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Kongsberg Maritime AUVs

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Een update over verschillende AUVs van Kongsberg Maritime met toepassingen en mogelijkheden van verschillende modellen in de reeks. Aandacht voor data kwaliteit van de peilingen.

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Kongsberg Maritime AUVs

  1. 1. KONGSBERG PROPRIETARY: This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing. Any authorised reproduction in whole or in part, must include this legend. © 2014 KONGSBERG – All rights reserved. KONGSBERG MARITIME Autonomous Underwater Vehicles Richard Mills Product Sales Manager AUVs Email: richard.mills@km.kongsberg.com KONGSBERG PROPRIETARY. This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing. Any authorised reproduction in whole or part must include this legend © 2012 KONGSBERG – All rights reserved.
  2. 2. Kongsberg Maritime AUVs 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 2 SEAGLIDER: Advanced long range glider • Depth Rating: 1000 m • Payload: water column, ADCP, hydrophone plus options • Power Source: primary Lithium battery • Endurance: up to 10 months MUNIN: Modular low-logistics commercial AUV • Depth Rating: 1500 m (600 m option) • Payload: EM2040, SSS, CT, (SBP & Camera option) • Power Source: rechargeable/swappable Lithium Ion battery • Endurance: 12 to 24 hours HUGIN: Most capable AUV for commercial, research or defence •Depth Ratings: 3000, 4500 or 6000 m •Payload: HISAS, SSS, SBP, MBES, CTD, Camera plus options •Power Source: swappable Lithium Polymer batteries •Endurance: up to 75 hours
  3. 3. Kongsberg Maritime AUVs - Hydroid 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 3 REMUS 100: World leading small AUV • Depth Rating: 100 m • Payload: SSS, ADCP, CTD, Bathymetry, Environmental • Power Source: rechargeable Lithium Ion battery • Endurance: ~8 hours REMUS 600: Highly versatile modular AUV • Depth Rating: 600 or 1500 m • Payload: SSS, SBP, MBES, ADCP, CTD, Camera plus options • Power Source: rechargeable Lithium Ion battery • Endurance: ~24 hours REMUS 6000: From littoral to deep •Depth Ratings: 4000 or 6000 m •Payload: SSS, SBP, MBES, ADCP, CTD, Camera plus options •Power Source: swappable Lithium Ion battery •Endurance: ~16 hours
  4. 4. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 4 What Are Our AUVs Used For? Applications: • Geophysical Survey • Hazard/Site Inspection • Hydrographic Survey • Pipeline Inspections • Pseudo Seismic • Geochemical Survey • Environmental Monitoring • Oceanographic Survey • Post Hurricane Assessment • Marine Archeology • EEZ/UNCLOS Surveys • Mine Countermeasures • Rapid Environmental Assessment • Intelligence, Surveillance and Reconnaissance • Harbor Security • Search and Recovery
  5. 5. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 5 Operating AUVs in Shallow Water: Considerations Positioning: • USBL? • GPS? • Inertial? Attitude, Swell and Currents: • Heave and roll in swell and wave action • Algorithms to reduce impact of swell on data • High current reduces operational window Portability and Robustness: •Launch and Recovery in shallow water •Smaller vehicles affected more by wave action •Reliability of data collection KM’s AUVs can operate in 5-10 m of water, but careful planning is required
  6. 6. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 6 Operating AUVs in Shallow Water: Navigation & Positioning Navigation: • Honeywell HG9900 IMU • Teledyne RDI WN 300 kHz DVL • Novatel L1/L2 GPS • NavP Aids to Navigation: • HiPAP 501, 351, μPAP •TerrNav DTM •Underwater Transponder Protocol (UTP) •Pipe Tracking? Post Mission: •NavLab
  7. 7. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 7 Operating AUVs in Shallow Water: Launch and Recovery Sea State: • 5 in open ocean • North Sea? Ship of Opportunity: • Deck space • Crane • Stinger Ramp •Moonpool Post Mission: •Turn-Around time •Battery charge or battery swap? •Data download or removable storage?
  8. 8. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 8 AUVs and Risk Management: Will I Get It Back? Risk Factors: • Mission profile • Hazards • Reliability • Human error • Risk Mitigation and Mission Management • What happens if something goes wrong?
  9. 9. Fully Autonomous: No interaction from operator • Pre-defined mission plan • No position updates • No supervision of payload sensors Semi-Autonomous: Occasional Updates • Predefined mission plan • Occasional position updates using HiPAP or UTP • Occasional communication with vehicle for status • No supervision of payload data Supervised: Most common commercial mode •Predefined mission plan can be amended during survey •Regular position updates •Real-time data for QC sent to operator •Can change payload sensor settings on the fly •Vehicle sends status, pipeline track points etc. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 9 AUVs and Risk Management: Real Time Supervision
  10. 10. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 10 Reliability and Successes: Image courtesy of Fugro Reliability and Repeatability • More than 600,000 km of contracted commercial survey • Customer reported 96%+ reliability and availability • Repeatable surveys and accurate navigation • Global support
  11. 11. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 11 MUNIN A Low Logistics, High Performance AUV for Commercial Operators
  12. 12. MUNIN: Overview Nose Section • Forward Looking Sonar • NBOS CT Sensor • Pop-off buoy and recovery line • Drop weight 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 12 Battery Module • Swappable dry battery section – 12 hours endurance Navigation and Payload Module • INS • DVL • EM2040 • Sidescan sonar arrays Control Module • Vehicle and Payload Electronics • Fixed Dry Battery – 12 hours endurance Tail Section • Propulsion and steering • cNODE communications and positioning transponder • RF/Wi-Fi/GPS antenna
  13. 13. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 13 MUNIN AUV Key Specifications Dimensions: • Length: < 4 m • Diameter: 34 cm • Weight: <300 kgs Depth Ratings: • 600 and 1500 m Power Supply: • Rechargeable Lithium batteries (fixed and swappable) Endurance: • 12 to 24 hours Navigation: • Honeywell HG9900 IMU • NavP • Forward looking sonar • Novatel L1/L2 GPS • DVL • DigiQuartz depth sensor • UTP & Terrain navigation options Communications: • cNODE • HiPAP USBL • Command Link • Data Link Payload: • EM2040 MBES • SSS • CT Sensor • SBP option • Camera option
  14. 14. Factory Calibration of Payload and Navigation Module: IMU, DVL, EM2040 & SSS No need for alignment and calibration of system after re-assembly = Consistent data quality and positioning Modularity Without Complexity 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 14
  15. 15. Low Logistics But Retaining Productivity 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 15
  16. 16. HUGIN and MUNIN: Complete Systems “AUV in a Box” 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 16
  17. 17. • Survey Parameters: • Altitude: 3 to 150 m • Speed: nominally 1.5 to 2 m/s (~3 to 4 kts) • Performance and coverage: • Full swath HISAS: ~600 m total • Full swath EM2040 single Rx: ~400 m • Full swath EM2040 dual Rx: ~800 m • Area Coverage rate: ~2.6 km2/hour Data Quality and Coverage 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 17 • Sensor combinations improve coverage rates • All sensors can be used concurrently • HISAS/SSS • EM2040 • SBP • TileCam • Environmental/Geochemical
  18. 18. Data Quality and Coverage HISAS 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 18 Object classification and identification: • Spot processing for high resolution: • Objects of interest resolved to 2 x 2 cm (theoretical maximum resolution) • In-mission processing of sidescan and SAS imagery plus bathymetry • In-mission adaptive replanning using SITAR (ATR) Images shown are 850 kHz EdgeTech sidescan sonar (left) and HISAS (right) taken of the same target by the same HUGIN AUV (both sensors running at the same time)
  19. 19. Data Quality and Coverage HISAS 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 19 SAS imagery 400 m swath HISAS Bathymetry Merged EM bathymetry with HISAS bathymetry for full swath product
  20. 20. Data Quality and Coverage EM2040 Bathymetry and Water Column Data 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 20 Image courtesy of C&C Technologies
  21. 21. Data Quality and Coverage TileCam 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 21 Image courtesy of Fugro
  22. 22. Data Quality and Coverage Georeferenced Synchronised Data Sets 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 22 • Two sets of data collected in the same survey • The benefit of having tightly integrated sensors • Only achievable with 1pps timing and geo-referenced data Image courtesy of C&C Technologies
  23. 23. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 23 DVL-aided INS DVL-aided INS Data Quality and Coverage Accurate Georeferenced Data Sets Enhanced positioning using NavP, HiPAP, UTP and Terrain Navigation Modes of Operation: Navigation Error Real-Time Post-Processed Autonomous: No updates, straight line 0.1% of Distance Travelled 0.1% of Distance Travelled Autonomous: GPS fix every 1-2 hrs 2 to 10 m 1 to 4 m Autonomous: NavP UTP ranging 5 m 2 m Supervised: HiPAP USBL updates 0.5 to 6 m (depending on depth and GPS accuracy) 0.5 to 4 m
  24. 24. Autonomous Pipeline Survey 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 24 Proven pipe tracking capability • Software developed, tested and in commercial use on the HUGIN AUV now available on MUNIN Pass 1: SSS or SAS survey • Offset to side of pipeline, ~20 meter altitude • Active vehicle tracking using side-scan imagery Pass 2: EM2040 and Camera Survey •Directly overhead pipeline, ~3-5 meter altitude •Active vehicle tracking using MBE bathymetry and reflectivity If the pipe location is known within 10 m, then the AUV can go straight to the EM2040 and Camera survey
  25. 25. Autonomous Pipeline Survey HISAS Bathymetry 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 25 Altitude 30 m Range (shown) 55 to 105 m Speed 4 knots
  26. 26. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 26 Altitude: 3.5 m Speed: 3.8 knots Autonomous Pipeline Survey EM2040 Bathymetry
  27. 27. Altitude 3.5 m Speed 3.8 knots Autonomous Pipeline Survey TileCam Images 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 27
  28. 28. Autonomous Pipeline Survey Mosaic of Flush Buried Pipe 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 28 Altitude 5.8 m Speed 3.5 knots
  29. 29. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 29 Future Developments? Some Developments Already Underway: • New Payload Sensors: – Laser Imaging/Micro-Bathymetry Sensor – Magnetometer • Automated Recovery & Docking • Persistence and Subsea Residency • New IMU for non-ITAR operators • Improved Autonomy: In-Mission Adaptive Control
  30. 30. 29/08/2014 WORLD CLASS - through people, technology and dedication. Page 30 Future Developments? Where Are We Going?
  31. 31. Visit us at www.kongsberg.com for more information

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