laser scanner vs. total station - spar3d.com simon... · laser scanner vs. total station subsea...

Laser Scanner vs. Total Station

Subsea Survey & Positioning UK Ltd.

Tuesday 12th November 2013 Simon Canning Dimensional Control Manager SPAR Europe 2013

Laser Scanner vs. Total Station

• Introduction

• Project & Scope of Work

• DC Survey Overview – Total Station

• DC Survey Overview – Laser Scanner

• Results & Cross Correlation

• The Benefits of Many Points – Real Life Scenario

• Conclusion

Content

Laser Scanner vs. Total Station – Introduction

• Project – Banff & Kyle Installation Project (Image Courtesy of Google

Earth)

• Location – Banff & Kyle Field, 200km East of Aberdeen, North Sea, UK,

95m Water Depth


• Extreme weather caused a severe mooring line failure on the Floating

Production Storage & Offloading (FPSO) vessel

• The result was that the 150m 15cm mooring chains were dragged over

the field architecture, pipes and structures, causing severe damage to the

subsea assets and FPSO


Damaged field architecture was recovered from the seabed

• Banff P1 Production Riser Base

• Banff P2 Production Riser Base

• Banff Gas Export Subsea Isolation Valve (SSIV)

• Banff Gas Injection Riser Base

• Kyle Production Riser Base

• Kyle SSIV

• Kyle Umbilical Riser Base

• 68m 6” (15cm) Rigid Gas Injection Spool

• 47m 8” (20cm) Rigid Production Spool


Structures were re-furbished ready to be re-installed on the seabed, in the

same orientation and position


Structures were re-furbished ready to be re-installed on the seabed in the

same orientation and position


Same position?

Field layout (design) coordinates are known!

• Positioned using an acoustic beacon or compatt attached to the

structure

Positioning Aid - Compatt Positioning Aid - Compatt


Same orientation?

Field layout (design) headings are

known!

• Orientated to the correct heading

using a gyro compass attached to the

structure

• Attitude, or Pitch & Roll (P&R) is

measured with an MRU attached to

the structure

MRU & Ring Laser Gyro

Gyro & MRU Protection

Ring Laser Gyro


• Our backup “high-tech” P&R attitude

measurement method!

Positioning Compatt

Bullseye Bubble – Extra Large

Ring Laser Gyro

Bullseye Bubble

MRU & Ring Laser Gyro

Laser Scanner vs. Total Station – Project Scope of Work

What we need to know about all 7 structures?

Sensor & Flange XYZ offsets relative to the Common Reference Point (CRP)

• Compatts

• Gyro

• Gyro/MRU

• Bullseye Bubble

• Centre of Flange Face

• Centre of Flange Boltholes

Positioning Compatt

Gyro & Gyro/MRU + Bullseye

CRP

+X Axis

Structure North +Y Axis


What else we need to know about all 7 structures?

Sensor & Flange orientation and attitude, relative to structure north, and the

horizontal & vertical planes

• Gyro Mounting – P&R & HDG

• Gyro/MRU – P&R & HDG

• Bullseye Bubble – P&R & HDG

• Flange Face – P

• Flange Bolthole Rotations


Sensor & Flange XYZ offsets relative to the Common Reference Point (CRP)

Sensor & Flange orientation and attitude, relative to structure north, and the

horizontal & vertical planes

Flange Face Pitch WRT vertical Plane

Gyro & Gyro/MRU + Bullseye Offsets + P&R&HDG

CRP

+X Axis Structure North +Y Axis

Bolthole Rotation

Flange Face Offset

Z Datum


Dimensional Control Survey Scope

• Accuracy & Precision Requirement

• XYZ Offsets – 0.010m

• XYZ Angular Rotations – 0.05°

• Trimble S8 Precise Total Station

• Distance – 1mm + 1ppm

• Angular – 1”

• FARO Focus 3D

• Distance – 2mm

Laser Scanner vs. Total Station – DC Survey Overview – Total Station • Trimble S8 Precise Total Station

• Surveyed Discrete Points With a Mini Prism

• Define the CRP and Z Datum

• Define XYZ Offsets & Rotations

• Basic Point Coding

• Process Using SC4W Software

• Shift & Rotate Survey Data

• Extract Coordinates Directly for Offsets

• Extract Coordinates & Calculate Pitch & Roll

• Extract Coordinates & Calculate Headings

• Extract Coordinates for Bolthole Rotations

Laser Scanner vs. Total Station – DC Survey Overview – Laser Scanner

• FARO Focus 3D

• Surveyed Millions Points

• ~15 Scan Positions per Structure

• Spheres & Checker Board Targets

• Process Using FARO SCENE

• Automated Cleaning Routines

• Register Scans

• Process Using Trimble RealWorks

• Shift & Rotate Survey Data

• Extract Coordinates Directly for Offsets

• Extract Pitch & Roll Directly from Planes

• Extra Headings Directly from Planes

• Export to CAD for Bolthole Rotations

Laser Scanner vs. Total Station – Results & Cross Correlation

Banff P1 Production Riser Base

Trimble S8 FARO Focus 3D Δ Values Sensor X Offset (m) Y Offset (m) Z Offset (m) Sensor X Offset (m) Y Offset (m) Z Offset (m) Sensor Δ X Offset

(m) Δ Y Offset

(m) Δ Z Offset

(m)

Male Stab Plate (Top Surface) -0.667 -0.859 4.19 Male Stab Plate (Top

Surface) -0.672 -0.854 4.196 Male Stab Plate (Top Surface) 0.005 -0.005 -0.006

Sonardyne Lodestar Subsea AHRS – s/n 273071-002

-0.667 -0.729 4.65 Sonardyne Lodestar Subsea AHRS – s/n 273071-002


-0.008 -0.005 0.004

Sonardyne MK5 Compatt - s/n 241756-002 (ID - 000A5C / ADD - 805 / HPR - B12)

-0.657 -0.499 5.262


-0.652 -0.492 5.259


-0.005 -0.007 0.003

Bullseye Bubble (Bottom Surface) 0.213 -0.878 4.165 Bullseye Bubble

(Bottom Surface) 0.21 -0.872 4.173 Bullseye Bubble (Bottom Surface) 0.003 -0.006 -0.008

System C-O Value (DD) System C-O Value

(DD) System Δ C-O Value (DD)

Male Stab Plate HDG -90.04 Male Stab Plate HDG -90.00 Male Stab Plate HDG -0.041

Sonardyne Lodestar Subsea AHRS – s/n

273071-002 0.08


273071-002 0.05


273071-002 0.035

Bullseye Bubble 0 Bullseye Bubble 0.01 Bullseye Bubble -0.006

System Pitch C-O Value (DD)

Roll C-O Value (DD) System Pitch C-O

Value (DD) Roll C-O

Value (DD) System Δ Pitch C-O Value (DD)

Δ Roll C-O Value (DD)

Male Stab Plate -0.18 -0.24 Male Stab Plate -0.20 -0.26 Male Stab Plate 0.024 0.019


273071-002 0.43 -0.47


273071-002 0.41 -0.50


273071-002 0.018 0.027

Bullseye Bubble -0.17 0.34 Bullseye Bubble -0.16 0.31 Bullseye Bubble -0.011 0.029


Banff P2 Production Riser Base


(m) Δ Y Offset

(m) Δ Z Offset

(m)


Surface) -0.652 -0.85 4.192 Male Stab Plate (Top Surface) 0.006 -0.008 0.002




0.004 0.005 0.011


-0.646 -0.491 5.261


-0.653 -0.484 5.27


0.007 -0.007 -0.009


(Bottom Surface) 0.259 -0.878 4.184 Bullseye Bubble (Bottom Surface) 0.008 0.006 -0.011



Male Stab Plate HDG -89.58 Male Stab Plate HDG -89.60 Male Stab Plate HDG 0.016


273071-002 0.47


273071-002 0.50


273071-002 -0.033

Bullseye Bubble 0 Bullseye Bubble -0.05 Bullseye Bubble 0.05



Value (DD) Roll C-O



Male Stab Plate -0.53 0 Male Stab Plate -0.50 0.03 Male Stab Plate -0.029 -0.032


273071-002 -0.09 -0.61


273071-002 -0.11 -0.57


273071-002 0.023 -0.041

Bullseye Bubble -0.2 0.05 Bullseye Bubble -0.23 0.01 Bullseye Bubble 0.033 0.039


Banff Gas Injection Riser Base

Trimble S8 FARO Focus 3D Δ Values

Sensor X Offset (m)

Y Offset (m)

Z Offset (m) Sensor X Offset

(m) Y Offset

(m)Z Offset

(m) Sensor Δ X Offset (m)

Δ Y Offset (m)

Δ Z Offset (m)


Surface) -0.679 -0.772 4.185 Male Stab Plate (Top Surface) -0.011 0.009 0.003




-0.005 0.005 0


(Bottom Surface) 0.216 -0.846 4.153 Bullseye Bubble (Bottom Surface) 0.008 0.006 0.011





273071-002 179.65


273071-002 179.67


273071-002 -0.018




Value (DD) Roll C-O

Value (DD) System Δ Pitch C-O Value

(DD)


Male Stab Plate -0.5 -0.62 Male Stab Plate -0.53 -0.66 Male Stab Plate 0.034 0.043


273071-002 -1.4 -0.47


273071-002 -1.37 -0.44


273071-002 -0.028 -0.026

Bullseye Bubble -0.31 0.13 Bullseye Bubble -0.35 0.08 Bullseye Bubble 0.041 0.048


Banff Gas Export Subsea Isolation Valve (SSIV)


(m) Δ Y Offset

(m) Δ Z Offset

(m)

Male Stab Plate (Top Surface) -0.025 0.482 2.997 Male Stab Plate (Top

Surface) -0.027 0.476 3.005 Male Stab Plate (Top Surface) 0.002 0.006 -0.008


-0.025 0.612 3.457 Sonardyne Lodestar Subsea AHRS – s/n 273071-002

-0.036 0.606 3.455 Sonardyne Lodestar Subsea AHRS – s/n 273071-002

0.011 0.006 0.002


-0.018 0.827 4.08


-0.009 0.82 4.087


-0.009 0.007 -0.007

Bullseye Bubble (Bottom Surface) -0.068 -0.584 2.981 Bullseye Bubble

(Bottom Surface) -0.057 -0.592 2.975 Bullseye Bubble (Bottom Surface) -0.011 0.008 0.006





273071-002 0.93


273071-002 0.90


273071-002 0.027

Bullseye Bubble 0 Bullseye Bubble 0.04 Bullseye Bubble -0.038



Value (DD) Roll C-O



Male Stab Plate 0.15 0.02 Male Stab Plate 0.14 0.05 Male Stab Plate 0.014 -0.031


273071-002 0.58 0.48


273071-002 0.57 0.44


273071-002 0.013 0.043

Bullseye Bubble 0.18 -0.11 Bullseye Bubble 0.15 -0.13 Bullseye Bubble 0.033 0.017


Kyle Umbilical Riser Base


(m) Δ Y Offset

(m) Δ Z Offset

(m)

Male Stab Plate (Top Surface) -1.898 1.714 0.785 Male Stab Plate (Top

Surface) -1.904 1.722 0.783 Male Stab Plate (Top Surface) 0.006 -0.008 0.002

Sonardyne Lodestar Subsea AHRS x1 - s/n

272938-002 -1.768 1.714 1.245


272938-002 -1.774 1.712 1.234


272938-0020.006 0.002 0.011

Sonardyne MK5 Compatt x1 - s/n

215457-003 (ID - 000173 / ADD – 106 / HPR -

B65)

-1.527 1.713 1.864


215457-003 (ID - 000173 / ADD – 106 / HPR -

B65)

-1.52 1.722 1.871


215457-003 (ID - 000173 / ADD – 106 / HPR -

B65)

-0.007 -0.009 -0.007

Sonardyne MK5 Compatt x2 - s/n 238678-

007 (ID - 000685 / ADD – 603 / HPR - B15)

0.006 0 4.296


007 (ID - 000685 / ADD – 603 / HPR - B15)

-0.002 0.001 4.3


007 (ID - 000685 / ADD – 603 / HPR - B15)

0.008 -0.001 -0.004

Bullseye Bubble (Bottom Surface) -2.696 1.707 0.767 Bullseye Bubble

(Bottom Surface) -2.704 1.704 0.764 Bullseye Bubble (Bottom Surface) 0.008 0.003 0.003



Male Stab Plate HDG 0.21 Male Stab Plate HDG 0.19 Male Stab Plate HDG 0.025


272938-002 -90.54


272938-002 -90.57


272938-0020.031

Bullseye Bubble -315 Bullseye Bubble -315.04 Bullseye Bubble 0.043



Value (DD) Roll C-O



Male Stab Plate HDG -0.02 0.09 Male Stab Plate HDG -0.06 0.10 Male Stab Plate HDG 0.041 -0.013


272938-002 0.79 0.49


272938-002 0.76 0.46


272938-0020.034 0.031

Bullseye Bubble 0.09 0.14 Bullseye Bubble 0.08 0.09 Bullseye Bubble 0.009 0.051


Kyle SSIV


(m) Δ Y Offset

(m) Δ Z Offset

(m)

Male Stab Plate (Top Surface) 2.513 -1.84 3.487 Male Stab Plate (Top

Surface) 2.507 -1.843 3.491 Male Stab Plate (Top Surface) 0.006 0.003 -0.004


2.513 -1.71 3.947 Sonardyne Lodestar Subsea AHRS – s/n 273071-002

2.521 -1.707 3.952 Sonardyne Lodestar Subsea AHRS – s/n 273071-002

-0.008 -0.003 -0.005


2.51 -1.495 4.572


2.505 -1.507 4.574


0.005 0.012 -0.002


(Bottom Surface) 2.504 -2.66 3.526 Bullseye Bubble (Bottom Surface) 0.004 0.009 0.007





273071-002 2.55


273071-002 2.52


273071-002 0.029




Value (DD) Roll C-O



Male Stab Plate 0.13 0 Male Stab Plate 0.16 0.03 Male Stab Plate -0.033 -0.031


273071-002 0.32 1.84


273071-002 0.30 1.80


273071-002 0.024 0.038

Bullseye Bubble -0.12 -0.09 Bullseye Bubble -0.13 -0.11 Bullseye Bubble 0.013 0.019


Kyle Production Riser Base

Trimble S8 FARO Focus 3D Δ Values Sensor X Offset

(m) Y Offset (m) Z Offset (m) Sensor X Offset (m) Y Offset (m) Z Offset (m) Sensor Δ X Offset

(m) Δ Y Offset

(m) Δ Z Offset

(m) Male Stab Plate (Top

Surface) -3.016 1.5 0.788 Male Stab Plate (Top Surface) -3.022 1.508 0.786 Male Stab Plate (Top

Surface) 0.006 -0.008 0.002

Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

-2.886 1.5 1.248 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

-2.892 1.498 1.237 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

0.006 0.002 0.011

Sonardyne MK5 Compatt - s/n 245688-010 (ID - 000E63 / ADD -

609 / HPR - B25)

-2.661 1.503 1.879


609 / HPR - B25)

-2.654 1.512 1.886


609 / HPR - B25)

-0.007 -0.009 -0.007

Northern Compatt Bridle Pad Eye -1.631 1.381 3.884 Northern Compatt

Bridle Pad Eye -1.639 1.382 3.888 Northern Compatt Bridle Pad Eye 0.008 -0.001 -0.004

Southern Compatt Bridle Pad Eye -1.639 -1.414 3.876 Southern Compatt

Bridle Pad Eye -1.647 -1.417 3.873 Southern Compatt Bridle Pad Eye 0.008 0.003 0.003

Bullseye Bubble (Bottom Surface) -3.814 1.492 0.769 Bullseye Bubble

(Bottom Surface) -3.817 1.484 0.774 Bullseye Bubble (Bottom Surface) 0.003 0.008 -0.005



Male Stab Plate HDG -359.52 Male Stab Plate HDG -359.55 Male Stab Plate HDG 0.025 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

-89.4 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

-89.43 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

0.031

Bullseye Bubble -315 Bullseye Bubble -315.04 Bullseye Bubble 0.043



Value (DD) Roll C-O



Male Stab Plate HDG 0.1 0.17 Male Stab Plate HDG 0.06 0.18 Male Stab Plate HDG 0.041 -0.013 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

-0.92 0.68 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

-0.95 0.65 Sonardyne Lodestar Subsea AHRS - s/n 3453-SX-GC-01-069

0.034 0.031

Bullseye Bubble 0 0 Bullseye Bubble -0.01 -0.05 Bullseye Bubble 0.009 0.051

Laser Scanner vs. Total Station – Results & Cross Correlation Laser Scanner vs. Total Station

• Total Station is the baseline measure – Assumed to be the correct values

• Accuracy & Precision Requirement – XYZ Offsets – 0.010m, Angular Rotations – 0.05°

Offset Statistics Δ X Offset (m) Δ Y Offset (m) Δ Z Offset (m)

Max 0.010 0.012 0.009

Min -0.008 -0.009 -0.011

Mean 0.002 0.001 0.000

SD 0.007 0.006 0.006

Heading Statistics Δ C-O Value (DD)

Max 0.05

Min -0.04

Mean 0.02

SD 0.03

Pitch & Roll Statistics Δ Pitch C-O Value (DD) Δ Roll C-O Value (DD)

Max 0.04 0.05

Min -0.03 -0.04

Mean 0.02 0.01

SD 0.02 0.03

Laser Scanner vs. Total Station – The Benefits of Many Points – Real Life Scenario

• Client was provided with deliverables as per the agreed scope of work

• The project was a success and all the structures were loaded out for re-installation

offshore


• We haven’t forgotten to do anything have we….?


Client…

• We need the heading of the flange faces for 6 structures. Can this be supplied?

• The ROV is too large to get a direct depth measurement on the top of the flange, for 3 of

the structures. Can you supply the offset from a good open point to the flange face

centre?

• We have the position, heading and attitude of the structure, as well as the DTM of the

seabed. Can you integrate all 7 structures with the DTM?

Surveyor…we have the laser scanning data, so…

• Yes.

• Yes.

• Yes.


Surveyor…we have the laser scanning data, so…

Many Thanks Questions ?

Simon Canning MSc MRICS AMRI Dimensional Control Manager Mob; +44 (0) 7753 310716 Email; [email protected]

laser scanner vs. total station - spar3d.com simon... · laser scanner vs. total station subsea...

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