SENSORS HAIN An Integrated Acoustic Positioning And Inertial Navigation .
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
Kongsberg Simrad 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 1 Return to Session Directory
Kongsberg Simrad HAIN Benefits Survey: Increase accuracy Increase update rate Dynamic Positioning: Extend both SSBL and LBL operation limits Use slow acoustic update rate - Save batteries Position update during acoustic drop-out 2 Return to Session Directory
Kongsberg Simrad HAIN Acoustic positioning: Relativ high and evenly distributed noise No position drift Inertial positioning: Very low short term noise. Relativ large position drift 3 Return to Session Directory
Kongsberg Simrad HAIN – Inertial Navigation acc x acc y acc z Navigation calculations gyro x gyro y gyro z Attitude calculations Velocity Position Attitude (Roll, pitch, heading) The IMU measurements are relative to inertial space. Integrate accelerometers 1x gives velocity, 2x gives position Integrate gyros 1x gives attitude 4 Return to Session Directory
Kongsberg Simrad HAIN – INS classes INS systems are usually classified by the standard deviation of the position error growth of their free unaided performance Class Traditional application Gyro technology Gyro bias Accelerometer bias 1nmi/h Marine, air and land navigation RLG, FOG 0.01 /h 50µg 10nmi/h Tactical systems RLG, FOG 1 /h 1mg 5 Return to Session Directory
Kongsberg Simrad HAIN – Kalman Filter Structure Reset Compass ψ north ,naveq Findψ north . Gyros Accelerometers - DVL B v EB , DVL (Attitude) R LB ,naveq B ω IB , gyro B f IB ,acc ψ north ,cmps Navigation Equations Decompose in L L L (Velocity) v EB ,naveq - v EB,DVL R EL ,naveq (Position) IMU - INS Error state Kalman filter REL , posm DGPS HiPAP z naveq (Depth) - zdepthm Pressure sensor Return to Session Directory Estimates (of errors in navigation equations and colored sensor errors) 6
Kongsberg Simrad HAIN VesselPos 7 Return to Session Directory
Kongsberg Simrad HAIN VesselPos Acoustic Pos. & Aided Inertial Position Acoustic Pos. Lat/lon APOS DP System Aided Inertial Pos. & Status INC 10 IMU Heading Roll&Pitch HiPAP Transceiver Td Acoustic signals 8 Return to Session Directory
Kongsberg Simrad 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 Return to Session Directory 9
Kongsberg Simrad HAIN - Simulations Drop-out during vessel move IMU:1nmi/h Drop-out Accelrates Recover pos. HiPAP SSBL 1000 m Black : Correct position Blue : HiPAP “ Green : HAIN “ Vessel accelerates during a HiPAP dropout between 1240s and 1250s 10 Return to Session Directory
Kongsberg Simrad HAIN - Simulations VesselPos accuracy during HiPAP dropout. 1nmi/h IMU 11 Return to Session Directory
Kongsberg Simrad 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. 12 Return to Session Directory
Kongsberg Simrad HAIN - Seatrials B61. AL15.txt. 49 positions. Reduces HiPAP update rate 60 40 20 North. Start 0 -20 -40 -60 -80 -60 -40 -20 0 East. 20 40 60 80 100 Blue crosses: Vessel position from HiPAP updates, 1.5 to 20 second. Green crosses: Vessel positions from real time HAIN estimates every second 13 Return to Session Directory
Kongsberg Simrad HAIN - Seatrials B61. AL15.txt. 49 positions. B61. AL15.txt. 49 positions. 80 80 60 60 40 40 20 North. East. 20 0 0 -20 -20 -40 -40 -60 1550 -60 1600 1650 1700 1750 1800 1850 Time [s] since 15:00:00 1900 1950 2000 -80 1550 1600 1650 1700 1750 1800 1850 Time [s] since 15:00:00 1900 1950 2000 The time plots show the same circles as the scatter plot on the previous slide. 14 Return to Session Directory
Kongsberg Simrad HAIN - Seatrials B61. AL15.txt. 49 positions. 0.9 HAIN 1-sigma accuracy before HiPAP measurement Horizontal 1-Sigma 0.8 0.7 0.6 0.5 0.4 HAIN 1-sigma accuracy after HiPAP measurement 1750 1800 1850 1900 Time [s] since 15:00:00 1950 Blue crosses: Estimated HiPAP 1-sigma accuracy, based on Signal to Noise level, distance and geometry Green line: HAIN 1-sigma estimated accuracy. Based on these values we should expect 0.90m difference between HiPAP measurement and HAIN estimate. Return to Session Directory 15
Kongsberg Simrad HAIN - Seatrials B61. AL15.txt. 49 positions. -4.5 East difference for one m easurem ent -5 The average of the difference in the horizontal plane is 0.64m. East. -5.5 -6 -6.5 -7 -7.5 -8 1830 1830.5 1831 Time [s] since 15:00:00 1831.5 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. 16 Return to Session Directory
Kongsberg Simrad 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 17 Return to Session Directory
Kongsberg Simrad HAIN – Seatrials with offshore DP vessel Timeplot North co-ordinate HAIN green, HiPAP blue, dGPS red 18 Return to Session Directory
Kongsberg Simrad HAIN SubseaPos 19 Return to Session Directory
Kongsberg Simrad HAIN SubseaPos dGPS Acoustic Pos. Lat/lon Acoustic Pos. & Aided Inertial Position DP System HiPAP Operator Station dGPS Survey Heading Aided Inertial Pos. & Status Roll&Pitch HiPAP Transceiver Td Acoustic signals ROV HCS 10 DVL Return to Session Directory IMU Depth 20
Kongsberg Simrad HAIN - Simulations Simulation parameters: Return to Session Directory HiPAP angle accuracy 0.1 in x and y dGPS position white/coloured noise: 0.15m/0.1m North and East DVL speed white/coloured noise: 0.02m/s / 0.015m/s 21
Kongsberg Simrad HAIN Pipeline route survey - Depth 650m Sceen dump, real-time data HiPAP SSBL – grey line, HAIN – blue line Return to Session Directory 22
Kongsberg Simrad HAIN Pipeline route survey - Depth 650m HiPAP SSBL blue , HAIN real-time green, post processed red 23 Return to Session Directory
Kongsberg Simrad HAIN Seabed Survey – Depth 4000m Survey lines – post processed 24 Return to Session Directory
Kongsberg Simrad HAIN Seabed Survey – Depth 4000m LBL blue , HAIN real-time green, post processed red 25 Return to Session Directory
Kongsberg Simrad HAIN Seabed Survey – Depth 4000m LBL blue , HAIN real-time green, post processed red 26 Return to Session Directory
Integrated acoustic positioning and inertial navigations system Jan Erik Faugstadmo Hans Petter Jacobsen Kongsberg Simrad AS Dynamic Positioning Conference, Houston, September 16-17 2003 . HAIN - Inertial Navigation Navigation calculations acc x acc y acc z Attitude calculations gyro x gyro y gyro z Velocity Position Attitude
yani allah ke doston ke waqeat hain. Bachcho ! Kya aap ko pata hai ke dost kon hota hai ?. Dost woh hota hai jisay aap pasand karte hain. Jis ki adaten aap jaisi hoti hain. “Aulia Allah” yani allah ke dost bachpan hi se Allah Taala ki farmai hui baton par amal karte hain, har kaam Allah Taala ki khushnodi ke liye karte hain.
Yusuf A.S Saman Ki Talashi Lete Hain Aur Apne Bhai Bin Yamin Ke Saman Se Pani Ka Pyala Nikalte Hain Bhai Yousuf A.S Se Kehte Hain Ki Bin Yamin Ke Badle Unme Se Kisi Ek Bhai Ko Apne Paas Rakh Le Yusuf A.S Kehte Hain Ki Insaf Yahi Hai Ki Chori Bin Yamin Ne Ki Islie Use Hi Unke Paas Rukna Hoga.
map ko set karna map ko isliye set karte hain ki taki jo zamini nishan map par hain unka zamin par asli nishan ke saath position aur direction set ho jayen. isme map ka true north zamin ke north se samantar hota hai. map ko set karne ke do tarique hain :- (a) compass ki madat se.
Other examples of sensors Heart monitoring sensors "Managing Care Through the Air" » IEEE Spectrum Dec 2004 Rain sensors for wiper control High-end autos Pressure sensors Touch pads/screens Proximity sensors Collision avoidance Vibration sensors Smoke sensors Based on the diffraction of light waves
dimensionality of acoustic data. The acoustic data are recorded by fibre optic distributed acoustic sensors which are attached along 4000 (m) pipe with frequency of 10 (kHz) and for a period of 24 hours. Data are collected from distributed acoustic sensors are very large and we need to identify the area that contains the most informative signals.
Play Acoustic – Reference manual (2014-05-09) 7 Welcome to the Play Acoustic manual! First, thank you so much for purchasing Play Acoustic. We at TC-Helicon are confident that your vocal and acoustic guitar performances will be positively impacted with this great effects processor. As you discovered in the Quick Start Guide (the
TECHNOLOGY RISK REDUCTION Developing next-generation acoustic core Improve acoustic performance through unique non-conventional geometries Large acoustic cell configuration in development Producible/Cost-effective large acoustic cavity configuration Producible design concepts for acoustic testing “On Hold” until 2021 . Large .
In Abrasive Jet Machining (AJM), abrasive particles are made to impinge on the work material at a high velocity. The jet of abrasive particles is carried by carrier gas or air. High velocity stream of abrasive is generated by converting the pressure energy of the carrier gas or air to its kinetic energy and hence high velocity jet. Nozzle directs the abrasive jet in a controlled manner onto .
