Patch Test & Stability Check Report
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1 Patch Test & Stability Check Report Storebælt, 2009 SB Cable Project CT Offshore Final Report November, 2009
2 SB Cable Project November Teglbaekvej DK-8361 Hasselager Aarhus, Denmark Tel: Fax: Web: 0 Final Report LARS DALL 20/11/2009 Revision Description By Checked Approved Date Key words MultiBeam Calibration Patch test Stability Check Classification Open Internal Proprietary Distribution No of copies N/A N/A N/A Patch test report_storebaelt_ct.doc i EIVA A/S
3 CONTENTS 1 INTRODUCTION Purpose & Scope DEFINITIONS DESCRIPTION Introduction Theoretical Background Methods Time-calibration Pitch-calibration Roll-calibration Heading-calibration THE CALIBRATION PERFORMED 18 NOVEMBER Time-calibration Pitch-calibration Roll-calibration Heading-calibration Stability check SUMMARY Patch test report_storebaelt_ct.doc ii EIVA A/S
4 1 INTRODUCTION In order to facilitate an accurate and unambiguous reference for the subsequent data acquisition, a so-called Patch Test must be performed prior to any MultiBeam survey, in order to establish the relationship between the Multibeam System and the various sensors - GPS, Gyro and RPH. The present report identifies the theoretical background of the test, it describes the methods applied and it finally details on the results of the Patch Test. 1.1 Purpose & Scope The prime purpose of the present report is to describe the data-acquisition and postprocessing methods applied, from a theoretical as well as from a practical standpoint. In particular, the report describes the methods used for patch testing in the EIVA soft-ware suite, since this was employed during the patch test as well as throughout the entirety of the survey campaign. The secondary objective of the report is to describe the methods applied in order to substantiate, that the system is adequately stable to allow for raising and lowering the transducer in and out of the water, on a daily basis, without performing additional patch-testing. The scope of the report encompasses the tests performed in November 2009, prior to the start of the Storebælt Cable Survey Campaign, as well as the subsequent checks/tests performed. The instrument used for the multibeam acquisition was an R2Sonic 2024 single head, configured to 120 degrees opening angle and a frequency of 400 khz. Patch test report_storebaelt_ct.doc 1-1 EIVA A/S
5 2 DEFINITIONS In order to facilitate a uniform and unambiguous understanding of the contents of the Patch Test Report, the following definitions of technical terms and phrases contained in the text have been included. Item Accuracy C-O Calibration DAL DOL GPS Least Squares Adjustment Pitch Roll Sound Velocity WGS-84 Verification Description Accuracy is generally a measure for the measurement quality by which a certain tolerance must be evaluated. Accuracy is as such typically at least 4-5 times smaller than an associated tolerance. Correction to observation. A constant and typically the result of a calibration (Computed minus Observed). The physical adjustment of (parts of) an instrument in order to bring its performance in compliance with the specified tolerance. Distance Along Line is the distance (in meters) between the projected position of the present position onto the survey-line and the start of the survey-line. Distance Off Line is the perpendicular distance (in meters) from present position to the survey-line. The distance is positive to starboard side of sailing/line direction. Global Positioning System. The navigation/positioning system consisting of NAVSTAR satellites, their ground stations and GPS-receivers. An adjustment of observations that fulfil the requirement wr 2 = min. w is the weight of each individual observation, r is the residual to a calculated value that fulfils certain criteria. The sum of the weighted residuals squared must in other words be as small as possible. Defined as the rotation of the vessel around the X-axis of the local co-ordinate system (around the ship s transverse axis). Pitch is positive if the Y-axis is above the horizontal plane (bow up). Defined as the rotation of the vessel around the Y-axis of the local co-ordinate system (around alongship axis). Roll is positive if the X-axis is below horizontal plane (starboard down). In the present context, Sound Velocity (or SV) is the speed of sound through the water column World Geodetic System, the current standard datum for global positioning and surveying. Comparing the performance of an instrument to pre-defined tolerances or specifications. Patch test report_storebaelt_ct.doc 2-1 EIVA A/S
6 3 DESCRIPTION 3.1 Introduction When a Multibeam Echosounder (MBE) is installed on a vessel, the misalignment relative to the motion sensor and to the gyro as well as the time-offset to the GPS system must be determined, in order for the results to benefit from the high accuracy as well as from the large capacity of the system. 3.2 Theoretical Background During survey operations the MBE data, with appropriate offset corrections, needs to be relative to true vertical. Any deviations in roll will result in depth measurement errors, in particular on the outer beams. In the same way, un-modelled pitch-readings will result in along track position errors. Similarly heading-offsets between the planes of the MBE transmit beam and the alignment of the vessel, as determined through the gyro-calibration will result in position errors on the soundings from the outer beams. These errors will increase both with beam angle off nadir and water depth. If the data collection system is not synchronised to GPS time, it is also necessary to determine the latency of the positioning system. The difference in time from the moment when a position is valid until the position message is sent to the data collection system must be determined. Commonly used DGPS receivers have latencies ranging from 200 milliseconds to over one second. If the data collection system does not correct for this latency, the result is a speed dependent position error in the data. In the EIVA software suite, the tool designed to process Multibeam calibration data is called Contour. The purpose of the calibration tool of Contour is to enable the user to efficiently analyse swath alignment error and to produce reliable calibration values that can be used to produce highly accurate bathymetric surfaces. To enable the values to be isolated and quantified, some pre-defined datasets in specific patterns must be collected and processed in a given sequence. The method associated with this is named Patch Test Methods All though, in this report, the listed order of calibration categories is time, pitch roll and finally heading, it doesn t necessarily mean that this is always the only correct calibrations sequence. What must however at all times be obeyed, is to reiterate the calibration calculations, with the obtained C-O values, in order to investigate whether an additional fine-tuning of the results is required Time-calibration The time-calibration is based on two run-lines sailed either in opposite direction on fairly shallow water or, alternatively, in the same direction but with significant speed Patch test report_storebaelt_ct.doc 3-1 EIVA A/S
7 difference. The lines must be sailed on identical runlines and with the centre over one or, preferably, more recognisable structure(s) or in an area with a significant, identifiable depth change along the track. Any latency offset will appear as a constant feature position offset (or contour shift for a slope) along track between the processed data sets (see Figure 1). Figure 1 Theoretical layout of a time-calibration The time-calibration method implemented in Contour is iterative. If sailed over one or more features on the seabed, the operator notes the (number of) pair(s) of features to match. He then changes the time-offsets until he is confident, that a match between the two profiles is established at the position of the features. The result of the timecalibration is the time offset that gives the best overall match between the features. Contour will, based on the least squares calculation, propose a C-O value for the timecalibration. The user can however choose an alternative value if desired Pitch-calibration The pitch-calibration is based on two run-lines sailed in opposite direction on deep water at least as deep as the largest depth of the area to be surveyed. The lines must be sailed with the centre of the multibeam transducer over one or more recognisable structure(s) or in an area where the depth changes significantly along the track (slope). The first priority is to find a steep slope with no or little variation in the horizontal planes, in the sense, that the slope must be steep in a profile along the line, and at the same time as flat as possible in a profile normal to the line at any point in the slope. This ideal situation is not easy to find, but the most important factor is to have a homogeneous steep slope underneath the vessel. If a suitable slope cannot be found, then it is possible to use a well-defined feature. A characteristic of pitch offset is that the alongtrack displacement is proportional to water depth: the deeper the water the larger the displacement (compare Figure 1 to Figure 2). Figure 2 Theoretical layout of a pitch-calibration The pitch-calibration is to a large extent similar to the time-calibration and alike this calibration, the pitch-calibration method in Contour is iterative. If sailed over one or more features on the seabed, the operator notes the (number of) pair(s) of features to match. He then changes the pitch-offsets until he is confident that a match between the two profiles is established at the position of the features. The result of the pitchcalibration is the pitch offset that gives the best overall match between the features. Patch test report_storebaelt_ct.doc 3-2 EIVA A/S
8 Contour will, based on the least squares calculation, propose a C-O value for the calibration. The user can however choose an alternative value Roll-calibration The roll-calibration is based upon a run-line sailed twice in opposite direction. The survey line should be defined in an area with a flat and, preferably, featureless seabed. As depicted in Figure 3 below, a roll offset will result in the data sets matching at the center beam, but diverging with increasing beam angle at both sides. Further, it is obvious, that the angle between the two profiles gives a good indication of the double error. Figure 3 Theoretical layout of a roll-calibration Contour will, instead of employing a set of cross profiles, define an iterative statistical process, where a longitudinal profile is defined on each side (emulating infinite number of cross-profiles) and a least square fit is made on the profiles. In this way data from the entire data-sets is used, even though it appears, that only one cross-section is employed. This is shown in Error! Reference source not found. below, where the cross-lines on each side are visualised by two longitudinal profiles. These must match for the calibration to be successful. Contour will calculate the best fit roll; however, the user can choose an alternative value Heading-calibration The basic idea in the heading-calibration module of Contour is to have two run-lines sailed in same direction. The lines must be sailed with a suitable distance to one or more recognisable structure between the two lines in question as shown in Figure 4. Figure 4 Theoretical layout of a heading-calibration In Contour, the calibration is done by an iterative process, where a least square fit is made on the profiles generated to starboard side of line 1 and port side of line 2. Based on this calculation, Contour will calculate the best fit heading error. The user can however choose an alternative value, should he wish to. Patch test report_storebaelt_ct.doc 3-3 EIVA A/S
9 4 THE CALIBRATION PERFORMED 18 NOVEMBER 2009 The multibeam calibration was performed on 18 November 2009, prior to the execution of the survey, south of Kerteminde in the Storebælt Strait, in water depths ranging from approximately 12 to 15 m. The locations are normally chosen with due considerations to the presence of existing features (slopes, Concrete blocks, pipelines etc.) and suitably homogenous seabed. In the present context however, a calibration site with well known coordinates in XYZ were chosen for the determination of the pitch, roll and heading C- O values as well as for intermediate roll calibration. SITE LOCATIONS E N ' " N '6.0205" E Roll-, Pitch-, time- and heading-calibration A total of four lines were run to provide adequate data for the calibration calculations. The lines were run in the sequence given in the table below. ACQUIRING CALIBRATION DATA Line Direction Calibration Filename Speed Kalib_Cent S->N Pitch/Roll/Hdg N002 4 knots Kalib_Cent N->S Pitch/Roll/Time N003 4 knots Kalib_Cent N->S Time N005 2 knots Kalib_Cent+25 S->N Heading N006 4 knots 4.1 Time-calibration The following data files were used for the time-calibration: Logging File Run Line Direction Speed N003 Kalib_Cent N->S 4 knots N005 Kalib_Cent N->S 2 knots Patch test report_storebaelt_ct.doc 4-4 EIVA A/S
10 Figure 5 Visualisation of the time-calibration (result: 0 ms) As depicted in Figure 5, the result of the time-calibration was 0 ms. This value was used in connection with the subsequent calibrations and with the survey operations, respectively. 4.2 Pitch-calibration The data-files below were used for the pitch-calibration: Logging File Run Line Direction Speed N002 Kalib_Cent S->N 4 knots N003 Kalib_Cent N->S 4 knots Patch test report_storebaelt_ct.doc 4-5 EIVA A/S
11 Figure 6 Visualisation of the pitch-calibration (result: deg (= deg)) Observe that the calibration result originates from the second iteration. The result of the first iteration was -0.4 degrees, whereas the result of the second iteration was degrees (= degrees). Figure 7 Visualisation of the pitch-value prior to calibration (C-O: 0.00 deg (= deg)) As shown in Figure 6, the result of the pitch-calibration was deg. This value was used in connection with the subsequent calibrations and with the survey operations, respectively. Patch test report_storebaelt_ct.doc 4-6 EIVA A/S
12 4.3 Roll-calibration The following data files were used for the intermediate roll-calibration: Logging File Run Line Direction Speed N002 Kalib_Cent S->N 4 knots N003 Kalib_Cent N->S 4 knots Figure 8 Visualisation of the result of the roll-calibration (result: deg (= deg)) Figure 9 Visualisation of the roll-value prior to calibration (C-O: 0.00 deg) Patch test report_storebaelt_ct.doc 4-7 EIVA A/S
13 As shown in Error! Reference source not found., the result of the roll-check was deg. This value was used in connection with the subsequent calibrations and with the survey operations, respectively. 4.4 Heading-calibration The data files given in the table below were used for the heading-calibration: Logging File Runline Direction Speed N002 Kalib_Cent S->N 4 knots N006 Kalib_Cent+25 S->N 4 knots Figure 10 Visualisation of the results of the heading-calibration (result: 1.12 deg (= deg)) Patch test report_storebaelt_ct.doc 4-8 EIVA A/S
14 Figure 11 Visualisation of the heading-value prior to calibration (C-O: 0.00 deg) Figure 10 identifies the result of the heading-calibration to be 1.12 deg. 4.5 Stability check In addition to the patch-test itself, the calibration served a secondary objective: To check, whether the MBE bracket system is adequately stable to allow for raising and lowering the transducer in and out of the water, on a daily basis, without performing additional patch-testing Upon completion of the patch-test, the echo-sounder bracket was raised and re-lowered back into the fixed position before a subsequent patch test was conducted (on 19 November 2009). The purpose of this was to establish whether the system is adequately stable to allow for raising and lowering the transducer in and out of the water and out of the fixing bracket, on a daily basis, without performing additional patch-testing. Patch test report_storebaelt_ct.doc 4-9 EIVA A/S
15 Figure 12 Stability check of pitch: result 0.00 deg Figure 13 Stability check of roll: result 0.00 deg Patch test report_storebaelt_ct.doc 4-10 EIVA A/S
16 Figure 14 Stability check of heading: result 0.00 deg Note that no stability check of the time-value was performed, since it was concluded, that this component had no dependency to the raising and lowering. The results of the three checks were identical to the results of the calibration, hence the system proved adequately stable to allow for raising and lowering of the system, on a daily basis, without performing additional patch-testing. It is however still recommended to perform patch-testing on a regular basis: Calibration-type Result of calibration Files used (C-O) Time-delay: N/A N/A Pitch: N N002 Roll: N N002 Heading: N N003 Patch test report_storebaelt_ct.doc 4-11 EIVA A/S
17 5 SUMMARY The table below gives the result of the calibration: Calibration-type C-O during calibration Result of calibration Final C-O value (C-O) Time-delay: +0 ms +0 ms +0 ms Pitch: Roll: Heading: Further, the results of the stability checks were identical to the results of the calibration, hence the system proved adequately stable to allow for raising and lowering of the system, on a daily basis, without performing additional patch-testing. Note that it is still recommended, however, to perform patch tests on a regular basis: Calibration-type Result of calibration (C-O) Time-delay: N/A Pitch: Roll-check: Heading: Patch test report_storebaelt_ct.doc 5-12 EIVA A/S
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