Product Description

HAIN
Hydroacoustic Aided Inertial Navigation
Product description

APOS

APOS HAIN
computer
HAIN
computer

IMU

IMU

(Cd32002)
HAIN
Hydroacoustic Aided Inertial Navigation
Product Description

855--164904 / Rev.A
 Note
Kongsberg Maritime AS makes every effort to ensure that the information contained
within this document is correct. However, our equipment is continuously being
improved and updated, so we cannot assume liability for any errors which may occur.

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 or injury to personnel. The user must be familiar with the contents of the
appropriate manuals before attempting to install, operate or maintain the equipment.
Kongsberg Maritime AS disclaims any responsibility for damage or injury caused by
improper installation, use or maintenance of the equipment.

Copyright
E 2004 Kongsberg Maritime AS
The information contained within this document remains the sole property of
Kongsberg Maritime AS. No part of this document may be copied or reproduced in any
form or by any means, and the information contained within is not to be communicated
to a third party, without the prior written consent of Kongsberg Maritime AS.

Contact information
Support: ui@kongsberg.com
Sales: subsea@kongsberg.com

Strandpromenaden 50
P.O.Box 111
N-3191 Horten,
Norway
HAIN

Contents

INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
HAIN SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
The complementary solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
INERTIAL NAVIGATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Principles of inertial navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Initial values for the integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Attitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
External measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
HAIN processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Basic principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Position aid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Acoustics used as position aid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Complementary solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Position aid for HAIN Vessel and HAIN Subsea . . . . . . . . . . . . . . . . 9
HAIN POSITION REFERENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
System description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
System units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
HAIN computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Inertial Measurement Unit - IMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Operator station - APOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
HAIN SUBSEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
System description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
System units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
HAIN computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Inertial Measurement Unit - IMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Operator station - APOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Post processing software - NavLab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

II 855-164904 / A
 Product Description

FIELD RESULTS POSITION REFERENCE . . . . . . . . . . . . . . . . . . . . . 22

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Scatter-plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Time-plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
FIELD RESULTS SUBSEA POSITIONING . . . . . . . . . . . . . . . . . . . . 25
Pipeline route survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Seabed mapping survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
TECHNICAL SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
HAIN computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
IMU - Position Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Dynamic range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
IMU - Subsea system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Dynamic range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

855-164904 / A III
HAIN

Document logistics

Rev Date Written Checked Approved

A 20.02.04 GM HPJ JEF
B
C
D

(The original signatures are recorded in the company’s logistic database.)

Rev Comments
A Original issue.
B
C
D

IV 855-164904 / A
 Product Description

Blank page

855-164904 / A V
 Product Description

INTRODUCTION

Contents
This product description covers the Hydroacoustic Aided
Inertial Navigation (HAIN) product. It provides a general
description of the systems, modules, functions and technical
specifications.

Abbreviations
The following abbreviations have been used in this manual
APC Acoustic Positioning Computer
APOS Acoustic Positioning Operator Station
COS Common Operator Station
DP Dynamic Positioning
dGPS differential Global Positioning System
GPS Global Positioning System
HAIN Hydroacoustic Aided Inertial Navigation
HiPAP High Precision Acoustic Positioning
HPR Hydroacoustic Position Reference
IMU Inertial Measurement Unit
INS Inertial Navigation System
LBL Long Base Line
MULBL Multi- User Long Base Line
ROV Remotely Operated Vehicle
SSBL Super Short Base Line
SSLBL Super Short and Long Base Line

855-164904 / A 1
HAIN

HAIN SYSTEMS

General
Exploration on deeper water puts high requirements on
underwater positioning for both Dynamic Positioning (DP)
operations and survey applications. Acoustic positioning
systems are continuously improved to meet new requirements.
The HAIN system is developed as an extension to the High
Precision Acoustic Positioning (HiPAP) and Hydroacoustic
Position Reference (HPR) systems. The acoustic measurements
are used as position aid for the Inertial Navigation System
(INS).
The following two systems are available:
• HAIN Position Reference
- This HAIN system for vessel positioning, is used as
position-reference for the Dynamic Positioning (DP).
• HAIN Subsea
- This HAIN system for Remotely Operated Vehicle (ROV)
positioning, is for survey applications.

The complementary solution

Acoustic and inertial positioning principles in combination is
ideal, since they have complementary qualities. Acoustic
positioning is characterised by relatively high and evenly
distributed noise and no drift in the position, whilst inertial
positioning has very low short-term noise and relatively large
drift in the position over time.

2 855-164904 / A
 Product Description

INERTIAL NAVIGATION

Principles of inertial navigation

An Inertial Navigation System (INS) integrates the output of
three accelerometers and three gyros to compute the position,
the velocity and the attitude.

Accelerometer

acc x Velocity
acc y Navigation
acc z calculation
Position
(long, lat, depth)

R LB
Gyro
gyro x
gyro y Attitude
Attitude
gyro z calculation (roll, pitch, yaw)

(Cd32007)

Figure 1 The sensors in the Inertial Measurement Unit

• The three accelerometers are mounted perpendicular to each

other. Each accelerometer measures the acceleration relative
to the inertial space. Integration of acceleration gives
velocity, and integration of velocity gives position.
• The three gyros are mounted perpendicular to each other.
Each gyro measures the angular rate relative to the inertial
space. Integration of angular rate gives attitude (roll, pitch
and heading).
The accelerometers and the gyros are contained in an Inertial
Measurement Unit (IMU). The figure below shows a Honeywell
HG-1700 IMU.

Figure 2 Honeywell HG-1700 IMU

(Cd32009)

855-164904 / A 3
HAIN

Most inertial navigation systems to day are strap-down systems,

with the IMU rigorously connected to the body that is
positioned. For HAIN, the body is either a surface vessel or an
ROV.
• The integration of the accelerometers - gives the velocity
in the body co-ordinate frame.
• The integration of the gyros - gives the attitude, which is
used to convert the acceleration / velocity from the body
co-ordinate frame to an earth-fixed co-ordinate frame.
Different co-ordinate frames, Earth gravity and rotation must be
handled. This is done in well-established strap-down navigation
equations.
Complexities also arise because all measurements have noise
added to them. The noise consists of a white part and a coloured
part. The white part is random Gaussian noise. The coloured
noise is often referred to as a bias on the measurement. The bias
changes slowly, with a time-constant of many minutes.

Initial values for the integration

An integration gives a change from an initial value. Integration
of acceleration gives change in velocity. Integration of angular
rate gives change in attitude.

Attitude
It is possible to calculate the attitude by using the IMU readings
and the knowledge about the Earth gravity and rotation. The
latitude must also be known within some degrees. The IMU
sensors must be of good quality to manage this task, because the
Earth rotation is slow compared to the movements of the body.

Position
It is not possible to calculate the initial position based on the
readings from the IMU sensors. An Inertial Navigation System
must therefore get a position aid from outside.

4 855-164904 / A
 Product Description

External measurements
In addition to the accelerometer and gyro readings from the IMU,
an Inertial Navigation System gets external measurements.
External measurements to the HAIN are:
• Aiding position in latitude / longitude and depth. It is used
both to get an initial value for the position and to limit the
drift that is inherent in inertial navigation systems.
• Heading
• Velocity
The external measurements are used by a Kalman filter to
compute corrections of the filter’s estimates. The corrections are
weighted according to the expected accuracies of the
measurements and to the filter’s estimate of its own accuracies.

855-164904 / A 5
HAIN

HAIN processing

Basic principles
The figure below shows how the readings from the IMU and the
external sensors are used.

Reset

Compass

ψ$ north ,naveq ψ~ north ,cmps

-
Findψ north
.
DVL

v~EB
B
, DVL
(Attitude)
ω~ BIB , gyro R$ LB ,naveq Decompose
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
Figure 3 HAIN processing - block diagram errors)

To the left, we see the IMU with its gyros and accelerometers.
The navigation equations read the three gyros and the three
accelerometers with 100 Hz. Based on these readings, the
navigation equations calculate the change in position, velocity
and attitude. Due to noise and errors in the readings, errors in
the calculation increase with time if not corrected for.
The to right, we see the Kalman filter. It estimates both the
attitude, velocity and position and sensor errors. It also
calculates the accuracy of each estimate.

6 855-164904 / A
 Product Description

The input to the Kalman filter is the difference between the

values calculated by the navigation equations and the external
measurements.
Example:
Depth measurement - the pressure sensor on the ROV
measures the depth. The measured value is subtracted from the
depth calculated by the navigation equations. The difference is
read by the Kalman filter. The filter knows the expected
accuracy of the depth sensor, and it knows the accuracy of its
own estimates. The depth correction is weighted based on this
knowledge, and the estimates of the filter is updated. New
values for the position, velocity and attitude are sent to the
navigation equations.

Position aid
The position aid in figure 3 is named ”dGPS + HiPAP”. The
other alternatives for HAIN position aid is ”HiPAP” and ”LBL”,
as explained later. In all cases, the latitude / longitude of the
aiding position is subtracted from the latitude / longitude
calculated by the navigation equations. The difference is
processed by the Kalman filter, as explained in the example (for
the depth) above.
The filter executes each time an external measurement is read. It
updates its estimates based on the external measurement, and
transfers the new position, velocity and attitude to the
navigation equations. This transfer is often referred to as a
”reset”. Therefore the values calculated by the navigation
equations and those estimated by the Kalman filter are very
close to each other.
The graphs shown later in this document, use the same colours
as figure 3. These are:
Blue is used for measurements
Magenta is used for the navigation equations
Green is used for the Kalman filter
The Kalman filter shown in figure 3, is often referred to as the
forward filter. It is executed in real time, and does not have any
knowledge of the measurements ahead in time. When the
measurements are post-processed with the NavLab, the forward
filter is first executed. Then a backward filter is executed. It
uses the measurements both back and forward in time. This
gives a significant improvement in accuracy and stability. The
result from the backward filter is displayed in red on the graphs.

855-164904 / A 7
HAIN

Acoustics used as position aid

Complementary solution
The noise on acoustic positions is dominated by the white noise.
There is almost no correlation between the noise on one
measurement and the noise on the next measurement.
The noise on Inertial Navigation systems without position aid, is
dominated by coloured noise, that is a position drift, as
illustrated in the figure below.

Figure 4 Acoustic used as position aid

The noise on inertial navigation without position aid and the

noise on acoustic positions are complementary. Acoustic
positions are therefore ideal as position aid for inertial
navigation. The white noise of the acoustic positions is reduced
because the inertial navigation has a small white noise. The
coloured noise (the position drift), of the inertial navigation is
strongly reduced by the acoustics, which has almost no coloured
noise.

8 855-164904 / A
 Product Description

Position aid for HAIN Vessel and

HAIN Subsea
• For HAIN subsea positioning, the depth is measured by a
pressure sensor on the ROV.
• For HAIN vessel positioning, the depth is the depth of the
reference point of the vessel.
The depth is in both cases processed as an external measurement.
For HAIN vessel positioning, the aiding position is the position
of the vessel in latitude / longitude. It is generated either by an
SSBL measurement or by an LBL measurement. In both cases
the position of the seabed transponder(s) must be known in
latitude / longitude. The SSBL transponder must have been
boxed-in, and the LBL array must have been calibrated
geographically. This must be done before the HAIN vessel
positioning is started. After this, the HAIN vessel positioning is
independent of the dGPS.
For HAIN subsea positioning, the aiding position is the position
of the ROV in latitude longitude. When the ROV is positioned
with SSBL from the vessel, the latitude / longitude position is a
combination of the acoustic position relative to the vessel and
the dGPS position of the vessel. When the ROV is positioned
with LBL, the LBL array must have been calibrated
geographically in beforehand.

855-164904 / A 9
HAIN

HAIN POSITION REFERENCE

General
The HAIN system for vessel positioning is an aided Inertial
Navigation System. The position drift that is inherent in the
inertial navigation systems, is limited by the acoustic position
measurements relative to transponder(s) on the seabed.
The system can be used with both Super Short Base Line
(SSBL) and Long Base Line (LBL) position input.
The HAIN provides an improved position of the vessel that both
has increased accuracy and higher update rate than the original
position from the acoustic measurements. This extends
operational water depth and reduced battery consumption.
Position output during acoustic dropout will be maintained.

System description
The HAIN position reference system provides:
• Improved acoustic position accuracy
- The HAIN system will typically improve the accuracy
some 2-3 times.
Example: If the ”ping to ping” deviation is 6 meters, the
HAIN will reduce this to approximately 2 meters.
• Higher position update rate
- The HAIN calculates a new position every 1 second
regardless of water depth.
• Extends operational depth capabilities
- Since both the accuracy and the position update rate are
improved, the HAIN allows operation in deeper waters.
• Longer transponder-battery lifetime
- The HAIN position update rate allows slowing down the
acoustic update frequency. This will result in less ”ping”
per hour, and thereby longer battery duration.
• Position update during acoustic drop-out
- The HAIN gives continuity in position output even though
the acoustic position should fail to operate in periods of
limited time.

10 855-164904 / A
 Product Description

APOS

HAIN
computer

IMU

(Cd32003)

Figure 5 HAIN Position reference system

855-164904 / A 11
HAIN

The figure below shows the HAIN Position reference system

used with a HiPAP system.
The HAIN Positioning reference system can be used on any
vessel equipped with acoustic positioning system.

HAIN Net DP
APOS
Computer System

Heading
HiPAP
Roll & Pitch
Transceiver
IMU

(Cd6832) Td

Acoustic
signals

Figure 6 HAIN Position reference - system diagram

System units

HAIN computer
The HAIN computer executes the navigation algorithm, which
consists of Strap-down navigation equations and a Kalman filter.
The unit is interfaced to an IMU (Inertial Measurement Unit)
and to the APOS (Acoustic Positioning Operator Station).
The HAIN computer receives the aiding positions (latitude /
longitude) from the APOS, and it limits the position-drift that is
inherent in inertial navigation systems. Vessel position, attitude,
speed and expected accuracy, are sent back to the APOS at 1 Hz
update.

Inertial Measurement Unit - IMU

The IMU consists of three accelerometers and three gyros,
measuring the vessel’s accelerations and rotation in three axis
very accurately.

12 855-164904 / A
 Product Description

Operator station - APOS

The HAIN system is operated from the APOS and has the
following main functions:
• Controls the HAIN system.
• Displays position and sends position and status data.
The information received from the HAIN computer is displayed
and sent to external computer(s). APOS can request status
information in the HAIN computer to be displayed, which helps
the operator to check the system in real-time.

Accuracy
HAIN combines the acoustic measurements and the readings
from the IMU in an optimum way. The navigation equations
update the vessel position, velocity, heading and attitude almost
continuously based on the readings from the IMU. The Kalman
filter corrects these values when new acoustic positions are
available. This result in improved position accuracy compared
to the acoustic measurements, as illustrated in figure 7.
HAIN VesselPos. IMU90. Systematic errors are not included.
8
HiPAP
HAIN Real time
7 HAIN Post processed
1-sigma horizontal accuracy [m]

1
(CD32004)

0
500 1000 1500 2000 2500 3000
Depth [m]

Figure 7 HAIN Position reference accuracy figures

The simulations for the expected accuracy are based on the

following accuracy figures:

855-164904 / A 13
HAIN

• HiPAP angle accuracy 0.1° in x and y

• HiPAP’s Motion Sensor
white noise 0.02° in roll and pitch
• HiPAP’s Motion Sensor
coloured noise 0.1° in roll and pitch
• Accelerometers random walk 15mg/ Hz
• Accelerometers coloured noise 0.5 mg
• Gyro random walk 0.0025°/ h
• Gyro coloured noise 0.05°/h

Data Logging
Data logging can be done on two levels:
1 The HAIN computer is logging all measurements on its
hard disk. These data can be post-processed.
2 The APOS can log measured and calculated vessel
positions, attitude and velocity on its hard disk.
All measurements and positions in the log files are
time-stamped. The APOS clock and the HAIN computer clock
are both synchronised with the GPS clock (1pps).

14 855-164904 / A
 Product Description

HAIN SUBSEA

General
The HAIN Subsea system can be used on Remotely Operated
Vehicle (ROV) and other underwater cable-connected units. This
system can also be interfaced to a Doppler velocity log and a
pressure sensor.
The system can be used with both Super Short Base Line
(SSBL) and Long Base Line (LBL) as position aid.

System description
The HAIN Subsea solution provides:
• Improved acoustic position accuracy.
• Higher position update rate.
The HAIN system onboard the vessel comprises:
• HAIN computer with interfaces to ROV sensors.
• Operator station.
• HAIN software.
• Vessel position input from dGPS.
• ROV position input from an acoustic system.

855-164904 / A 15
HAIN

APOS

HAIN
computer

IMU

(Cd32005)

Figure 8 HAIN Subsea system

16 855-164904 / A
 Product Description

The figure below shows the HAIN used with a HiPAP system
and an optional LBL system.

DP
Net System
HAIN
Computer DGPS APOS

IMU, LBL, DVL, Heading Survey

Pressure, attitude
HiPAP
Roll & Pitch
Transceiver
Converter

Fibre Td
ROV or
intervetion tool

LBL Acoustic
signals
Converter
(Cd6832a)

DVL IMU Depth

Figure 9 HAIN Subsea - system diagram

System units
HAIN computer
The HAIN computer executes the navigation algorithms, which
consists of Strap-down navigation equations and a Kalman filter.
The unit is interfaced to the sensor signals coming from the
ROV-umbilical system. These signals come from:
• Inertial Motion Unit (IMU)
• Doppler Velocity Log (ROV Speed)
• Pressure sensor
• Heading sensor (Compass).
The HAIN computer may interface different types of sensors
giving these aiding measurements.
The HAIN computer receives the aiding positions (latitude /
longitude) from the APOS over an Ethernet interconnection and
will limit the position drift that is inherent in inertial navigation
systems. ROV position, attitude, speed and expected accuracy of
the data are sent to the APOS at 1 Hz update. The source of the
aiding position can be SSBL or LBL.

Inertial Measurement Unit - IMU

The IMU comes in a pressure container and contains three
accelerometers and three gyros, measuring the vessel’s
accelerations and rotation in three axis very accurately.

855-164904 / A 17
HAIN

Operator station - APOS

The HAIN system is operated from the APOS and has three
main functions:
1 Controls the HAIN system.
2 Integrates dGPS and local acoustic ROV position.
3 Displays position and sends position and status data.
The information received from the HAIN computer is displayed
and sent to external computer(s). APOS can request status
information in the HAIN computer to be displayed, which helps
the operator to check the system in real-time.

Accuracy
HAIN combines the acoustic measurements and the readings
from the sensors onboard the ROV in an optimum way. The
navigation equations update the ROV position, velocity, heading
and attitude almost continuously based on the readings from the
IMU. The Kalman filter corrects these values when new
acoustic positions and when readings from the other ROV
sensors are available. This result in improved position accuracy
compared to the acoustic measurements, as illustrated in figure
10.

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HAIN SubseaPos. IMU90. Systematic errors are not included.

8
HiPAP
HAIN Real time
7 HAIN Post processed

1-sigma horizontal accuracy [m] 6

(Cd32006)
0
500 1000 1500 2000 2500 3000
Depth [m]

Figure 10 HAIN Subsea accuracy figures

The simulations for the expected accuracy are based on the

following accuracy figures:
• HiPAP angle accuracy 0.1° in x and y
• dGPS position white noise 0.15 m in North and East
• dGPS position coloured noise 0.10 m
• HiPAP’s Motion Sensor
white noise 0.02° in roll and pitch
• HiPAP’s Motion Sensor
coloured noise 0.1° in roll and pitch
• Accelerometers random walk 15mg/ Hz
• Accelerometers coloured noise 0.5 mg
• Gyro random walk 0.0025°/ h
• Gyro coloured noise 0.05°/h
• Depth sensor 0.1 m
• DVL white noise 0.02 m/s
• DVL coloured noise 0.015 m/s

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Data Logging
Data logging can be done on two levels:
1 The HAIN computer is logging all measurements on its
hard disk. A new file is generated each 15th minute with
binary data. These data can be post-processed.
2 The APOS can log measured and calculated ROV
positions, attitude and velocity on its hard disk.
All measurements and positions in the log files are
time-stamped. The APOS clock and the HAIN computer clock
are both synchronised with the GPS clock.

Post processing software - NavLab

The HAIN computer logs all the sensor measurements to its
hard disk. Then it is possible to calculate post-processed
estimates of position, velocity and attitude. There are many
situations where these estimates are of great interest after the
mission is finished, for instance for map production and
geo-referencing of objects.
• NavLab is the HAIN post-processing tool.
- It can be used both for HAIN Position reference and for
HAIN Subsea. It is, however, most relevant for HAIN
Subsea.
• NavLab reads the measurements that are logged in real
time by the HAIN Computer.
- When calculating the ROV position, it uses measurements
both in the past and in the future, giving a better quality
than can possibly be achieved in real time.
• NavLab has functions to detect wild-points in the
measurements, both automatically and with operator
assistance.
- It is easier to identify the wild-points in the
post-processing than in real time, because also the future
measurements are available. The wild-points are excluded
from the calculation, giving a better accuracy and
robustness.

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• The HAIN processing uses sensor parameters based on

the sensor specifications.
- The actual sensor performance may differ from its
specification, and in such cases the parameters should be
based on empirical data. NavLab is a suitable tool to
identify such cases, mainly due to its backward filter. It
can post-process with new parameters, and the new
parameters can be used in real time for the next missions.
- Sometimes systematic errors are present in a sensor,
typically due to imperfect calibration or misaligned
mounting. NavLab is a suitable tool to detect and quantify
such errors, mainly due to its backward filter. When the
errors are known, they can be compensated for in the
post-processing and in future missions.
• NavLab exports the results to files for use by the survey
SW.
- It exports one file with position and depth, and one file
with attitude and heading. The values are time-stamped
with the clock in the HAIN computer, which is
synchronized to the GPS clock. NavLab also generates
many plots to visualize the parameters and the results.
Many of the plots in this note are generated by NavLab.

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FIELD RESULTS POSITION REFERENCE

Introduction
Kongsberg Maritime has performed several sea-trials with the
HAIN Position reference system on our own vessel, the Simrad
Echo. The trials are done for debugging purposes, evaluation of
IMUs and accuracy analysis.
A short trial on an offshore DP vessel has also been carried out.

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Scatter-plots
The two plots below are from the offshore trial.

Figure 11 Scatter-plots offshore test

The scatter-plots above show the vessel position during the test,
as logged by the dGPS.
1 Sails backwards 150 m with HiPAP update rate 20 s.
2 Stationary with HiPAP update rate 10s and then 20 s.
3 Changes heading first CCW 40° and then CW 70°, with
HiPAP update rate 20 s.
4 Sails a square with HiPAP update rate 20 s.
5 Sails a square with HiPAP update rate 5 s.
6 Removes the HiPAP position aid from the HAIN for
10 ½ minute.
DP used HAIN as the reference during operations 1 to 5. DP
used dGPS as reference during operation 6, and just logged the
drift in HAIN.

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Time-plots
The two plots below are from the offshore trial.

Figure 12 Time-plots - offset test

The time-plot to the right shows the dGPS North co-ordinate

from the scatter-plots on the previous page.
The time-plot to the left shows the HAIN position in green and
the HiPAP positions in blue.
The update rate of the HiPAP positions varies between 20 s and
5 s. In the last 10 ½ minutes there is no HiPAP positions. The
update rate of the HAIN positions is 1 s.
The north axis in the HAIN plot has the transponder position as
the origin. The north axis in the dGPS plot is in UTM. (If more
questions about the axes, tell that UTM north is not the same as
geographical north, and that an UTM meter is not exactly one
meter.)
We can observe:
• There are some wild-points in the HiPAP measurements. The
position QA test in the HAIN has rejected these positions in
real-time.
• There is a good correlation between the plots, except during
the 10 ½ minute interval (6) without position aid. In this
interval the vessel is stationary, as shown on the dGPS plot.
The HAIN position drifts 50 m in the North direction.

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FIELD RESULTS SUBSEA POSITIONING

(Cd32010)

Figure 13 The IMU container mounted on an ROV

Pipeline route survey

The HAIN Subsea system was used for positioning an ROV on
a pipeline route survey in the North-sea. The water depth was
from 100 to 850 m. In this project the HiPAP SSBL system was
used as the acoustic aiding position.

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The screen dump shown below represents a snapshot of the data

that is post-processed and shown on next page. The ROV is
finished with a line, it has stopped, moved to the next line and
started the new line.
The HiPAP measurements were not as stable in the turn as when
the ROV / Vessel sailed the lines. It is probably caused by more
use of thrusters in the turn. This is illustrated in the plot on page
27.

Figure 14 HiPAP / HAIN Screen dump

Line colours:
Blue HAIN history track
Grey HiPAP history track

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The scatter-plot below is zoomed in the first corner of the turn,

when there was some noise on the HiPAP measurements.

Figure 15 Zoomed scatter-plot in turn

Line colours:
Blue HiPAP real time
Green HAIN real time
Red Post processed
We see the same history track of the measurements and the real
time position as in the screen dump on page 26.
In addition we see the red track from the post processing
backward filter, which is the most stable and accurate estimate
of the position.

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Seabed mapping survey

The HAIN system was used on a 4000 m deep-water project. In
this project an HPR 400 LBL system was used as the acoustic
aiding position.
The plot below shows the positions of the ROV as they where
post-processed. The start of each line is marked with a circle.

Figure 16 Survey lines - depth 4000 m

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In order to see the performance of the system we have

investigated various sections of the survey. The figure below
shows a section where there is some noise on the LBL
measurements.

Figure 17 Performance when noisy LBL, Depth 4000 m

Line colours:
Blue LBL real time
Green HAIN real time
Red Post processed
In the middle of the plot, the LBL positions tend to jump almost
a metre in the south east direction. It is probably caused by
either a reflection on one of the range measurements or a
missing range measurement. The jumps do obviously not match
with the other input to the HAIN, and the HAIN positions do
not follow the jumps.

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The next figure shows when there is no noise on the LBL

measurements, the difference between the HAIN positions and
the measured positions is in the cm range. The water depth is
almost 4000 m.

Figure 18 When good LBL, depth 4000 m

Line colours:
Blue LBL real time
Green HAIN real time
Red Post processed

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TECHNICAL SPECIFICATIONS

HAIN computer
Material anodized aluminium
Length x width x height (425 x 445 x 185) mm
Weight in air 17 Kg
Waterproof IP 66

Power
Power Requirements (50-60 Hz) (180-264 / 90-132) Vac
Nominal 80 W

IMU - Position Reference

General
Material anodized aluminium
Length x width x height (280 x 136 x 162) mm
Weight in air 4.8 Kg
Waterproof IP 66

Power
Requirements 24 volt dc
Consumptions 12 W

Dynamic range
Gyro ± 500 °/s
Accelerometers ± 30 g

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IMU - Subsea system

General
Maximum depth rating 4000 m
Material anodized aluminium
Length x width x height (280 x 136 x 162) mm
Weight in air / water 31.5 Kg / 13 kg
Tube / flange diameter 206 mm / 248 mm
Overall length 460 mm

Power
Requirements 24 volt dc
Consumptions 12 W

Dynamic range
Gyro ± 500 °/s
Accelerometers ± 30 g

Interfaces
The HAIN system supports the following interfaces:
• To the HAIN computer
- IMU measurements, RS-232 up to 115 200 baud
* RDI PD0 protocol.
- IMU heading and attitude, RS-232 up to 57 600 baud
* Octans standard format or Simrad EM 1000 protocol.
- RDI DVL, RS-232 / RS-422 up to 57 600 baud
* RDI PD0 protocol.
- Digiquartz Pressure Sensor, RS-232 / RS-422
up to to 57 600 Baud
* Digiquartz standard format.
• Between the HAIN computer and APOS
- 10 / 100 Mbit, Ethernet TCP / IP.
• Output of position headings and attitude
- Ethernet TCP / IP or RS-232 / RS-422
* Standard APOS protocol, NMEA or binary.

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