Kongsberg HiPAP 352P Portable Acoustic Positioning system Instruction manual
Publicité
Publicité
Instruction Manual
APOS for HiPAP®
High Precision Acoustic Positioning
APOS for HiPAP® Systems
Acoustic Positioning Operator Station
Instruction Manual
About this document
Rev
D
Date
13.03.13
Minor updates.
Copyright
Written by
AJ
Checked by
SER
Approved by
JEF
© 2013 Kongsberg Maritime AS. All rights reserved. The information contained in this document remains the sole property of Kongsberg Maritime. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Maritime.
Disclaimer
Kongsberg Maritime endeavors to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omission.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.
Support
All Kongsberg Maritime products:
Phone 24 hour: +47 33 03 24 07
E-mail: [email protected]
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 APOS and includes an introduction to APOS, abbreviations and terms, how to get started with
APOS, LBL and SBBL principle of operation and operator maintenance.
2 HiPAP® Model 501/451/351/101 Product description
This section describes all the HiPAP® systems Model 501/451/351/101. It includes positioning principles, applications, system units, configurations and functions. It also includes technical specifications and drawings.
319957/D 1
APOS for HiPAP® Systems
References
Documents:
Section Title Reg. no.
0 Instruction manual 319957
1* Acoustic Positioning Operator Station (APOS)
Operator manual
160841
2* HiPAP® Model 501/451/351/101 Product Description 317748
* The latest versions of the document is included as standard.
Remarks
Rev.
D x x
Further information about how to operate the Acoustic Positioning Operator Station
(APOS) is found in:
APOS Online help system
Further information about the Acoustic Positioning systems using APOS software are found in the following manuals:
HiPAP® system Hull units
HiPAP® Model 501/451/351/101
Instruction Manual Doc. No. 303490
HiPAP® hull units Model
501/451/351/101 Instruction Manual Doc.
No. 311046
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.
2 319957/D
APOS
Acoustic Positioning Operator
Station
Operator Manual
This document is the Operator manual for the Acoustic
Positioning Operator Station (APOS) for use with the High
Precision Acoustic Positioning (HiPAP®), Hydro acoustic
Position Reference (HPR) 400 series of systems and subsea transceiver cPAP®.
About this document
Rev Date Written by Checked by
07.03.13 AJ AD
G
Removed reference to APC. Added cPAP® information.
Copyright
Approved by
JEF
© 2013 Kongsberg Maritime AS. All rights reserved. The information contained in this document remains the sole property of Kongsberg Maritime. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Maritime.
Disclaimer
Kongsberg Maritime endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omission.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.
Support
All Kongsberg Maritime products:
Phone 24 hour: +47 33 03 24 07
E mail: [email protected]
Remarks
References
Further information about how to operate APOS Operator station may be found in:
APOS on-line help system
The reader
The manual assumes the operator has some knowledge of the general principles of operation, standard display modes and terminology used in acoustic positioning systems.
Contents
Operator Manual
ABBREVIATIONS, TERMS AND DEFINITIONS .................................................... 3
160841/G 1
APOS
2 160841/G
ABOUT THIS DOCUMENT
Content
This Operator manual provides a general introduction to APOS, and how to get started. Operator maintenance, Long Base Line
(LBL) and Super-Short Base Line (SSBL) principles of operation are also included.
APOS - SHORT DESCRIPTION
The HiPAP®, cPAP® and HPR 400 Series of systems are controlled and operated by the
APOS software.
The APOS software includes the following main functions:
Integrates several HiPAP®/cPAP®/HPR 400 transceivers
User interface
Interfacing HiPAP®/cPAP®/HPR 400 transceivers
Ray bending compensation
LBL calculations
SSBL calculations are done in the transceiver
Interfaces DP and survey computer
On-line help
The APOS software runs on a Windows XP platform. It uses standard Windows graphical user interface.
ABBREVIATIONS, TERMS AND DEFINITIONS
This chapter includes abbreviations used in this manual and general terms used within APOS.
Abbreviations
APOS
OS
DGPS
DP
GPS
HiPAP®
HPR
LBL
ROV
SSBL
TD
TP
UTM
Acoustic Positioning Operator Station
Operator Station
Differential GPS
Dynamic Positioning
Global Positioning System
High Precision Acoustic Positioning
Hydro acoustic Position Reference
Long Base Line
Remotely Operated Vehicle
Super-Short Base Line
Transducer
Transponder
Universal Transverse Mercator
General terms
Bearing -
Cartesian coordinate system -
Clump weight -
The general terms are described in alphabetical order.
The horizontal direction of one terrestrial point from another, expressed as the angular distance from a reference direction, clockwise through 360
°.
A coordinate system (local system) where the axes are mutuallyperpendicular straight lines.
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 .
Mathematical description of the shape of the earth (represented by flattening and semi-major axis).
Datum -
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 .
GETTING STARTED
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.
____________________________________________________________
Topics
How to start and stop on page 5
How to lower and raise the transducer(s) on page 7
APOS on-line help system on page 8
User levels
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.
How to start and stop
Start-up procedure
The following procedure describes how to start 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.) APOS is ready for use after approximately one minute.
2 Switch on the monitor. (The power On/Off switch is normally located at the lower front part of the monitor.)
-
First the desktop menu appears, and after some time the APOS main window appears.
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.
____________________________________________________________
Note
If there is more than one operator station in the system, the button will automatically become enabled again if another operator station takes control.
____________________________________________________________
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)!
____________________________________________________________
You are now ready for operation!
____________________________________________________________
Note
How to operate APOS, see 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:
1 Select File -> Stop/Shutdown
-
The following message is displayed.
2 Select Yes .
3 The APOS software will shut down, and you will return to the desktop.
How to lower and rise the transducer(s)
____________________________________________________________
Note
The HiPAP®/cPAP®/HPR may be a part of a larger system.
Switching on the larger system will then normally power up the
HiPAP® /cPAP®/HPR system as well, and only lowering of the transducer will be required.
____________________________________________________________
Using APOS (Optional)
Some systems have the option to rise and lower the transducer directly from APOS.
See APOS online help for this function.
Using the remote control
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 and STOP lamp will be lit.
2 To raise the transducer, press the UP button on the
Remote Control Unit. Observe that the IN and STOP lamps extinguish. When the transducer is fully raised, the yellow IN lamp and STOP lamp will be lit.
____________________________________________________________
Note
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
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 raise 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 .
____________________________________________________________
Note
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.
____________________________________________________________
APOS on-line help system
When operating APOS, the on-line help is available by activating the APOS Help menu button, or the F1 button on the
Keyboard.
The on-line help may also be activated from a dialog box, provided that the help button is available in that particular dialog box.
The on-line help menu includes the following selections:
Help
General help
About APOS
Includes the APOS version and transceiver version(s)
OPERATOR MAINTENANCE
Topics
Maintenance philosophy on page 9
Preventive maintenance on page 9
Maintenance philosophy
For 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:
HiPAP® Instruction manual
HPR 400 Series Maintenance manual.
cPAP® Instruction 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 damage 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.
LBL PRINCIPLES OF OPERATION
This chapter describes the theory of operation of the LBL. The terms used in LBL positioning are defined, and the mathematical principles are described.
Topics
LBL measurement principles on page 14
Super array and Tp array on page 19
Geographical coordinates on page 20
Quality control of data on page 22
Mathematical terms
Standard deviation tells how much a variable varies around its mean value. It is often written as
. If the variable is normally distributed, 68% of its values are expected to be between
(Mean_value -
) and (mean_value +
).
Variance is the square of the standard deviation, i.e.
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 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:
Range - The horizontal distance from the origin to the point.
Bearing - The horizontal direction from the origin to the point.
0 is the north direction. The bearing increases clockwise to 360º.
Depth - The vertical distance from the origin to the point.
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.
This 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®/cPAP®/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®/cPAP®/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%.
HiPAP®/cPAP®/HPR terms
APOS is the HiPAP®/cPAP®/HPR System controller. It consists of a computer with keyboard and trackball. The computer may contain 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. cPAP ® is a transceiver with either an integrated or one to three remote transducers.
A Transducer may consist 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 several 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
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.
NB! The following section does not apply for Cymbal.
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®/cPAP®/HPR system may command it to switch frequencies.
Each transponder is uniquely identified by a serial number.
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®/cPAP®/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®/cPAP®/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
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 APOS for HPR400 and cPAP® 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.
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 channels, 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 may be 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.
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.
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.
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. 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.
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.
Geographical coordinates
Many LBL applications do not use geographical coordinates.
For those applications, you may ignore this chapter.
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. APOS may work with three datum simultaneously. These are:
1 Reference datum .
This datum is used by the
HiPAP®/cPAP®/HPR system in the internal calculations.
It is by default WGS 84, and you should not change it.
2 GPS datum .
This datum is the one used by the DGPS receiver. After having received a geographical position from the DGPS receiver, the HiPAP®/cPAP®/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 APOS datum .
This datum is used by the
HiPAP®/cPAP®/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. 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, 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:
Positioning in the TP array. The LBL position calculated may be presented in UTM or in geographical coordinates.
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 data
The quality control of the data is performed on many levels. The
HiPAP®/cPAP®/HPR system measures more than 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, 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.
APOS calculates the uncertainties of the calibrated positions, and presents them as error ellipses around the positions.
Geographical calibration
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 indicates 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.
Positioning
During positioning the HiPAP®/cPAP®/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.
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:
The number of ranges and SSBL angles measured, and the geometrical crossings of the vectors from the transponders to the transducer.
The accuracy with which the ranges and the angles are measured.
The uncertainty of the sound velocity profile used. You insert this uncertainty in a menu.
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.
____________________________________________________________
Note
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.
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.
LBL calibration mode. The transponder must be in this mode when performing the subsea range measurements during the
Local calibration.
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.
Cymbal uses LBL and SSBL mode at the same time and is not using the calibration mode.
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®/cPAP®/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 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.
Position a transponder
The transponders are able to measure the ranges to other transponders, and send the result, on telemetry, to the
HiPAP®/cPAP®/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 ( not Cymbal ). 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®/cPAP®/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®/cPAP®/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 ( faster with Cymbal ).
Geographical calibration
The geographical calibration requires that you position the vessel in local LBL coordinates and that 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.
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
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.
INDEX
____________________________________________________________
A
Abbreviations, 3
APOS, 3
APOS datum, 21
Copyright, II
DGPS, 3
Disclaimer, II
DP, 3
Execute the local calibration, 25
General terms, 3
Global calibration, 26
Global coordinates, 10, 20
GPS, 3
GPS datum, 21
HiPAP®, 3
HiPAP® terms, 10
HiPAP®/cPAP®/HPR terms
APOS, 13 cPAP®, 13
HiPAP®, 13
HPR 400, 13
HiPAP®/HPR terms
HPR 4xx, 13
Transducer, 13
Transponder, 14
HPR, 3
HPR terms, 10
C
D
E
G
H
LBL, 3
Mathematical terms, 10, 11
LBL calibration mode, 24
LBL measurement, 10
LBL measurement principles
Calibration, 16
Combined use of LBL and SSBL, 17
Global calibration, 17
Positioning, 14
LBL positioning mode, 24
LBL terms, 10
Calibrated positions, 12
Error ellipse, 13
Global calibration, 12
Global coordinates, 12
Initial positions, 12
Local calibration, 12
Local coordinates, 12
Range residual, 12
TP Array, 12
Lower the TD
From APOS, 7
Hoist Control, 8
Remote Control, 7
Lower the transducer(s), 7
L
M
Maintenance philosophy, 9
Manual content, 1
Measure ranges, 24
O
On-line help, 8
Operation, 10
OS, 3
P
Position a transponder, 26
Position a vessel or ROV, 25
Power Off, 5
Preventive maintenance, 9
Cable terminals, 9
Operator station, 9
Quality control
Global calibration, 22
Local calibration, 22
Positioning, 23
Quality control of data, 10
Reference datum, 21
References, III
Rise the TD
From APOS, 7
Hoist Control, 8
Remote Control, 7
Rise the transducer(s), 7
ROV, 3
Q
R
S
SSBL, 3
SSBL mode, 24
SSBL principles of operation, 27
Start-up, 5
Start-up procedure, 5
Stop, 6
Stop procedure, 6
Super array, 10, 19
Support, II
TD, 3
TP, 3
Tp array, 10, 19
Transponder modes, 10, 24
User levels, 5
Operator, 5
Service, 5
UTM, 3
T
U
Product Description
HiPAP®
High Precision Acoustic Positioning
Model 501/451/351/101
This document describes the High Precision Acoustic
Positioning (HiPAP®) systems. The HiPAP
®
systems are designed for optimal positioning of subsea objects in both shallow and deep water.
The HiPAP
®
systems have four different models.
The HiPAP
®
systems use both Super Short Base Line
(SSBL) and Long Base Line (LBL) positioning techniques.
317748/F I
HiPAP Model 501/451/351/101
Document history
Rev Date Written by Checked by
F
18.01.2013 JEF/AJ
Removed APC information. Updated drawings.
SER
Copyright
Approved by
JEF
© 2013 Kongsberg Maritime AS.
All rights reserved. The information contained in this document remains the sole property of Kongsberg Maritime. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg
Maritime.
Disclaimer
Kongsberg Maritime endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omission.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.
Support
All Kongsberg Maritime products:
Phone 24 hour: +47 33 03 24 07
E-mail: [email protected]
Kongsberg Maritime AS
Strandpromenaden 50
P.O.Box 111
N-3191 Horten,
Norway
Telephone: +47 33 03 41 00
Telefax: +47 33 04 47 53 www.kongsberg.com
II 317748/F
Product Description
Contents
2 HIPAP® SYSTEM – SHORT DESCRIPTION .................................................... 2
A HiPAP® hull unit is equipped with the following sub units: .............................. 26
317748/F III
HiPAP Model 501/451/351/101
8 POSITIONING PRINCIPLES AND PROCESSING ......................................... 33
9 MEASUREMENT COMPENSATION ................................................................ 42
Acoustic Blow Out Preventer (BOP) control ....................................................... 46
IV 317748/F
Product Description
11 TECHNICAL SPECIFICATIONS ................................................................... 49
Computer –desktop mounting and outline dimensions ........................................... 66
317748/F V
Product Description
1 ABOUT THIS DOCUMENT
1.1
Contents
This document covers the complete HiPAP ® Model
501/451/351/101 systems. It provides a general description of the systems, each module, the functions and technical specifications. It also includes outline dimension drawing of the main units.
1.2
List of abbreviations
ACC Acoustic Control Commander
ACS Acoustic Control Subsea
APOS
AUV
BOP
DP
GNSS
GPS
HiPAP ®
LBL
MPT
MST
MULBL
ROV
SPT
SSBL
Acoustic Positioning Operator Station
Autonomous Underwater Vehicles
Blow Out Preventer
Dynamic Positioning
Global Navigation Satellite System
Global Positioning System
High Precision Acoustic Positioning
Long Base Line
Multifunction Positioning Transponder
Mini SSBL Transponder
Multi-User Long Base Line
Remotely Operated Vehicle
SSBL Positioning Transponder
Super Short Base Line
317748/F 1
HiPAP Model 501/451/351/101
2 HIPAP® SYSTEM – SHORT DESCRIPTION
2.1
Systems
The HiPAP® systems are designed to provide accurate positions of subsea objects such as Remotely Operated Vehicles (ROVs), autonomous underwater vehicles (AUVs), towed bodies or fixed seabed transponders. To achieve the accuracy, the HiPAP® system uses unique signal processing techniques. This technique enables narrow transmitter and receiver beams to be generated in all directions within the lower half of the transducer using electronic beam control.
The HiPAP® Model 501/451/351/101 systems are the second generation HiPAP® systems. These models have a new transceiver unit and a new signal processing algorithms for
Cymbal processing.
Cymbal is KM’s new acoustic protocol for positioning and communication.
All HiPAP® systems; HiPAP® 501, HiPAP® 451, HiPAP®
351 and HiPAP® 101 have common software and hardware platforms, and thereby offer the same kind of additional functionality and options.
The HiPAP® 501, HiPAP® 451, HiPAP® 351 systems are medium frequency systems operating from 21 kHz to 31 kHz.
The HiPAP® 101 system is a low frequency system operating from 10 kHz to 15.5 kHz.
2 317748/F
317748/F
Product Description
HiPAP® 501
The HiPAP® 501 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®
501 can also track targets above the half sphere sector.
The use of very narrow beams provides:
High accuracy
Long range capabilities
Good noise reduction capabilities
Good multipath suppression
The HiPAP® 500 transducer has a diameter of 392 mm and will be installed with the 500 mm gate valve.
HiPAP® 451
The HiPAP® 450 transducer is the same unit as the HiPAP®
500 transducer. The system has Transmitter/Receiver boards for only 46 elements, similar to the HiPAP® 351 system.
The HiPAP® 451 system has the same operational and technical performance as the HiPAP® 351 system.
Refer to HiPAP® 351 system description on page 4.
The HiPAP® 451 uses the same hull units as the HiPAP® 501.
Refer to HiPAP® 501 system description on page 3.
Upgrade to HiPAP® 501
The HiPAP® 451 can be upgraded to full HiPAP® 501 performance. This is done by:
Insert 6 additional Transmitter / Receiver Boards in the transceiver unit which is fully prepared for this.
APOS software upgrade.
3
HiPAP Model 501/451/351/101
HiPAP® 351
The HiPAP® 351 has a spherical transducer with a cylindrical body including 46 transducer elements. This model has good accuracy in the ± 60º sector and is suited for operations where the major positioning objects are within this sector. The total coverage is ± 80º.
The use of narrow beams provides:
High accuracy
Long range capabilities
Good noise reduction capabilities
Good multipath suppression
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® 501 system.
HiPAP® 101
The HiPAP® 101 has a planar transducer array with a cylindrical body including 31 transducer elements. This model has good accuracy in the ± 60º coverage sector and is suited for operations where the major positioning targets are within this sector.
The HiPAP® 100 transducer has a diameter of 452 mm and will be installed with the 500 mm gate valve.
4 317748/F
Product Description
2.2
Operating modes
SSBL - Positions various targets by directional and range measurements, using a unique processing technique that provides very high accuracy.
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 – acoustic communication to:
transponders for LBL calibration, metrology
measurements and set-up
Instrument units and BOP systems.
2.3
APOS
The HiPAP® system is operated from the APOS, which is a
Windows 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.
2.4
Sensors
The HiPAP® system has a wide range of interfaces to sensors from different manufacturers.
The HiPAP® system needs high accuracy heading, roll and pitch sensors to be interfaced.
The accuracy of the sensors has direct impact on the position.
Examples of search sensors are Seapath and MRU.
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HiPAP Model 501/451/351/101
3 SYSTEM CONFIGURATIONS
3.1
HiPAP® systems
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.
See the system diagrams with all types of transducers on
There are two different transceiver types and several different hull units available. The HiPAP® x81 transceiver unit can be used for all HiPAP® transducers, while the compact HiPAP® x21 transceiver unit can be used for HiPAP® 351 and
HiPAP®101.
3.2
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 pages 9 and 10.
3.3
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, or two LBL arrays. The redundant system shall still be operational after one single failure in the system.
See the system diagram on page 11.
6 317748/F
Product Description
3.4
Dual HiPAP® system
A dual system applies for the HiPAP® 501 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 11.
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 due to noise or air bubbles on one of the transducers, it may still be possible to receive it on the other one.
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.
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HiPAP Model 501/451/351/101
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.
8 317748/F
Product Description
HiPAP with Transceiver unit Model x81
Operator
Station
Motion sensor
Heading sensor
Data output
Responder
Driver Unit (option)
Responder
Ethernet switch/
Converter
Fibre Splice
Box
Hull
Unit
Junction
Box
Hoist
Control Unit
Transceiver unit
Model x81
Ethernet interfaced with APOS/APC
Remote
Control
Unit
HiPAP 100 transducer
HiPAP 350 transducer
HiPAP 500 transducer
317748/F 9
HiPAP Model 501/451/351/101
HiPAP with Transceiver unit Model x21
Operator
Station
Motion sensor
Heading sensor
Data output
Responder
Driver Unit (option)
Responder
Ethernet switch/
Converter
Fibre Splice
Box
Hull
Unit
Junction
Box
Hoist
Control Unit
Transceiver unit
Model x21
Ethernet interfaced with APOS/APC
Remote
Control
Unit
10
HiPAP 100 transducer
HiPAP 350 transducer
(Cd31053)
317748/F
Product Description
HiPAP redundant system
This illustration shows an example of a HiPAP redundant system.
Operator Station Operator Station Operator Station
Motion sensor
Heading sensor
GPS
Motion sensor
Heading sensor
GPS
Responder
Ethernet switch/
Converter
Motion sensor
Heading sensor
GPS
Ethernet switch/
Converter
Responder
Dual Ethernet
(Cd31085)
Hull Unit
Power A
Power B
(option)
(Sync for Dual HiPAP only)
Hull Unit
HiPAP 500
Transceiver Unit
Model x81
Power A
Power B
(option)
Hoist
Control Unit
Power
Power
Ethernet interfaced with APOS/APC
Option 2
Gate valve
Option 1
Gate valve position indicator
Remote
Control
Unit
HiPAP 500
Transceiver Unit
Model x81
Power
Hoist
Control Unit
Option 2
Power
Gate valve
Gate valve position indicator
Option 1
Ethernet interfaced with APOS/APC
Remote
Control
Unit
HiPAP 500/350 transducer
HiPAP 500/350 transducer
317748/F 11
HiPAP Model 501/451/351/101
4 SYSTEM FUNCTIONS
A 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.
4.1
Main functions
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 function includes. The “Reg. No.” (Registration Number) is the unique identification for this function.
Example; the Reg. No. for APOS Base version is 886 - 212745.
HiPAP® system software
Description
APOS Base Version
Base for running all applications, including:
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
Set Pulse length
Change channel
Enable/Disable
Reg. No.
886-212745
12 317748/F
Product Description
Description
Transponder release
Read battery status
Read sensor data
Position and angle alarm
APOS software for HiPAP ® or HPR 400 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
GNSS Interface
APOS software with interface to GNSS for geographical data on transponders and vessel positions. Also used for SSBL and LBL array calibration. The APOS clock may be synchronised to 1PPS from the GNSS receiver.
HiPAP® - Emergency channels A&B
The HiPAP® transceiver can use emergency channels A and B used on diving bells.
Position and angle audible alarm
APOS software for HiPAP ® providing alarm for transponder position and riser angle alarm.
Gives an audible alarm using the PC sound output. An external PC loudspeaker is required.
HiPAP ® 501 SSBL function
NOTE: Export license is required.
APOS software for HiPAP ® SSBL operation including:
Transponder positioning
Responder positioning
Serial interface for gyro and VRU or attitude sensor
(maximum 3 units total)
SSBL simulator for training
Reg. No.
886-212746
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HiPAP Model 501/451/351/101
Description
HiPAP ® 451 SSBL function
NOTE: Export license is required.
APOS software for HiPAP ® 450 SSBL operation including:
Transponder positioning
Responder positioning
Serial interface for gyro and VRU or attitude sensor
(maximum 3 units total)
SSBL simulator for training
Upgradeable to full HiPAP ® 501 SSBL function by installing software functions in existing operator station and controller and hardware units as described below.
HiPAP ® 351 SSBL function
NOTE: Export license is required.
APOS software for HiPAP ® SSBL operation including:
Transponder positioning
Responder positioning
Serial interface for gyro and VRU or attitude sensor
(maximum 3 units total)
SSBL simulator for training
HiPAP ® 101 SSBL function
NOTE: Export license is required.
APOS software for HiPAP ® SSBL operation including:
Transponder positioning
Responder positioning
Serial interface for gyro and VRU or attitude sensor
(maximum 3 units total)
SSBL simulator for training
Reg. No.
886-220734
886-214927
334043
14 317748/F
Product Description
Description
HiPAP ® 351P SSBL function
NOTE: Export license is required.
APOS software for HiPAP ® SSBL operation including:
Transponder positioning
Responder positioning
Serial interface for gyro and VRU or attitude sensor
(maximum 3 units total)
SSBL simulator for training
Reg. No.
356186
HiPAP ® Cymbal acoustic protocol function
New acoustic protocol used for both positioning of subsea transponder in SSBL/LBL modes and data communication to and from transponders.
The Cymbal technology utilizes Direct Sequence Spread Spectrum
(DSSS) signals for positioning and data communication. The data communication speed is variable and can be adapted to the acoustic communication conditions; noise and multi-path. DSSS is a wide band signal.
Due to the higher energy in its acoustic pulses the Cymbal protocol provides:
Higher position accuracy
Extreme accurate range measurements
Longer range capabilities
Higher data rate communication
347211
317748/F 15
HiPAP Model 501/451/351/101
Description
LBL function
APOS software for Long Base Line operation using HPR 408/418 or HiPAP ® , including:
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 transponder locations/origin are entered in geo co-ordinates
This function requires that the system already has the
“APOS Base Version”, reg. no: 212745 and “HiPAP ® SSBL function” Reg. No.: Dependant on model.
Positioning of an ROV in LBL requires an HPR 400S unit.
NOTE: Requires export license.
Reg. No.
886-212748
HiPAP® MULBL function
APOS software for HiPAP ® MULBL operation including:
Calibration of transponder array in local grid
Positioning of vessel in MULBL array
Necessary transponder telemetry
Setting of fast LBL update rate through the master transponder
This function requires that the system already has both the HiPAP ®
SSBL and LBL functions, Reg. No.: 212746 and 212748
886-212750
MULBL transponder array data
APOS files containing transponder array data for MULBL
886-212751
Optional HiPAP® system functions
Description
Beacon Mode
APOS software for HiPAP ® or HPR 400 beacon and depth beacon operation
Reg. no
886-212752
16 317748/F
Product Description
Description
Inclinometer Mode
APOS software for HiPAP ® or HPR 400 inclinometer transponder operation
Compass Transponder Mode
APOS software for HiPAP ® or HPR 400 compass transponder operation
GEO LBL Calibration
APOS software for HiPAP ® or HPR 400 for calibration of LBL array in geographical co-ordinates. In positioning mode the position may be reported in geographical co-ordinates.
Reg. no
886-212753
886-212754
886-212755
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 “Transponder Range Positioning”)
This mode requires that the system already has the LBL function:
212748
886-212757
SAL Reference
APOS software for HiPAP ® or HPR 400 for calculation displaying a vessel’s distance (numeric value) relative to a known coordinate in a UTM coordinate system.
334053
Dual HiPAP ® Increased SSBL Accuracy function
APOS and HiPAP ® software for enabling increased SSBL accuracy in dual HiPAP ® configurations. Provides simultaneous measurement of transponder position by use of two HiPAP ® transducers.
Provides two separate and one integrated position
Requires two complete HiPAP ® transceivers/ transducers, and
HiPAP ® SSBL function
886-212758
886-212759 APOS Additional Operator Station Function
Software and hardware for allowing several Operator Stations for
HiPAP ® and HPR 400 systems.
APOS Upgrade software
Upgrade from HSC400 software to APOS software, including old functionalities.
This upgrade may require a new monitor and a new computer and keyboard (will be additionally priced).
886-212760
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Description
APOS External synch
APOS software for synchronising HiPAP ® or HPR 400 transceivers to external equipment.
Reg. no
886-212761
APOS ACS BOP function
APOS software in the HPR or HiPAP system for telemetry to ACS
4xx / ACS 3xx system used on BOP.
Telemetry to ACS 300 only available on HPR 400 systems.
886-212765
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.
886-212766
APOS STL function
APOS software for HiPAP ® or HPR 400 systems for STL fields special functions including:
Scanning of up to 9 MLBE depth and position
Positioning of STL buoy
Scanning of transponder battery status
Graphics showing STL connection point
HiPAP ® Transponder Relay Function
Enables use of relay-function, relay-transponder frequency allocation, operator interfaces and displays functionality.
886-212767
886-215837
SAL Tension & Yoke monitoring
For Single Anchor Loading stations.
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 (this option is field dependent).
886-215939
APOS Field transponder array data
APOS files containing transponder array data for offshore loading fields. Price is per upgrade.
886-212768
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Product Description
Description
APOS Remus SSBL Function
APOS software for HiPAP ® SSBL positioning of REMUS AUV transponders.
This function requires that the system already has both the HiPAP ®
SSBL function (reg. no.: 212746 or 886-214927 or 886-220734 or
V101010) and the HiPAP ® Cymbal acoustic protocol function
(Reg. No.: 347211).
Reg. no
356185
881-217543 APOS Trainer - HiPAP ®
The product is suitable for training, planning and demonstration purposes and consists of:
A CD containing full APOS software with all options except OLS.
Defined with one HiPAP ® and one HPR 400 transceiver.
APOS Instruction Operating Manual 319957 (one binder of paper).
Includes Sound velocity ray-trace calculation and displaying of deflection based on velocity profile input.
Includes Long Base Line array planning tool.
Includes data output for testing telegram interfaces to external computers (transmits standard HPR/HiPAP ® telegrams).
The APOS can be operated as a normal HiPAP ® and a simulator replaces transceiver and transponders.
The program requires a computer with CD-ROM player, a running
Windows NT / Windows 2000 / Windows XP program, a monitor with minimum 800x600 resolution, a network card, and a TCP-IP protocol needs to be defined.
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Description
APOS Remus SSBL LF Function
APOS software for HiPAP® SSBL positioning of REMUS AUV transponders. This option is for positioning Remus low frequency wide band transponders.
This function requires that the system already has both any of the
HiPAP® SSBL functions (for HiPAP 101) and the HiPAP®
Cymbal acoustic protocol function.
Reg. no
368775
APOS Benthos SSBL LF Function
APOS software for HiPAP® SSBL positioning of Benthos low frequency transponders. The interrogation is 16kHz and the transponder replies are 7.5-12.0kHz with 0.5kHz step.
This function requires that the system already has both any of the
HiPAP® SSBL functions (for HiPAP 101) and the HiPAP®
Cymbal acoustic protocol function
369712
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Description
Product Description
Reg. no
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HiPAP Model 501/451/351/101
5 SYSTEM UNITS
A HiPAP® system consists of the following 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.
5.1
Operator station
The HiPAP® system is operated from one or several operator stations, depending on the actual system configuration. The operator station is identical for all HiPAP® models. One station can operate several HiPAP® transducers and of various types.
The Operator station comprises of:
Computer
Keyboard
Trackball
Display
The computer runs on the Microsoft Windows operating system.
The user interface is a graphical user interface, designed as a standard Windows application.
A Keyboard and trackball is used to operate the system.
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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Product Description
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Figure 1 APOS presentation
Operator Station configuration
A HiPAP® system may be configured with the Operator Station in two ways:
Stand-alone computer, monitor, keyboard and trackball.
Operator console, integrated with the Dynamic Positioning
(DP).
Standard operator station
Computer
The HiPAP® Operator Station contains computer hardware as processor, hard drive, DVD-RW player and external interface boards. The computer is continuously being updated with new hardware.
The computer may be mounted on a desktop attached to the colour monitor, or in a 19” rack.
23
HiPAP Model 501/451/351/101
Display
The colour display, the flat-screen 19” TFT is a general purpose, 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 computer or be placed on a desktop.
Trackball
A standard off the shelf unit is used.
Operator console
If the HiPAP® system is delivered together with a Kongsberg
DP system the operator station may be a standard Kongsberg DP console.
5.2
Ethernet switch/Converter
The Ethernet switch/Converter has the following functions:
Interface Optical fibre to transceiver
Responder Driver Unit
5.3
Fibre Splice Box
Fibre Splice Box with up to eight (8) ports. This box is used to splice the system fibre-optic cable.
5.4
Transceiver units
Two types of HiPAP® transceiver units are available:
1 HiPAP® x81 Transceiver Unit, for HiPAP® 501, 451, 351 or 101
2 HiPAP® x21 Transceiver Unit, for HiPAP® 351 or 101
The transceiver models have identical function. The x21 can be used for HiPAP® 351 and HiPAP® 101, while x81 can be used for all models. The unit contains power supplies, transmitter and receiver boards and interface to the optical fibre link.
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Product Description
The unit is designed for bulkhead mounting close to the hull unit.
The transceiver units are equipped with different filter boards for HiPAP® 100 and HiPAP® 501/541/351.
5.5
Responder Driver Unit (option)
The Responder Driver Unit provides responder trigger signals to responders.
The unit can be used for HiPAP® transceiver unit x81 and x21.
The Responder Driver Unit is a stand-alone unit.
The unit is interfaced to the HiPAP® system via an Ethernet, and to the HiPAP® transceiver unit for sync. The APOS controls which drive is being active while the sync/timing is received from the HiPAP® transceiver.
5.6
Transducers
HiPAP ® 500 transducer
The HiPAP® 500 transducer 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
HiPAP ® 350 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.
The HiPAP® 350 transducer 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.
HiPAP ® 100 transducer
The HiPAP® 100 transducer has a planar transducer array with a cylindrical body including 31 transducer elements. This model has good accuracy in the ± 60º coverage sector and is suited for operations where the major positioning targets are within this sector.
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5.7
Hull units
The HiPAP® hull unit enables the transducer to be lowered, by 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.
A complete specified HiPAP® hull unit depends on:
Type of transceiver unit
Type of hull unit
Type of transducer
The following are available:
Type of transceiver unit
(available types)
Model x21
Model x81
Type of hull unit
(available types)
HL 2180
HL 3770
Type of transducer
(available types)
HiPAP® 500/450
(same transducer)
HiPAP® 350
HL 4570
HL 6180
HiPAP® 100
(The numbers indicates the hoist length in mm)
An overview of available HiPAP assemblies, see table on
A HiPAP® hull unit is equipped with the following sub units:
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).
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Product Description
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.
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.
Hoist Control Unit with Ethernet interface
APOS and HiPAP® mk II support remote control of the Hull
Unit Hoist and the Gate Valve. A new control unit for the hoist control and/or the gate valve is required. In addition this must be enabled in the HiPAP® program.
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.
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6 EXTERNAL INTERFACES
6.1
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 GNSS and synchronised to 1PPS.
Refer to the NMEA 0183 sentences description on APOS online help.
6.2
Surface navigation
The HiPAP® system can be interfaced to a surface navigation system. As standard the system uses Global Navigation Satellite
System (GNSS). When GNSS 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.
6.3
Motion Sensor Unit
The motion sensor unit is interfaced to the HiPAP® system transceiver unit. The system can thereby automatically compensate the transducer position, for the vessel’s roll and pitch movements. The HiPAP® system can use the same as the
Dynamic Positioning (DP) system (if one is fitted).
The sensor may or may not be a part of the Kongsberg Maritime delivery. In any case, the unit is documented separately by the applicable manufacturer.
6.4
Heading sensor
The heading sensor (gyro compass) provides 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 and tracking algorithms as the vessel changes heading.
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Product Description
6.5
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 motion sensor. The
HiPAP® system may be interfaced to such sensors.
6.6
Interface specification
The HiPAP® system has several interface formats available.
These are described in the Attitude formats description document.
Refer to the Attitude formats description, on APOS online help.
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7 TRANSPONDERS
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.
There are two main transponder series:
cNODE ® series which are using Cymbal acoustic protocol.
MST series which are using traditional frequency shift (FSK) modulation technique
More details are described in section on page 40.
For details, please see the Product Specification for each of the transponder models.
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Product Description
7.1
cNODE
®
series
The cNODE ® series consist of three main models:
Maxi transponder - a full size transponder with large battery capacity well suited for seabed deployment and long life operation.
Midi transponder - a short transponder with good battery capacity well suited for installation on structures etc.
Mini transponder - a small sized transponder suited for
ROV mounting.
The cNODE ® transponders have a flexible design based on a standard housing which can have various transducers, release mechanism and sensor modules attached.
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HiPAP Model 501/451/351/101
7.2
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.
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(Cd6424b)
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Product Description
8 POSITIONING PRINCIPLES AND
PROCESSING
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 performed. The LBL principle is the obvious choice if the SSBL accuracy is not good enough for the application performed, though it requires a more complex operation.
Cymbal is a signal processing technique used for all positioning modes. Cymbal utilizes Direct Sequence Spread
Spectrum (DSSS) signals for positioning and data communication. DSSS is a wide band signal. The Cymbal protocol provides new characteristics for both positioning and data communication.
8.1
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.
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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.
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.
34
Figure 2 SSBL principle
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Product Description
8.2
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:
1. 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.
2. 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.
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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.
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.
36
Figure 3 LBL principle
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Product Description
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.
The Master interrogates the Slaves.
The Master transmits its individual transponder channel to be received by the vessels/ROVs positioning in the array.
Each Slave transponder receives the interrogation from the
Master and transmits its individual reply channels after a turnaround delay.
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.
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HiPAP Model 501/451/351/101
Figure 4 Multi-User LBL positioning
8.3
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.
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Product Description
8.4
HiPAP® processing
HiPAP ® SSBL processing
HiPAP processing
HiPAP
®
®
LBL
MULBL processing
HiPAP ® Telemetry 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 computer.
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.
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 computer.
The unit transmits acoustic telemetry messages, and receives and decodes the acoustic telemetry message from the transponder. The data is sent to the computer.
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8.5
Cymbal acoustic protocol
Cymbal is the new acoustic protocol used for both positioning of subsea transponder in SSBL/LBL mode and data communication to and from transponders.
Technology
Cymbal utilizes Direct Sequence Spread Spectrum (DSSS) signals for positioning and data communication. The data communication speed is variable and can be adapted to the acoustic communication conditions; noise and multi-path.
DSSS is a wide band signal.
The Cymbal protocol provides new characteristics for both positioning and data communication.
Range capability and reduced impact from noise
Cymbal protocol can transmit more energy in each positioning pulse. Compared to the current HiPAP® 500 this extra energy will provide higher position accuracy at low signal to noise ratio. It will also provide longer range capabilities. This improvement in energy is 5dB.
Range accuracy
The Cymbal signal gives range accuracy in the order of 0.01 m.
Error contribution from sound velocity and ray bending not included.
Directional measurements
In SSBL operation, the accuracy of directional measurement is the main contributor to the position accuracy. The HiPAP® 501 has new and improved algorithms for directional computation when using Cymbal. At low signal to noise ratio the system will be more robust.
Number of channels
The Cymbal protocol has increased number of unique codes for transponder channels compared to the current system. At present there are 50 unique transponder channels.
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Product Description
Multi-path capability
The Cymbal protocol is designed to have good multi path properties. The processing technique allows signals to and from the transponder to overlap and still be able to have a correct detection.
Position update rate – MultiPing
New function that allows higher position updates rate in SSBL mode. Details not defined.
Power management – lifetime
The Cymbal protocol has a power management function that can command the transponder to adjust transmit power to save batteries. This is done automatically by the system.
Data Link with variable data rate – adaptable
The Cymbal protocol supports variable data rate and high reliability level. The obtainable data rate is defined by the signal to noise level and multi-path conditions. By default the system uses data rates that will secure long range and high reliable communication.
Integrated navigation and data link
Data that needs to be sent to and from a transponder will be interleaved between the positioning signals. The cNODE ® transponder can any time send status and data to the HiPAP® and the other way around. If the cNODE ® transponder detects low battery level, this can be directly sent to HiPAP® and displayed to the operator
cNODE
®
- Modeless transponder
The Cymbal protocol is able to use transponders in SSBL and
LBL mode without changing the mode of the transponder. A transponder in an LBL array can by the operator be deselected from the LBL positioning and directly be used in SSBL mode.
No data telemetry is required.
The cNODE ® transponders can simultaneously listen for a
Cymbal and an HPR400 channel interrogation. By this, vessels not having Cymbal protocol can use the same transponders
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HiPAP Model 501/451/351/101
9 MEASUREMENT COMPENSATION
9.1
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 water depths 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.
9.2
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.
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Product Description
Figure 5 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.
9.3
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 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.
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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 GNSS 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.
Figure 6 Result of transducer alignment - APOS presentation
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Product Description
Figure 7 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.
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10 APPLICATIONS
10.1
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.
10.2
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.
10.3
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.
10.4
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.
46 317748/F
Product Description
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.
10.5
Construction work and metrology
The HiPAP® system forms a powerful platform for performing several tasks for positioning and acoustic data communication for construction and metrology work:
LBL array calibration
Box-in of locations
Telemetry of sensor data
Highly accurate baseline measurements
The cNODE ® transponder has high performance range measurement and data communication capabilities. A variety of sensors are available for cNODE ® and the sensor data is available to the operator from the HiPAP® system.
317748/F 47
HiPAP Model 501/451/351/101
The accuracy of baseline measurements obtained by use of cNODE ® transponders can be in the order of 0.01 m. However, to obtain this kind of accuracy it is essential that the operator has full control of the sound velocity. The figure below shows an
APOS screen dump showing the statistics from a LBL calibration. The RMS residuals are calculated to be 0.03 m.
There were 7 transponders in the array.
48 317748/F
Product Description
11 TECHNICAL SPECIFICATIONS
11.1
SSBL accuracy
The angular figures are errors in both axis, elevation and orthogonal.
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.
317748/F 49
HiPAP Model 501/451/351/101
Transducer reference point
The reference points shown below are the origin for the position measurements.
The elevation and orthogonal angles are used in the accuracy curves.
HiPAP 500 transducer HiPAP 350 transducer
= reference point
A= radius = 196 mm
B= radius = 196 mm
= reference point
A= radius = 160 mm
B=196 mm
Orthogonal
O
0 elevation
Elevation
HiPAP 100 transducer
O
0 elevation
Elevation
Orthogonal
= reference point
A= radius = 225 mm
B= radius = 225 mm
O
90 elevation
O
0 elevation
Elevation
Orthogonal
50 317748/F
Product Description
HiPAP® 501
Angular Accuracy [
]
(At 0
elevation)
Range Accuracy [m]
Cymbal Range Accuracy
[m]
Receiver beam [
]
Coverage [
]
HiPAP 501 Single system HiPAP 501 Dual system
S/N [dB rel. 1
Pa] S/N [dB rel. 1
Pa]
20 10 0 20 10 0
0.12 0.18 0.3 0.085 0.13 0.21
0.1
0.02
0.1
0.02
10
+/-100
0.15
0.02
0.1
0.02
0.15
0.02
10
+/-100
0.15
0.02
Accuracy curves – HiPAP® 501
HiPAP 501
317748/F
(Cd31183)
The figure above shows the accuracy as a function of elevation angle. The signal to noise ratio of 10 dB is in the bandwidth.
51
HiPAP Model 501/451/351/101
HiPAP 501 Performance
52
(Cd31184)
The figure above shows the accuracy as a function of signal to noise ratio. The elevation and the orthogonal angles are 0
(at vertical).
HiPAP® 451
The HiPAP® 500 transducer is used, and it has the same technical performance as the HiPAP® 351.
Refer to HiPAP® 351 SSBL accuracy.
HiPAP® 351
HiPAP ® 351/451
Single system
20
S/N [dB rel. 1
Pa]
10 0
Angular Accuracy, 1
[
]
(At 0
elevation)
Range Accuracy, 1
[m]
0.18
0.1
0.23
0.15
0.4
0.2
Cymbal Range Accuracy,
1
[m]
Receiver beam [
]
0.02 0.02
15
0.02
Coverage [
] +/-80
The elevation and orthogonal angles are used in the accuracy curves.
317748/F
Accuracy curves – HiPAP® 351
HiPAP 351 Performance
Product Description
(Cd31185)
The figure above shows the accuracy as a function of elevation angle. The signal to noise ratio 10 dB is in the bandwidth.
HiPAP 351 Performance
317748/F
(Cd31186)
The figure above shows the accuracy as a function of signal to noise ratio. The elevation and the orthogonal angles are 0
(at vertical).
53
HiPAP Model 501/451/351/101
HiPAP® 101
HiPAP ® 101 system
Angular Accuracy, 1
[
]
(At 0
elevation)
Range Accuracy, 1
[m]
Cymbal, Range Accuracy,
1
[m]
Receiver beam [
]
Coverage [
]
S/N [dB rel. 1
Pa]
20
0.14
0.2
0.02
15
+/-60
11.2
LBL accuracy
The position accuracy for LBL operation depends on the transponder array geometry, sound velocity errors and signal to noise ratio. Range accuracy’s down to a few centimetres can be obtained, while ROV and vessel positions can be calculated to within a few decimetres.
Table 1 and Figure 8 show acoustic parameters and position
accuracies that are achieved in deep waters when using an array with four transponders at water depth 3000m.
Source of random error
Range reception with 20 dB S/N
1-sigma CW
0.15 m
1-sigma Cymbal
0.02 m
Range reception in the transponder
Range error due to transponder movements
Range error due to rig movements
HiPAP® Angle accuracy
0.15 m
0.01 m
0.05 m
0.15°
0.02 m
Table 1 Sources of random errors on the acoustic measurements
54 317748/F
Product Description
HiPAP LBL horizontal accuracy. Waterdepth 3000m.
1.2
1
0.8
0.6
0.4
0.2
2
1.8
1.6
1.4
Sound velocity
CW
Cymbal
0
-400 -200 0 200
East co-ordinate relative to centre of LBL array
400
Figure 8 LBL position error in the horizontal plane as a function of the East co-ordinate. The North co-ordinate is zero. The blue lines show random error due to acoustics. Black line is systematic error due to 1 m/s wrong sound velocity settings.
The blue lines in Figure 8 show the random error in the
horizontal position when the rig moves within a transponder array with 4 transponders placed on a circle with 500 m radius at water depth 3000 m. The lower line shows the expected error when the Cymbal acoustics is used and the upper line when the
CW acoustics is used.
The black line shows the systematic error when the sound velocity is set 1 m/s wrongly in APOS. This error is zero in the centre of the array due to the symmetry. The LBL run time calibration should be done when the rig is in the centre of the array. Then the effect of a wrong sound velocity setting in
APOS is strongly reduced, as shown with the dotted black line.
317748/F 55
HiPAP Model 501/451/351/101
11.3
Range capabilities
The range capabilities of an acoustic system are dependent of the vessels noise level and attenuation of the transponder signal level due to ray bending. The transponder source level and the signal to noise ratio are crucial factors for calculating maximum range capability. The below figures are recommended guideline for maximum operating range.
Please also be aware of:
The figures are valid for HiPAP® 501/351/451
Figures for cNODE ® are when used in Cymbal mode
(Wideband)
The HiPAP® system will in many cases have longer range capabilities that specified below due to its narrow receiving beam.
The figures are approximate values for guidance.
Ray bending can limit the maximum range
Ray bending normally not a problem for vertical positioning operation
Transponder Transponder source level
(dB rel.1
Pa ref. 1 m) cNODE
®
180ºtransducer cNODE
®
, 40º transducer cNODE
®
, 30º transducer
190
203
206
MPT/SPT 319
MPT/SPT 324
MPT/SPT 331
Max Range
(Typical, m)
2000
3000
188
4000
1500
2000 195
The specification is based on:
206 3000
Free line of sight from transducer to transponder
No influence from ray bending
Signal to Noise ratio
12 dB. rel. 1
Pa
56 317748/F
Product Description
HiPAP units/transducer cables
Hull unit
Part no.
Transceiver cable /
Transceiver unit
Part no. Transducer Part no.
Hull Unit HL
2180
(TD cable is included part no. 306057)
Drawing:
316242
306080
HL 2180
Patch cable HL 2180
HiPAP® 500/450 For x81 TU 306068 HiPAP® 500
Patch cable HL 2180
HiPAP® 350/100 for Model x81 TU 306071
HiPAP® 350
HiPAP® 100
Patch cable HL 2180
HiPAP® 350/100 for x21 TU 306076
HiPAP® 350
HiPAP® 100
HL 3770
Patch cable HL 3770
HiPAP® 500/450 For x81 TU 304106 HiPAP® 500
Hull Unit HL
3770 (TD cable is included part no. 304105)
Drawing:
316243
305427
Patch cable HL 3770
HiPAP® 350/100 for x81 TU
Patch Cable HL 3770
HiPAP® 350/100 for x21 TU
306072
306077
HiPAP® 350
HiPAP® 100
HiPAP® 350
HiPAP® 100
HL 4570
Patch cable HL 4570
HiPAP® 500/450 For x81 TU 306069 HiPAP® 500
Hull Unit HL
4570 (TD cable is included part no. 306058)
Drawing:
316244
306081
Patch cable HL 4570
HiPAP® 350/100 for x81 TU
Patch Cable HL 4570
HiPAP® 350/100 for x21 TU
306073
306078
HiPAP® 350
HiPAP® 100
HiPAP® 350
HiPAP® 100
HL 6180
Patch cable HL 6180
HiPAP® 500/450 For x81 TU 306070 HiPAP® 500
Hull Unit HL
6180 (TD cable is included part no. 306059)
Drawing:
306082
Patch cable HL 6120
HiPAP® 350/100 for x81 TU
Patch Cable HL 6120
HiPAP® 350/100 for x21 TU
316245
Note:
Patch cable = Transducer cable Y
2
306075
306079
HiPAP® 350
HiPAP® 100
HiPAP® 350
HiPAP® 100
TD = Transducer
TU = Transceiver Unit
Service dock 500 requires 500 mounting flange w/DN 500 Gate valve
Service dock 350 requires 350 mounting flange w/DN 350 Gate valve
100-103315
100-103317
100-103318
100-103317
100-103318
100-103315
100-103317
100-103318
100-103317
100-103318
100-103315
100-103317
100-103318
100-103317
100-103318
100-103315
100-103317
100-103318
100-103317
100-103318
Service dock Part no.
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
Service dock 500 499-089777
Service dock 350 499-210007
Service dock 500 499-089777
317748/F 57
HiPAP Model 501/451/351/101
11.4
Computer
Degree of protection: IP 22
Weight: approximately 17 kg
Outline dimensions - see drawing in the Drawing file
Power
Voltage: 115 / 230 Vac
Selector-switch beside power connector.
The power supply must be kept within ± 10% of the unit’s nominal voltage (90-132 VAC / 180-264 VAC).
The maximum transient voltage variations on the main switchboard’s bus-bars which could occur (except under fault conditions), are not to exceed -15% to +20% of the nominal voltage.
Frequency:
Maximum current drawn:
50-60 Hz
5 A
Normal current drawn:
Nominal:
0.5 A
80 W
Environment
Operation temperature:
Storage temperature:
Storage / operating humidity:
Vibration
0 to 55° C
-40 to +70
C
95% / 85% relative
Range:
Excitation level:
5-100 Hz
5-13.2 Hz ± 1.5 mm, 13.2-100 Hz 1 g
11.5
Keyboard
Degree of protection: IP 64
Weight: 0.5 kg
Cable length:
Outline dimensions - see drawing in the Drawing file
1.5 m
58 317748/F
Product Description
11.6
Trackball
A standard off the shelf unit is used.
11.7
Display
Outline dimensions - see drawing in the Drawing file
For more information, refer to separate manual supplied with the display.
11.8
Responder Driver Unit (option)
Degree of protection:
Weight:
Dimensions:
Power:
Environment
IP 44
2.8 kg
LxWxH (280x 200x 73) mm,
without connectors
230 VAC, 150 mA
Operation temperature:
Storage temperature:
Humidity:
Responder Driver Unit kit
Part no.:
Includes:
- Responder Driver Unit
- Power cable
- Ethernet cable
- D-sub connectors
- Mounting screws w/nuts (4)
0 to 55 °C
-40 to 75 °C
15% - 95% (non condensing)
317925
11.9
Fibre Splice Box
Eight (8) ports MX-WFR-00024-02.
317748/F 59
HiPAP Model 501/451/351/101
11.10
Transceiver units
Common data
This data is the same for both transceiver units.
Degree of protection:
Power
IP 44
Voltage: 230 Vac
The power supply to a HiPAP® transceiver unit must be kept within + 10% of the unit’s nominal voltage
(180-264 VAC).
The maximum transient voltage variations on the main switch- board’s bus-bars which could occur (except under fault conditions), are not to exceed -15% to +20% of the nominal voltage.
110 VAC to 230 VAC transformer (option)
For installations where only 110 VAC is available, an external transformer from 110 VAC to 220 VAC must be installed on the main power line to the transducer unit.
Inrush max: 35 A Ac
Nominal:
Frequency:
Environment
2.1 A Ac
50 - 60 Hz
Operating temperature:
Storage temperature:
Humidity:
Heading reference
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
0 to +55 ° C
-20 to +65 ° C
15% - 95% (non condensing)
60 317748/F
Product Description
Model x81
Weight: approximately 80 kg
(depending on number of PCBs fitted)
Outline dimensions - see drawing in the Drawing file
Main power supply
Input:
Output:
Input:
Output:
230 VAC
24 VDC, 12 VDC, 6 VDC, 5
VDC, 3.2 VDC
230 VAC
48 VDC
Model x21
Weight: approximately 35 kg
(depending on number of PCBs fitted)
Outline dimensions - see drawing in the Drawing file
Main power supply
Input:
Output:
90 VAC - 264 VAC
48 VDC, 24 VDC, 12 VDC, 5.4
VDC
11.11
HiPAP® hull units
HiPAP® HL 2180 - dimensions on page 76
HiPAP® HL 3770 - dimensions on page 77
HiPAP® HL 4570 - dimensions on page 78
HiPAP® HL 6120 - dimensions on page 79
The following specifications are common for all HiPAP® hull units.
Degree of protection: IP 54
Environment
Storage: -20° C to +60 °C
317748/F 61
HiPAP Model 501/451/351/101
Operating:
Storage / operating humidity:
Power supply
Voltage:
Frequency:
Consumption max:
0° C to +55 °C
90% / 80% relative
230/440 VAC 3-phase
50-60 Hz
1100 W
11.12
Mounting flange
Certificates - Lloyd’s and DNV certifications are standard, others on request.
Specifications DN 500 mm mounting flange
DN 350 mm mounting flange
Type: DN 500 DN 350
Standard height:
Optional height:
Securing bolt holes:
600 mm
Specified by customer
Diameter Internal / Flange: 506 mm / 670 mm
Wall thickness: 20 mm
Weight (standard): Approx. 90 Kg
Quantity: 20
Diameter: 26 mm
200 mm
Specified by customer
350 mm / 505 mm
20 mm
Approx. 70 Kg
Quantity: 16
Diameter: 22 mm
See also drawing:
11.13
Gate valve
Certificates - Lloyd’s and DNV certifications are standard, others on request.
Specifications DN 500 gate valve DN 350 gate valve
Type:
Height:
Weight:
Material case:
Material gate:
Length (from centre):
DN 500
350 mm
DN 350
290 mm
500 kg 225 kg
670 mm Nodular cast iron 670 mm Nodular cast iron
Bronze
1335 mm
Bronze
940 mm
62 317748/F
Product Description
Specifications DN 500 gate valve
Diameter Internal / Flange: 500 mm / 670 mm
Securing bolt holes:
See also drawing:
Quantity: 20
Diameter: 26 mm
DN 350 gate valve
350 mm / 505 mm
Quantity: 16
Diameter: 22 mm
11.14
Raise and lower motor
Motor type:
Degree of protection:
Input voltage:
SEW EURODRIVE S62 DT80N4BM/HF
IP 54
230/440 VAC
Phase:
Rated power:
Speed:
Timken OK Load, ASTM D2509
3 Phase
750 W
1500 RPM
Lb 40
11.15
Hoist Control Unit
Degree of protection:
Dimensions
Outline dimensions - see drawing in the Drawing file
IP 54
Power
Voltage:
Frequency:
230 VAC / 440 VAC, 3 phase
50 – 60 Hz
Power consumption: 750 – 1100 W depending o application
Environment
Storage temperature:
Operational temperature:
Storage / operating humidity:
-20 to +65 °C
-0 to +55 °C
90% / 80% relative
317748/F 63
HiPAP Model 501/451/351/101
11.16
Remote Control Unit
Degree of protection:
Dimensions
Outline dimensions - see drawing in the Drawing file
IP 54
Power
Voltage:
Power consumption:
Environment
24 VDC (from HCU)
6 W
Storage temperature:
Operational temperature:
Storage / operating humidity:
-20 to +65 °C
-0 to +55 °C
90% / 80% relative
11.17
Transducer units
Weight - see drawing in the Drawing file chapter from
Model:
Diameter:
Shape:
HiPAP ® 500 transducer
392 mm
Spherical
HiPAP ® 350 transducer
320 mm
Spherical w/cylindrical body
HiPAP ® 100 transducer
452 mm
Cylindrical body
64 317748/F
Product Description
12 DRAWING FILE
12.1
Outline dimensions
The outline dimensions shown in this section are for information only and must not be used for installation or manufactory purposes.
Part No. Rev.
Outline dimensions
365290
N/A
N/A
B Computer
N/A Keyboard
N/A Display
316067
308630
A
B
Description
Responder Driver Unit (option)
304659 C
830-083045 H
DN 500 mounting flange w/gate valve
830-214043
830-102887
E
D
DN 350 mounting flange w/gate valve
830-103012 B
316242 A
316243
316244
A
A
316245 A
Ref.
317748/F 65
HiPAP Model 501/451/351/101
Computer –desktop mounting and outline dimensions
66 317748/F
Keyboard
Product Description
Cable length 1.5 m
Note:
All measurements are in mm.
The drawing is not in scale.
317748/F
(Cd31406)
67
HiPAP Model 501/451/351/101
19” Display
483
+
Note:
All measurements are in mm.
The drawing is not in scale.
68
+
POWER
317748/F
Product Description
Responder Driver Unit (option)
Note:
All measurements are in mm.
The drawing is not in scale.
317748/F
Cd31148 Page 1 of 1
316067 Rev.A
69
HiPAP Model 501/451/351/101
Transceiver Unit Model x81
Note:
All measurements are in mm.
The drawing is not in scale.
70
Cd31093 Page 1 of 2
308630 Rev.B
317748/F
Transceiver Unit Model x21
Product Description
Note:
All measurements are in mm.
The drawing is not in scale.
317748/F 71
HiPAP Model 501/451/351/101
DN 500 mounting flange w/gate valve
72 317748/F
Product Description
DN 350 mounting flange w/gate valve
Note:
The drawing is not in scale.
317748/F
Cd31124a Page 1 of 1
830-214043 Rev. E
73
HiPAP Model 501/451/351/101
Hoist Control Unit
74
Note:
All measurements are in mm.
The drawing is not in scale.
Cd31028 Page 1 of 1
830-102887 Rev.D
317748/F
Remote Control Unit
Product Description
Note:
All measurements are in mm.
The drawing is not in scale.
317748/F
Cd31029 Page 1 of 1
830-103012 Rev.B
75
HiPAP Model 501/451/351/101
HiPAP® HL 2180
Note:
All measurements are in mm.
The drawing is not in scale.
76
CD31140 Page 1 of 1
316242 Rev.A
317748/F
HiPAP® HL 3770
Product Description
Note:
All measurements are in mm.
The drawing is not in scale.
317748/F
CD31141 Page 1 of 1
316243 Rev.A
77
HiPAP Model 501/451/351/101
HiPAP® HL 4570
Note:
All measurements are in mm.
The drawing is not in scale.
78
CD31142 Page 1 of 1
316244 Rev.A
317748/F
HiPAP® HL 6120
Product Description
Note:
All measurements are in mm.
The drawing is not in scale.
317748/F
CD31143 Page 1 of 1
316245 Rev.A
79
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