The Use of Sonardyne SPRINT INS, Syrinx DVL & 6G Acoustics to Enable Dynamic Laser Mapping and Metrology

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1 The Use of Sonardyne SPRINT INS, Syrinx DVL & 6G Acoustics to Enable Dynamic Laser Mapping and Metrology Simon Waterfield Survey Support Group Manager, Sonardyne International Ltd.

2 Agenda Key enablers in going dynamic what s needed for positioning? How it works what do you need to do? Metrology verification trial Fort William with DOF Subsea, 2G Robotics and Seatronics Track record highlights; MBARI dynamic metrology / dynamic fauna & flora mapping UTEC / McDermott commercial metrology trial NOAA U-576 dynamic archaeology mapping ADUS DeepOcean dynamic structure asset mapping

3 Sonardyne provides the key enabler Underwater laser systems generate sub centrimetric 3D models for use in high resolution subsea mapping and spool piece metrology. Traditionally scanners had to be installed statically in fixed locations on the seabed leading to prolonged subsea operations. Sonardyne's tight integration of in-house raw DVL (Syrinx), LBL acoustics (6G) and INS (SPRINT) now offers the centimetric positioning enabling dynamic laser mapping from a single supplier.

4 Only Sonardyne manufacturers all the required technology + OR Top of the range SPRINT INS with timing and synchronisation at the micro-second level. SPRINT provides timestamp to the laser system. Syrinx DVL providing individual beam level velocity data for robust centimetric accuracy. INS compensation of the Syrinx DVL transducers and integration of associated angular rate information negates the mm/sec error that exists from standalone DVL s. Sub centimetric 6G acoustic ranges with rich, low level quality metrics that can be used online and in post processing Janus extremely powerful forwards backwards post processing optimised for laser mapping

5 How it works what do you need to do?

6 Verifying the methodology Compared to conventional LBL acoustics and gyros truth Carried out in collaboration with DOF Subsea, 2G Robotics and Seatronics Utilised facilities at The Underwater Centre, Fort William, Scotland Expectation was to achieve dynamic laser metrology results within typical metrology tolerances of the truth

7 Worksite

8 Seabed deployment

9 Seabed deployment West structure, Target 01 Compatt position: E N Heading (T) East structure, Target 02 Compatt position: E N Heading (T) Hub 14 Hub 1 Hub 13 Structure north Depth loop pads Hub 2 Compatt 6206 (Structure CRP) Hub 12 Depth loop pads Structure north Hub 3 Compatt 6205 (Structure CRP) Hub 11 Hub 4

10 Point cloud images pseudo structures Point cloud from single run 2 runs overlaid on top of each other

11 Point cloud fly through pseudo structures

12 Point cloud images existing structure at TUC

13 Results vertical hubs Vertical Hub 3 to 13 (big hub) Laser Avg SD Connect LBL Delta Horizontal Distance Vertical Distance Bearing Hub 3 Pitch Hub 3 Roll Hub 13 Pitch Hub 13 Roll Vertical Hub 2 to 12 (small hub) Laser Avg SD Connect LBL Delta Horizontal Distance Vertical Distance Bearing Hub 2 Pitch Hub 2 Roll Hub 12 Pitch Hub 12 Roll Laser results are an average of both inferred and direct metrology results from 2 runs (in same direction)

14 Results horizontal hubs Horizontal Hub 1 to 11 Laser Avg SD Connect LBL Delta Horizontal Distance Vertical Distance Bearing Hub 1 Heading Hub 1 Pitch Hub 11 Heading Hub 11 Pitch Horizontal Hub 4 to 14 Laser Avg SD Connect LBL Delta Horizontal Distance Vertical Distance Bearing Hub 4 Heading Hub 4 Pitch Hub 14 Heading Hub 14 Pitch Laser results are an average of inferred metrology results from 2 runs (in same direction)

15 Results summary Measurement Absolute Avg Horizontal Distance Vertical Separation Pitch 0.16 Roll 0.39 Heading 0.15 Measurement Avg Horizontal Distance Vertical Separation Pitch Roll 0.03 Heading 0.07 Operational circumstances limited the time available We weren t able to complete the full program Results are only from two usable runs in same direction normal procedure is four runs, two in each direction Structures were passed in opposite sides of the laser scan normal procedure is to have hubs in centre of scan Results based on dimensional control of mounting bracket normal procedure Higher numbers for vertical separation and roll likely caused by residual misalignment artefact between INS and laser Despite the extreme conditions and not being able to carry out our full program, results are within metrology tolerance of the truth

16 Track record highlights who is using it

17 Track record - MBARI

18 Track record UTEC / McDermott

19 Track record - NOAA U-576 Mapping

20 Track record ADUS DeepOcean

21 Track record ADUS DeepOcean

22 Conclusions SPRINT for dynamic laser scanning Benefits of going dynamic Ultra fast for wide area hi-res mapping, inspection and metrology. Less than 2 hour of seabed time for metrology is possible. Contactless and without the requirement for previous dimensional control. Turbidity (visibility) affecting operation is minimal can fly closer. Trusted QC from comparison with 6G acoustic ranges. Challenges Complex INS / DVL / acoustic system and algorithms to achieve centimetric positioning. This is solved with Sonardyne s unique ability to merge and postprocess all sensors at the raw data level. Sonardyne understands how to optimally operate all of it. + + = SUCCESS

23 Thank you! Visit us on Stand 44 Simon Waterfield Survey Support Group Manager, Sonardyne International Ltd.