Transcript TRIGGERFISH

TRIGGERFISH Technical Overview
Navigation, Synchronization and Survey Management
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Markets
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OBC/TZ
2D/3D High-res Towed Streamer
LOFS
Multifunction vessels
Nodal
Hydrographic
Slide 2
TriggerFish INS advantages
• Familiar platforms
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Windows operating systems are familiar to users and allows “off-the-shelf” PC systems
to be used.
• Flexibility of hardware
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Rack-mount, desktop, laptop or tablet PCs may be used.
Interfacing via PC serial I/O or high-spec Gravel Decoder Unit
• Hardware technology
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Single board PC interfaces for better time stamping and reliability
GPS locked, bus level timing for remote source-recorder synchronization to < 1µs
Oscillator allows continued synchronisation through GPS signal outage
• Smart synchronization protocol
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Acknowledgement of shot prediction time ensures remote synchronization
System will fire on time-lock if communications are lost
• Simplified configuration
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Simple drag-and-drop configuration of vessel and source sensors
Import of standard formats for vessel configuration, preplot & mapping data
• Cost & licensing
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Significantly less expensive
Flexible licensing, no transfer of license details by radio
Slide 3
OBC/TZ primary functions
• Command & Control
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Central control & distribution of geodetics, tide, survey and mapping data
Central distribution of RTCM data
Remote or local set-up of deployment, shot & ping lines
Remote QC
Zone alarm and warning systems
• Receiver deployment
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Drop location by manual fix, auto-fix or RFID read
Acoustic IDs populated from RFID reader
Cable management/inventory
• Source control
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GPS synchronisation, oscillator stabilised, bus level timing ~1us
Remote QC and header transfer
Multiple shooting vessels/recorders
Flip-flop & gun array mean (GAM)
• Acoustic positioning
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Control of Sonardyne OBC12 and real-time acoustic positioning
Acoustic asset real-time transfer from deployment system
Multiple receiver line positioning
Simultaneous shooting & pinging, deploying & pinging
Slide 4
Platforms and scalability
• Operating Systems
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Windows XP
Windows Server
Windows 7
Windows 8
• Typical machine requirements
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2.6Ghz dual core, 4Gb RAM, 2 x Ethernet, min 2 serial ports
Small vessel systems for deployment or scouting can run on tablet PC (1.6Ghz Atom)
• Scalability
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System components are networked and may be expanded easily to provide extra
displays/functionality
Small scale systems may operate will reduced hardware, and be upgraded as and when
required.
Systems can scale from single vessel limited functionality (say bathymetry acquisition) to
integrated, multi-function operations such as multi-shooter OBC/TZ operations, or 2D
streamer undershoots.
Slide 5
Safety and fleet management
AIS, ARPA & VTS Systems
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Full decoding of AIS messages
ARPA and VTS interfaces
Calculations of threat to vessel and towed equipment
from tracked targets (CPA)
MOB Alarm
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Activated from any vessel
Displays range & bearing to event on all vessels
Creates log
Zone Incursion & proximity Alarm System (ZIPAS)
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Definition of proximity and two exclusion zones
Zones defined for obstructions, vessels and towed
equipment
Voice, audible & visual alarms
Continuous logs of proximity and incursion events
Configurable activation times for alarms
Slide 6
System components(1)
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Survey Editor
• Configuration of Geodetics, preplot, obstructions, coastline,
background maps, bathymetry, tide.
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System Editor
• Configuration of vessel & sensor offsets, software & hardware
settings, interfaces & logging. Monitoring of raw sensor interface
data & headers and radio networks.
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Survey Manager
• Online management of survey operations.
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Servlet Manager
• Functional processes, “Servlets”. Monitoring and control.
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Navigation Monitor
• Online QC and monitoring. EOL reports (pdf), text outputs (ASCII)
Slide 7
System components (2)
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TriggerFish Server
• Proprietary client-server system (data server). All applications
communicate and receive configuration data via this system.
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Sensor I/O Windecoder Servlet
• Provides sensor interfacing via PC serial ports, USB-Serial devices &
network ports. RS232, RS422, UDP, TCP/IP.
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Gravel trigger Unit (GTU)
• GPS synchronised trigger unit; <1us. GPS stabilised Oscillator, 3 x I/O
triggers, 1PPS Output
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Radio Hardware
• Rack-mount or mast-mount enclosures. Serial (UHF) or network
(900Mhz/2.4Ghz radios)
Slide 8
On-line QC and EOL reports
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Navigation Monitor
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Monitoring & Analysis tool, On-line QC and EOL report
Time series plots of raw and derived data
Position comparison displays
Tabular displays of data
Data frequency alarms and displays
Vessel map
Data retrieval from logged files (XML)
EOL report configuration and printing
Text data & statistical file output (Record Writer)
Slide 9
Sensor interfaces
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GPS/rGPS/Raw GPS/correction data
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NMEA (HDM, HDT, VTG)
Laser
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MDL Fanbeam/Mars
Sonardyne tag format
Look-up table (custom)
Others
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Sonardyne OBC12
Sonardyne SIPS II
Applied Acoustics V-Nav
RFID
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NMEA (DBK, DBT, DPT, DBS)
Simrad EA600
LAZ 4700
STG 721
Acoustics
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Digicourse extended binary
Oyo Geospace ASCII
Heading sensors
Echosounder
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Streamer devices
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NMEA (GGA, GST, GSA, GLL, VTG, ZDA, RMC)
Veripos UKOOA
WesternGeco Trinav
Trimble Binpos
PBX Posnet (multi data)
Seatrack (rGPS)
Fugro (rGPS)
BuoyLink (rGPS)
C-Nav raw
RTCM
Magellan/Aquarius
SatPos Citius (rGPS)
SOJ/SOM (multi data)
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Wind speed
Water speed
ARPA/AIS
Kenwood VTS
SOJ/SOM network interface
Tide Gauge
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Geonica
Sonar Research
Valeport
Slide 10
Special device outputs
• Autopilot
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Robtrack STS500
Kongsberg C-Joy/C-Pos
Anschutz Pilotstar D
NMEA (RTR, VTG, APB)
• ECDIS
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NMEA
• GPS correction data rebroadcast
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RTCM-104
• Output to Gravity System
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INSD (Spectra)
• WesternGeco Trinav
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GPS
rGPS
Slide 11
Geophysical interfaces
• Gun Controllers/Gun QC
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I-On Digishot
RTS BigShot/LongShot/Hotshot
RTS SmartSource
Seamap GunLink
Macha GMCU1
Sercel/Syntron GCS90
AG SSMS
RTS SmartSource
• Recording Systems
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Aram Box
Sercel 408
Sercel 428
Sercel Seal
Sercel SeaRay
Oyo Geospace
• Header formats
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Labo Rev 3
Syntrak
User Header 7 tags
Hydronav Rev 4, 5 & 6
Triggerfish
Shallow Sequencer (SeaRay)
GCS90
SPS source records
SMG
Simple text
• Protocols for header transfer
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Serial RS232/RS422
UDP
File
Slide 12
Survey configuration
Geodetics, Preplot & Mapping definitions
• Geodetics
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In-built database of ellipsoids & projections
Manual definition of geodetics
Save/load from Triggerfish XML file (proprietary)
UKOOA P1 & P2 header
SPS header
Great Circle / Grid
• Preplots
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End-point, Point-to-point (4D), Spiral
Manual definition
Triggerfish XML file (proprietary)
UKOOA P1 & P2
SPS Rev 1 & 2
CSV (column/field chooser)
• Obstructions
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Manual definition
DXF
ESRI (SHP)
Exclusion zone settings
• Background mapping
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DXF
ESRI (SHP)
Raster file (TIF, BMP, JPG, PNG)
• Bathymetry functions
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Depth import from CSV text file
(X/Y/Z or Lat/Lon/Depth)
Contour calculator
• Coastline
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MAPGEN (.DAT) format
Triggerfish XML file (proprietary)
DXF
ESRI (SHP)
Slide 13
Vessel Positioning Model
Vessel position model
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Weighting and ranking of vessel DGPS receivers
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Solution by weighted mean of enabled receivers. Rank 1 devices are used in the
solution unless all rank 1 devices time-out, in which case the solution uses any rank 2
devices, and so on..
Ranking of vessel heading sensors
Heading devices may also be grouped in ranks. Sensor from the highest rank are
averaged and used in the position model.
• Kalman filter
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Vessel position derived from Kalman filter output. The initial filter settings are
determined from the vessel dimensions.
• Position status alarms
“State check” panels are provided for each GPS device. Panels provided warnings for
user defined exception conditions (e.g. by HDOP threshold value)
Slide 14
Source Positioning Modes & Models
Source centre calculation modes
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Tow-point track layback
Towed/array mounted compass derived layback
Array mounted DGPS
Array mounted RGPS
Source positioning models (non-layback modes)
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Position by weighted mean of rotated and offset node locations
Rigid array: Universal gun-string rotation (under-determined solutions)
Solved array: Independent gun-string rotation (determined solutions)
Multi-source modes
Single vessel/dual source (Flip-flop)
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Discrete source lines & predictions: Each array fires on its own preplot for its own line
Gun Array Mean (GAM): The mean, array centre position is used to trigger the shot
Multi-vessel/single source
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Position Optimised: All arrays fire on preplot; minimum shot interval setting is respected
Paced Sequence: “Pacer” fires on prediction, “Trackers” fire at timed offset sequence from
Pacer
Timed Sequence: Arrays fire at fixed time interval sequence
Slide 15
Streamer Positioning Models
Streamer shaping/positioning
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Compass bearing traverse
Receiver locations by fitted model
Compass bias calculation
Stretch functions
Rotation to tailbuoy position
Streamer head (CNG) positioning
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Tow-point track layback: CNG is assumed to have followed the track of the vessel tow-point
Vessel heading layback: CNG position is derived by layback along vessel heading
Vessel CMG layback: CNG position is derived by layback along vessel CMG
Heading/CMG mean layback: CNG is derived by layback along mean of vessel heading & CMG
Front compass layback: CNG position is derived by layback along the bearing of user selected
cable compass.
Slide 16
Shot Control Modes
Control modes
Preplot (distance*)
Time
Manual: Single shot count-down timer from manual start
External: Prediction time message from external (third party) source
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*All lines are stored as discrete points, allowing native support for:•
Grid or Great Circle
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Dog-legs
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Curves/Circles
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Spirals
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4D
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Variable shot spacing
Trigger Positions
The following may be selected as the shot predictor (“trigger”) position:•
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Vessel layback: Prediction based on track layback from vessel reference
CMP: Prediction based on real-time, solved, midpoint between the streamer CNG and COS
Source layback: Prediction based on track layback from source tow-point on vessel to nominal COS
Source: Prediction based on real-time, computed, COS position
GAM: Prediction based on real-time computed, mean centre between arrays
Slide 17
Source/Recorder Synchronisation
• Gravel Trigger Unit (GTU): Custom built GPS clock and oscillator
hardware, 3 programmable output triggers, 3 input triggers, interface to
source controller and/or recording system.
• “Shot Radio” link: Dedicated, robust, serial radio link between
shooter(s) and recorder(s). Shot radio link carries only critical data;
predictions, trigger timestamps, header data, multi-shooter control. The shot
radio system will support up to 5 source and recorder vessels without the
need for duplicate equipment sets.
• GPS synchronisation: GPS time prediction messages are transferred
continuously from the source vessel to the recorder(s) at user defined lockdown time prior to shot.
• Header transfer: Navigation and Gun header data are transferred to
the recorder(s) from the source vessel. The TFish system on the recorder
generates external header data.
• Trigger time QC: All prediction times, input and output events are time-
stamped. Immediately after the shot, these times are exchanged between
the source and recorder vessels where they can be differenced for QC and
verification.
• Precision: The timing precision achieved for synchronisation is better than
1 microsecond.
Slide 18
Receiver Cable Deployment & Positioning
• Cable tracking/management
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Cables are defined in the System Editor and set for deployment with the deployment task
dialogue in the Survey Manager. When a cable is assigned to a task, it is no longer editable in
the System Editor. Once the cable is deployed, it is added to the InSeaCable (ISC) database
and automatically removed from the System Editor. A cable “Recovery” task moves a cable
from the ISC to a vessel configuration, where it is again available for editing in the System Editor.
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If acoustic beacons are used with the cable, the beacon ID’s can be pre-configured in the
cable definition (System Editor) or read automatically using FRID hardware. The beacon IDs may
be edited manually in the ISC editor after the deployment, say, in the case where a tag read
failed or the beacon was labelled incorrectly; this will update the information for pinging vessels
which receive the ISC updates via the data radio system
• Deployment methods (cable)
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Auto-fix: The receiver drop location is taken as the deployment node passes perpendicular to
the preplot.
RFID fix: The last tag read within a defined window is used to mark the drop location.
Manual fix: The drop location is taken manually by use of fix box button or keyboard
Slide 19
Deployment & positioning data flow
Slide 20
Receiver Cable Positioning
Acoustic positioning
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Drop location and acoustic beacon IDs are contained within the ISC database. The
synchronisation of this database is controlled by the Master vessel on the data radio network.
Pinging vessels, if configured to receive the drop information from the Master, will receive drop
data in real-time allowing simultaneous deployment and acoustic positioning operations, for
instance.
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Multiple receiver lines may be “pinged” simultaneously
OBC-12 control
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TriggerFish fully controls the Sonardyne OBC12 transceiver, it assigns interrogation commands, gain
settings, interrogation window sizes and receives ranges.
Acoustic solution
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Within a single acoustic task operation, all ranges to a beacon are retained, therefore, if the vessel
makes a complete circuit of the receiver line within the task, a full geometric solution may be
obtained.
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Acoustic solution results are stored after each ping task, and these results are used to weight any
subsequent solutions, this provides an approximation to a geometrically balanced solution if, for
instance, a line is “pinged” in several tasks.
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Solutions are 3D, least squares. QC is displayed for error ellipse, residuals, number observations by
quadrant.
Slide 21
Sample OBC/TZ crew
Recording System
Fix box
Data radio
RECORDER VESSEL SYSTEMS (Master)
Network
Start
Network switch
HDR
TB
Triggerfish Trigger Unit
Triggerfish PC
USB-Serial I/O
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RTCM
DGPS
USB-Serial adapator
Triggerfish PC
Displays
Echo
Gyro
Displays
CABLE VESSEL SYSTEMS
Network
RS232
GPS
RTCM
Gyro
Shot radio
Data radio
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Shot radio
Data radio
RS232
Network
Displays
Data radio
RTCM
Acoustic
Network
Serial I/O
DGPS
USB-Serial adapator
Triggerfish PC
Gun controller system
Triggerfish PC
Serial I/O
Fire
CTB
Displays
HDR
RTCM
RGPS
Echo
Gyro
Network switch
SHOOTER VESSEL SYSTEMS
Triggerfish Trigger Unit
DGPS
Echo
Gyro
ACOUSTIC VESSEL SYSTEMS
Slide 22
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