HiPAP
High Precision Acoustic Positioning
HiPAP
The main purpose of the HiPAP system
• HIPAP system is a position reference system at DP system.
• The position calculation is based on range and bearing
measurements from the onboard transducer to the subsea
transponder(s), Based on Principle of sound in water.
• Sound velocity in water 1400- 1540 m/s
• Frequencies: 21 – 31 KHz
APPLICATIONS
1. Dynamic Positioning (DP) reference
2. Subsea survey and inspection
3. Rig and Riser monitoring
4. Acoustic Blow Out Preventer (BOP) control for drilling industry
5. Construction work and metrology
HiPAP
HIPAP System faces the following limiting factors:
• Noise
• Thruster
• Drilling
• Waves
• Other Acoustic activity
• Reflections
• Seabed
• Subsea structures
• Ray bending
• Temperature layers
• Salinity
• Transmission losses
• Spreading
• Absorption
HiPAP
• SSMV/ AMAN is equipped with a Kongsberg
HiPAP 501. that can operate super short base line
SSBL, or long base line LBL.
• HiPAP OS and transceiver are powered from DP
UPS 1.
• Gyro No. 1 supplies the HiPAP system with
heading information.
• DGPS No. 1 supplies position information.
• MRU No 3 provides motion data.
A HiPAP system consists of the
following main units:
• Operator station
• Transceiver unit
• Hull unit with transducer and hoist control
• Gate valve and mounting flange
HIPAP Operator station
• The HiPAP system is operated from one or several
operator stations. One station can operate several HiPAP
transducer and of various types.
• A HiPAP system may be configured with the Operator
Station in two ways:
1. Stand alone APC 1x computer, monitor, keyboard and
trackball.
2. Operator console, integrated with the Dynamic
Positioning (DP).
• The Operator station comprises of:
1x computer
Keyboard
Trackball
Color monitor
HIPAP Transceiver unit
• Two types of HiPAP transceiver units are
available:
1. HiPAP x81 Transceiver Unit, for all Models
2. HiPAP x21 Transceiver Unit, for HiPAP 351 or
101
• The unit contains power supplies, transmitter
and receiver boards, transceiver powered
from DP UPS 1.
HIPAP Transducers
• The HiPAP 501 transducer has a full spherical
transducer body including 241 transducer
elements
• The large number of elements enables narrow
receiver beams to be generated. The
transducer is mounted on the hull unit
HiPAP 501 transducer
Advantages
High Accuracy.
Long range capabilities.
Good noise redaction
capabilities.
Good multipath
suppression.
HIPAP Hoist control and Hull units
• Hoist Control Unit This unit holds the power
supplies and control logic for the hoist and
lower operation of the hull unit. It also has a
local control panel for local control of the
hoist / lower operation.
• The HiPAP hull unit enables the transducer to
be lowered, by either local or remote control,
The hull unit is installed on top of a gate valve
HIPAP Gate valves and Mounting
flange
• There are two different flanges available one
with 500 mm aperture and one with 350 mm
aperture. Standard height is 600 mm. Optional
length is available on request.
• There are two different gate valves available,
one with 500 mm aperture and one with 350
mm aperture. The valve is hand wheel
operated.
HIPAP Gate valves and Mounting flange
TRANSPONDERS
The various transponders models have different
depth rating, source level, lifetime, beam
pattern and function.
There are two main transponder series:
1. cNODE® series which are using Cymbal acoustic
protocol.
2. MST series which are using traditional
frequency shift Keying (FSK) modulation
technique
cNODE® series using Cymbal acoustic protocol.
Cymbal utilizes Direct Sequence Spread Spectrum (DSSS)
signals for positioning and data communication.
Acoustic protocol used for both positioning of subsea
transponder in SSBL/LBL mode and data communication
to and from transponders.
TRANSPONDERS cNODE® series
• The cNODE® series consist of three main models:
• Maxi transponder - a full size transponder with large
battery capacity well suited for seabed deployment
and long life operation.
• Midi transponder - a short transponder with good
battery capacity well suited for installation on
structures.
• Mini transponder - a small sized transponder suited
for ROV mounting.
TRANSPONDERS cNODE® series
The transponder name consists of the
model name, the model number and any
options included.
cNODE®Mini 34-40V
Model name: Mini
Model number:
Digit 1: frequency band 30 KHz
Digit 2: depth rating 4000 m
Transducer beam width 40V = 40° vertical
TRANSPONDERS cNODE® series
cNODE Mini 34-40V
Frequency band MF
Maximum depth rating 4000 m
Housing material Anodised Aluminium
Housing coating Polyurethane
Overall length 600 mm
Diameter housing with coating 85 mm
Diameter transducer 100 mm
Weight in air / water 6.7 kg / 3.4 kg
Operation temperature -5 to +55 C
Transducer beam 40 vertical
TRANSPONDERS cNODE® series
TD40V has a 40° cone transducer beam width
vertical, With aluminum & stainless steel material.
Tube contain Battery& Electronic for transponder,
With aluminum & stainless steel material.
Battery is Rechargeable
End cap The end cap base holds the following:
Vent screw
ON / OFF switch including Pressure relief valves
Two external connectors
1. External signal connector
• An eight (8) pin female Subcon MCBH8F connector for
serial line, External power supply and Responder signal
1. External charge connector
• An eight (8) pin male Subcon MCBH8M connector for
battery charging.
TRANSPONDERS cNODE® series
Vent screw
The vent screw is used when charging the battery,
to prevent build-up of gases inside Transponders.
The vent screw can be opened by hand, or use a
suitable screwdriver.
Pressure relief valve
The ON/OFF switch also acts as a pressure relief
valve.
If the switch rest in a not fully home position, or
they feel springy when pushed in place, it means
there is some over-pressure inside Transponder
If the pressure becomes too big, the valve will
vent. When the pressure has been relieved, the
switch can be pushed back into position
TRANSPONDERS cNODE® series
Pre-deployment checks
Before you deploy the transponder, you must:
1. Check that the battery contains sufficient power for the proposed
operation.
2. Before deployment, perform a visual inspection of the transponder.
The Vent screw and the Pressure relief valve must be closed.
The Charger connector must be fitted with a dummy plug.
The Signal connector must be fitted with an external cable or a
dummy plug.
3. Perform a functional check to ensure it will operate correctly once it
has been positioned on the seabed.
Ensure the transponder replies to the correct interrogation frequency
The functional check can be performed as follows:
• Transponder on deck – use TTC for cNODE® transponders.
TRANSPONDERS cNODE® series
Mounting The transponder may be secured to a
subsea structure using mounting brackets.
Deployment
When you deploy the transponder:
The unit must be positioned with the
transducer upright.
Ensure a clear line of sight between the
transponder’s head and the ship’s transducer.
The transponder requires brackets to hold the
transponder securely in position.
Ready for operation
TRANSPONDERS cNODE® series
Recovery checks
After recovery switch the unit OFF
Wash the unit thoroughly in warm fresh water to
dissolve any salt deposits and clean off any sand or
silt.
As an extra precaution, it is recommended that the
unit is left to soak in fresh water to allow salt to
dissolve and diffuse from hard-to-reach areas, such
as crevices around O-rings, and between mating
parts. - Leave the unit to soak for 24 hours, or as
long as practical conditions allow
Three Main Principles of Underwater
Navigation
SSBL - Super Short Base
LBL - Long Base Line SBL - Short Base Line
Line
SSBL - Super Short Baseline
• Interrogation pulse(s) from a
topside transducer to a subsea
transponder.
• Transponder answers with a reply
pulse
• Time measurement and velocity of
sound used to compute the slant
range
• Measurement of phase difference
used to compute direction to the
transponder
SSBL - Super Short Baseline
SSBL - advantages and disadvantages
Advantages
• Only one transponder is required
• Simple to operate
Disadvantages
• Slow update rate at deep water
• Less accuracy at deeper water
LBL - Long Base Line
• Requires 4-6 transponders in one array.
• The baselines are between the
transponders on the seabed
• The vessel, rig or transponder is
positioned relative to this array
• LBL positioning requires calibration of a
transponder array
• By using the calibration data together
with the calculated ranges in software
algorithms, the vessel or an ROV can be
positioned
LBL - Long Base Line
LBL - advantages and disadvantages
Advantages
• High accuracy even at deep water (better than 1 m at 1500m
depth)
Disadvantages
• requires several transponders at seabed
• array calibration can be time-consuming and complicated
• slow update rate at deep water
SBL - Short Base Line
• The baselines are between
transducers on the vessel
• A transponder is positioned
relative to the vessel
SBL - advantages and disadvantages
Advantages
• Satisfying accuracy.
• Requires only one transponder.
Disadvantages
• Several transducers on board -
expensive
• Vulnerable to thruster noise and
aeration