SENSORS

HAIN
An Integrated Acoustic Positioning and
Inertial Navigation System

Hans Petter Jacobsen and Jan Erik Faugstadmo

Kongsberg Simrad

Session Chair – Steve Browne, Thales Geo Solutions September 16-17, 2003
Houston, Texas
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HAIN

Hydroacoustic Aided Inertial Navigation

HAIN
Integrated acoustic positioning and inertial navigations system
Jan Erik Faugstadmo
Hans Petter Jacobsen
Kongsberg Simrad AS

Dynamic Positioning Conference, Houston, September 16-17 2003

arranged by

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HAIN

Benefits

Survey:
ƒ Increase accuracy
ƒ Increase update rate

Dynamic Positioning:
ƒ Extend both SSBL and LBL operation limits
ƒ Use slow acoustic update rate -> Save batteries
ƒ Position update during acoustic drop-out

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HAIN

Acoustic positioning: Relativ high and evenly distributed noise No position drift
Inertial positioning: Very low short term noise. Relativ large position drift
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HAIN – Inertial Navigation

Velocity
acc x Navigation
acc y calculations Position
acc z

Attitude
gyro x Attitude
(Roll, pitch, heading)
gyro y calculations
gyro z

The IMU measurements are relative to inertial space.

Integrate accelerometers 1x gives velocity, 2x gives position
Integrate gyros 1x gives attitude
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HAIN – INS classes

INS systems are usually classified by the standard deviation

of the position error growth of their free unaided performance

Class Traditional Gyro Gyro bias Accelerometer

application technology bias

1nmi/h Marine, air RLG, FOG ≈0.01°/h ≈50µg

and land
navigation

>10nmi/h Tactical RLG, FOG ≈1°/h ≈1mg

systems

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HAIN – Kalman Filter Structure

Reset

Compass

ψ$ north ,naveq ψ~ north ,cmps

-
Findψ north
.
DVL

v~EB
B
, DVL
(Attitude)
~B
ω R$ LB ,naveq Decompose
IB , gyro
Gyros in L

- v$EB,DVL
L
~B v$EB
L (Velocity) Error state
Accelero-
f IB ,acc Navigation ,naveq
Kalman
Equations
meters filter
R$ EL ,naveq (Position)
IMU
INS
- ~
REL , posm
DGPS +
HiPAP
z$naveq (Depth)

- ~
zdepthm Estimates
(of errors in
Pressure
navigation
sensor
equations
and colored
sensor
errors) 6
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HAIN

VesselPos

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HAIN

VesselPos
Acoustic Pos. &
Acoustic Pos. Aided Inertial Position
Lat/lon

APOS DP System
Aided Inertial Pos.
& Status

INC 10 Heading
HiPAP
Transceiver
Roll&Pitch
IMU

Td

Acoustic
signals
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HAIN - Simulations

Simulation parameters:
HiPAP SSBL angle accuracy: 0.1° in x and y
dGPS position white/coloured noise: 0.15m/0.1m North and East 9
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HAIN - Simulations

Drop-out during vessel move

Recover pos.
IMU:1nmi/h Drop-out
Accelrates

HiPAP SSBL 1000 m

Black : Correct position
Blue : HiPAP “
Green : HAIN “

Vessel accelerates during

a HiPAP dropout between
1240s and 1250s

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HAIN - Simulations

VesselPos accuracy during HiPAP dropout.

1nmi/h IMU

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HAIN - Seatrials

The measurements in the trials are:

HiPAP positions relative to a TP on the seabead with known lat long position.
The waterdepth is 200m.
Known depth (The vessel is at the surface)
Readings with 100 Hz from the IMU 90.
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HAIN - Seatrials

B61. AL15.txt. 49 positions.

60
Reduces
HiPAP
update rate
40

20
Start
North.

-20

-40

-60

-80 -60 -40 -20 0 20 40 60 80 100

East.

Blue crosses: Vessel position from HiPAP updates, 1.5 to 20 second.

Green crosses: Vessel positions from real time HAIN estimates every second
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HAIN - Seatrials

B61. AL15.txt. 49 positions. B61. AL15.txt. 49 positions.

80 80

60 60

40
40

20
20

North.
East.

0
0
-20

-20
-40

-40
-60

-60 -80
1550 1600 1650 1700 1750 1800 1850 1900 1950 2000 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000
Time [s] since 15:00:00 Time [s] since 15:00:00

The time plots show the same circles as the scatter plot on the previous slide.

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HAIN - Seatrials
B61. AL15.txt. 49 positions.
0.9
HAIN 1-sigma accuracy before HiPAP measurement

0.8
Horizontal 1-Sigma

0.7

0.6

0.5

0.4
HAIN 1-sigma accuracy after HiPAP measurement
1750 1800 1850 1900 1950
Time [s] since 15:00:00

ƒ Blue crosses: Estimated HiPAP 1-sigma accuracy, based on Signal to Noise level,
distance and geometry

ƒ Green line: HAIN 1-sigma estimated accuracy.

ƒ Based on these values we should expect 0.90m difference between HiPAP measurement
and HAIN estimate.
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HAIN - Seatrials
B61. AL15.txt. 49 positions.

-4.5
East difference for one m easurem ent
-5
The average of the
-5.5 difference in the
horizontal plane is 0.64m.
-6
East.

-6.5

-7

-7.5

-8
1830 1830.5 1831 1831.5
Time [s] since 15:00:00

It is not possible to distinguish between HiPAP error and HAIN error.

The average difference 0.64 m in the horizontal plane corresponds to a
HiPAP angle error of 0.13º in X and Y.
The difference is less than expected, which is 0.9m.
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HAIN – Seatrials with offshore DP vessel

Vessel position during the test as logged with dGPS

DP used HAIN as the position reference during the test

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HAIN – Seatrials with offshore DP vessel

Timeplot North co-ordinate

HAIN green, HiPAP blue, dGPS red

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HAIN

SubseaPos

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HAIN

SubseaPos
Acoustic Pos. &
dGPS Aided Inertial Position
Acoustic Pos.
Lat/lon

DP System
HiPAP
Operator Station
dGPS

Survey

Heading
HiPAP
Aided Inertial Pos. Transceiver
& Status Roll&Pitch

Td

ROV Acoustic
signals
HCS 10

DVL IMU Depth

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HAIN - Simulations

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Simulation parameters:
HiPAP angle accuracy 0.1° in x and y
dGPS position white/coloured noise: 0.15m/0.1m North and East
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DVL speed white/coloured noise: 0.02m/s / 0.015m/s
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HAIN Pipeline route survey - Depth 650m

Sceen dump, real-time data

HiPAP SSBL – grey line, HAIN – blue line
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HAIN Pipeline route survey - Depth 650m

HiPAP SSBL blue , HAIN real-time green, post processed red

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HAIN Seabed Survey – Depth 4000m

Survey lines – post processed

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HAIN Seabed Survey – Depth 4000m

LBL blue , HAIN real-time green, post processed red

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HAIN Seabed Survey – Depth 4000m

LBL blue , HAIN real-time green, post processed red

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