System description
SYSTEM DESCRIPTION
Introduction
This section presents the standard HiPAP units, and the standard configurations of an operation station.
Systems overview
All HiPAP systems have common software and hardware platforms and thereby offer the same kind of additional functionality and options. The following HiPAP systems are available:
• HiPAP 500
• HiPAP 350
• HiPAP 450
HiPAP 500
The HiPAP 500 has a full spherical transducer body including
241 transducer elements. This model has close to full accuracy in the half sphere coverage sector and is the preferred system where the best possible performance is required.
The HiPAP 500 transducer has a diameter of 392 mm and will be installed with the 500 mm gate valve.
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HiPAP
HiPAP 350
The HiPAP 350 has a spherical transducer with a cylindric body including 46 transducer elements. This model has good accuracy in the
± 60_ coverage sector and is suited for operations where the major positioning targets are within this sector.
The HiPAP 350 transducer has a diameter of 320 mm and will be installed with the same 350 mm gate valves as the existing
HPR systems. It may also be installed with the 500 mm gate valve.
(C d3
10
63
)
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System description
HiPAP 450
The HiPAP 450 system has the same operational and technical performance as the HiPAP 350 system.
→
Refer to page 8 for more information.
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 450 uses the same hull units as the HiPAP 500.
→
Refer to page 10 for more information.
HiPAP 500 transducer head
HiPAP 350
SSBL performance
(C d3
1
0
2
0
)
Upgrade to HiPAP 500
The HiPAP 450 can be upgraded to full HiPAP 500 performance. This is done by:
• Installation of 6 additional Transmitter / Receiver Boards in
the transceiver unit.
• APOS software upgrade.
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HiPAP
System units
A HiPAP system consists of the following units:
• Operator station comprising (same for all HiPAP systems):
- LCD display
- APC 1x computer
- Keyboard and trackball
• Transceiver unit (system-specific)
- HiPAP 500 Transceiver Unit
- also used for the HiPAP 450 system
- HiPAP 350 Transceiver Unit
• Hull unit (system-specific)
- HiPAP 500 Hull Unit
- also used for the HiPAP 450 system
- HiPAP 350 Hull Unit
• Hoist Control Unit (same unit for all HiPAP systems)
• Remote Control Unit (same unit for all HiPAP systems)
Note
The Display and keyboard are described in separate documents.
Note
The hull units, Hoist Control Unit and Remote Control Unit are described in the HiPAP hull units Instruction Manual.
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System description
Position output
GPS Input (option)
Operator Station
Display
APC 1x
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HiPAP 500
Hull Unit
HiPAP 500
Transceiver Unit
R
Power
Motion sensor
Heading sensor
Responder drive
Power
Hoist
Control Unit
Power
Gate valve
Gate valve position indicator
Remote
Control Unit
HiPAP 500
Transducer
Figure 1 Standard HiPAP 500 / HiPAP 450 system units
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HiPAP
12
Position output
GPS Input (option)
Operator Station
Display
APC 10
HiPAP 350
Hull Unit
HiPAP 350
Transceiver Unit
R
Power
Motion sensor
Heading sensor
Responder drive
Power
Hoist
Control Unit
Power
Gate valve
Gate valve position indicator
Remote
Control Unit
HiPAP 350
Transducer
Figure 2 Standard HiPAP 350 system
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System description
Operator station configuration
The HiPAP system may be configured in two ways:
1
Stand alone
- Stand alone APC 1x computer
- LCD display
- Keyboard
- Trackball
The stand alone configuration can be fitted as:
- Contained in a standard 19” rack
* The LCD display and the APC 1x computer are fitted into a standard 19” rack unit. The keyboard and the trackball may be placed on a desk, or on a suitable shelf. The transceiver unit is installed close to the hull unit.
- Desktop system
* The LCD display, the APC 1x computer, the keyboard and the trackball sit on a desk top or a purpose-built shelf. The transceiver unit is installed close to the hull unit.
2
Integrated in the same operator console as a Dynamic
Positioning (DP) system (COS controller is used).
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HiPAP
HiPAP system principles
General
The HiPAP system provides accurate positions of subsea targets such as:
• Remotely Operated Vchicles (ROVs),
• towed bodies or
• fixed transponders.
HiPAP 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, and it uses the HPR 400 transponders channels.
HiPAP processing - LBL mode
Long Base Line (LBL) - This mode is similar to the HiPAP processing, but the transceiver positions up to 8 LBL transponders for each interrogation. Both ranges and directions to the transponders are measured. The data is sent to the APC
1x.
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System description
HiPAP processing - telemetry
The unit transmits acoustic telemetry messages, and receives and decodes the acoustic telemetry message from the transponder. The data is sent to the APC 1x.
HiPAP processing - MULBL
Multi-User Long Base Line (MULBL) - In this mode the transceiver continuously listen for replies from the transponder.
Each replay is detected, and directions and the time difference between replies are sent to the APC 1x. The time differences are the delta ranges that is used in the MULBL positioning algorithm.
Dual HiPAP system
HiPAP is designed to operate with one or two sets of transceivers/transducers, both operated from the same operator station(s). 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.
→
Refer to figure on page 125.
For the dual configuration a synchronisation line between the transceiver are required.
Benefits of a dual system:
• Accuracy
- The improvement factor from 1 to 2 transducers is
1
2
.
This is based on the statistical improvements when using two independent systems. One transducer will give a horizontal bearing accuracy of 0.3
°, while two transducers will give 0.2
°.
• Redundancy
- 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.
• Quality
- When two transducers are used, the system will check and report if the positions from the two systems differ by more than a pre set value. Information about the position quality will also be available based on error ellipses.
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HiPAP
APC 1x
Description
An APC 1x unit is constructed of steel and aluminium panels and machined aluminium sections. The same unit is used for all types of installation (desktop or rack), with additional mounting brackets or rails as required.
Caution
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Figure 3 APC 1x unit - desktop version, an APC 11 is shown here
External connections
All external connections to the APC 1x unit are made via plugs located on the rear of the unit.
→
APC 1x connections, page 107
Power initialization
The APC 1x unit can be powered from either a 115 Vac or 230
Vac supply.
Ensure the switch is set to the power supply available before plugging the mains supply cable into the power outlet.
The power on/off switch is located behind the hinged cover on the front panel. The switch is of the “push-for-on, push-for-off” type.
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DVD recorder
The DVD recorder is placed at the front of the APC 1x, behind the cover, as illustrated in the figure below.
A DVD containing backup of the delivered APOS system supplied at the system setup.
USB memory stick
USB ports for USB memory stick is placed at the front of the
APC 1x, behind the cover, as illustrated in the figure below.
An USB memory stick containing programs for backup and restore, is delivered at the system setup. These programs can only be used when the system boots on the USB memory stick.
USB ports
DVD recorder
Figure 4 APC 1x front
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HiPAP
GPS receiver signals
Signals from the GPS receiver is normally connected to the
APC 1x to give position and time information. This signal is a serial data line, and a separate pulse called 1PPS is a pulse coming every second to synch the clock information.
The 1PPS pulse can have different pulse length and polarity from different suppliers of GPS receivers. To handle this problem a 1PPS converter can be used.
GPS Input signal converter (1PPS converter)
If a GPS is connected to the system, a 1PPS converter is used.
The 1PPS converter is a separate box and is connected to the
APC 1x with a standard cable.
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System description
Keyboard
Keyboard
The keyboard is a PS/2 keyboard. It is a QWERTY keyboard with US layout and includes back-lighting.
Figure 5 Keyboard
Trackball
Trackball
The trackball is designed for easy use, and is delivered with cable.
Figure 6 Trackball
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HiPAP
Display
Display
→
Refer to separat manual supplied with the display.
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System description
1PPS Converter (option)
General
The 1PPS converter is an option to a standard HiPAP system.
A 1PPS converter passes the RS-232 GPS Position Data through but shapes the 1PPS pulse to a fixed pulse length and converts it from TTL level to RS-232 level.
Mounting
The 1PPS converter is mounted on the cable between the GPS receiver and the COM port used on the APC 1x.
The box may be mounted wherever suitable. It is attached with a velcroue.
Connections and diagrams
→
1PPS connections, page 123.
→
1PPS converter - block diagram, page 206.
→
1PPS converter - assembly drawing, page 207.
Figure 7 1PPS converter
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HiPAP
Transceiver units description
Introduction
A HiPAP transceiver unit is constructed of steel panels, containing a rack holding the system electronics modules. It is designed to be mounted on a suitable bulkhead, and is fitted with vibration / shock absorbers to reduce the effects of transceiver unit vibrations.
The design of the HiPAP 500 (also used for the HiPAP 450 system) and HiPAP 350 transceiver units are identical.
A HiPAP transceiver unit can be fitted with two types of front doors:
• Standard door - delivered with all standard HiPAP systems.
• Option - Door fitted with a cooling unit. Delivered upon request.
SIMRAD HiPAP 500
22
(C d3082e)
Figure 8
HiPAP transceiver unit
External connections
The transducer cable is connected into the transceiver unit via a connector located on the left side of the unit. All other cables to and from the transceiver unit enter the unit through the base of the unit.
→
Refer to figure on page 42.
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System description
Power initialization
The transceiver unit is powered from a 230 Vac supply. A mains supply switch is located on the front of the main control panel to the right in the rack.
→
Refer to figure on page 42.
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HiPAP
Transceiver unit principles
241 pair cable
8
TRBs
Introduction
The transceiver unit is a central part of the HiPAP system. It contains the following:
• Electronic circuitry for the transmission of acoustic pulses.
• Amplifiers and filters for the reception of acoustic signals.
• Interfaces to external sensors, roll, pitch, course and heave.
• Serial line/ethernet link for communication with the Operator
Station.
The transceiver unit’s main navigation function is to interrogate transponders and measure the ranges and directions to them.
It is interfaced to attitude sensors, and controls the triggering of up to 4 responders. The transceiver can operate with one HiPAP transducer. The unit outputs the transponder position to the 1x.
Power 230 A/C
Serial line Roll / Pitch / Heave
Serial line Gyro
HTC 10
Data bus
Control bus
TMC
PCI bus
PC
Serial line
Ethernet to operation station
(CD3429)
POWER
RPC
Responder
Trigger
Responder trig
TRANSDUCER
241 Transducer
elements
Figure 9 HiPAP 500 transceiver unit - functional block diagram
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System description
Transmission
The operator sets up the transmission parameters. This is done using the APOS menu. These parameters are transferred to the transceiver unit via the serial/ethernet line. The transceiver unit generates the appropriate interrogation pulses, amplifies them to the required strength, and sends them via the transducer cable to the transducer. The transducer then transmits the pulses into the water.
The transceiver unit also generates responder trigger pulses which are sent to the responder(s) via an umbilical.
Reception
The transceiver unit receives the analogue signals from the transducer. The signals are demodulated and analogue-to-digital converted, and the digital signals are then converted to position values. These are transferred on the serial/ethernet line to the
Operator Station.
Attitude sensors are interfaced to the transceiver unit to enable the vessel’s attitude to be taken into account when calculating the position data.
Navigation
The operator will select the active mode of operation. The system will then automatically switch between the selected mode and the other available modes as required.
In the SSBL mode, both the direction and the range to the transponder are computed.
When a transponder is switched on by the operator, the transceiver will commence interrogation using frequencies corresponding to the applicable transponder channel. This is done using the APOS menu.
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HiPAP
-
Transceiver unit options
General
→
A redundant HiPAP system is shown in the APOS Instruction manual.
In redundant HiPAP systems working with dual Ethernet, a serial line RS-422 to dual Ethernet converter has to be installed in the HiPAP transceiver unit. This is an option to a standard
HiPAP transceiver. This option consists of:
• Serial to Dual Net converter, SBC 400
If fibre-optic net is used, a fibre-optic Ethernet converter must be installed. This is an option to a standard HiPAP transceiver.
This option consists of:
• Ethernet converter for fibre-optic
Serial to Dual Net converter SBC 400
The Serial to Dual Net converter is shown in the figure below.
The converter is placed inside the transceiver unit.
→
Refer to figure on page 42.
• Front panel
-
At normal operation the RUN lamp is light.
This is the only function on the front panel in use.
H
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Figure 10 Serial to Dual Net converter SBC 400 unit
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System description
Ethernet converter for fibre-optic
The Ethernet converter - EXC 0015, is shown in the figure below. The converter requires a power supply. The converter is placed at the base of the transceiver unit.
→
Refer to figure on page 42.
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Figure 11 Ethernet converter, EXC 001
Status LEDs for 10BASE-FL connector
Link
(green)
Rx
(yellow)
Steady LED indicates good 10Base-FL link and normal operation.
Flashing LED indicates data reception on the
10BASE-FL link.
Status LEDs for 10BASE-T connector
Link
(green)
Rx
(yellow)
Power
(yellow)
Steady LED indicates good 10Base-T link and normal operation.
LED extinguished, indicates lack of power or the
10BASE-T link is down.
Flashing LED indicates data reception on the
10BASE-T link.
Steady LED indicates connection to external power.
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