the same
baud-rate.
Telegrams to the HPR system transceiver from external
equipment are sent to the HPR system using either a current loop
interface or an RS232C interface.
For information regarding the interfaces
HPR 400 standard Installation manual.
849-108368/C
refer
to
the
35
HPR 300 telegrams
Blank page
36
849-108368/C
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