triggerfish tech overview march 2013

8/17/2019 TRIGGERFISH Tech Overview March 2013

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www.inprospect.com

TRIGGERFISH

Navigation, Synchronization and Survey Management


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Slide 2

Markets

• OBC/TZ

• 2D/3D High-res Towed Streamer

• LOFS

• Multifunction vessels

• Nodal

• Hydrographic


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Slide 3

TriggerFish INS advantages

• Familiar platforms• Windows operating systems are familiar to users and allows “off-the-shelf” PC systems

to be used.

• Flexibility of hardware• Rack-mount, desktop, laptop or tablet PCs may be used.

• Interfacing via PC serial I/O or high-spec Gravel Decoder Unit

• Hardware technology• 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• Acknowledgement of shot prediction time ensures remote synchronization

• System will fire on time-lock if communications are lost

• Simplified configuration• Simple drag-and-drop configuration of vessel and source sensors

• Import of standard formats for vessel configuration, preplot & mapping data

• Cost & licensing• Significantly less expensive

• Flexible licensing, no transfer of license details by radio


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Slide 4

OBC/TZ primary functions

• Command & Control• 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• Drop location by manual fix, auto-fix or RFID read

• Acoustic IDs populated from RFID reader

• Cable management/inventory

• Source control• 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• 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


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Slide 5

Platforms and scalability

• Operating Systems• Windows XP

• Windows Server

• Windows 7

• Typical machine requirements• 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• 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) tointegrated, multi-function operations such as multi-shooter OBC/TZ operations, or 2Dstreamer undershoots.


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Slide 6

Safety and fleet management

AIS, ARPA & VTS Systems• Full decoding of AIS messages

• ARPA and VTS interfaces

• Calculations of threat to vessel and towed equipmentfrom tracked targets (CPA)

MOB Alarm• Activated from any vessel

• Displays range & bearing to event on all vessels

• Creates log

Zone Incursion & proximity Alarm System (ZIPAS)• Definition of proximity and two exclusion zones

• Zones defined for obstructions, vessels and towedequipment

• Voice, audible & visual alarms

• Continuous logs of proximity and incursion events

• Configurable activation times for alarms


7/27Slide 7

System components(1)

• Survey Editor

• Configuration of Geodetics, preplot, obstructions, coastline,

background maps, bathymetry, tide.

• System Editor

• Configuration of vessel & sensor offsets, software &

hardware settings, interfaces & logging. Monitoring of raw

sensor interface data & headers and radio networks.

• Survey Manager• Online management of survey operations.

• Servlet Manager

• Functional processes, “Servlets”. Monitoring and control.

• Navigation Monitor

• Online QC and monitoring. EOL reports (pdf), text outputs

(ASCII)


8/27Slide 8

System components(2)

• Hydra Server

• Proprietary client-server system (data server). All applicationscommunicate and receive configuration data via this system.

• Windecoder

• Provides sensor interfacing via PC serial ports & network

ports. (A low cost equivalent to Gravel Decoder hardware)

• Gravel trigger Unit (GTU)

• GPS synchronised trigger unit;


9/27Slide 9

On-line QC and EOL reports

• Navigation Monitor

• 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)


10/27Slide 10

Sensor interfaces• GPS/rGPS/Raw GPS/correction data

• NMEA (GGA, GST, GSA, GLL, VTG)

•

Veripos UKOOA• WesternGeco Trinav

• Trimble Binpos

• PBX Posnet

• Seatrack

• Fugro ERF

• BuoyLink

• C-Nav raw

• RTCM

• Magellan/Aquarius

• Satpos Citius

• SOM/SOJ

• Streamer devices• Digicourse extended binary

• Oyo Geospace ASCII

• Acoustics• Sonardyne OBC12

• Echosounder• NMEA (DBK, DBT, DPT, DBS)

•Simrad EA600

• LAZ 4700

• STG 721

• Heading sensors• NMEA (HDM, HDT, VTG)

• Tide Gauge• Geonica

• Sonar Research

• RFID• Sonardyne tag format

• Look-up table (custom)

• Others• Wind speed

• Water speed

• ARPA/AIS

• Kenwood VTS


11/27Slide 11

Device outputs

• Autopilot• Robtrack STS500

• Kongsberg C-Joy/C-Pos

• Anschutz Pilotstar D

• NMEA (RTR, VTG, APB, XTE)

• ECDIS• NMEA

• GPS correction data• RTCM-104 (rebroadcast)

• Output to Gravity System• INSD (Spectra)

• WesternGeco Trinav• GPS

• rGPS


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13/27Slide 13

Survey configuration

Geodetics, Preplot & Mapping definitions

• Geodetics• 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• End-point, Point-to-point (4D), Spiral

• Manual definition

• Triggerfish XML file (proprietary)

• UKOOA P1 & P2

• SPS Rev 1 & 2

• CSV (column/field chooser)

• Coastline• MAPGEN (.DAT) format

• Triggerfish XML file (proprietary)

• DXF

• ESRI (SHP)

• Obstructions• Manual definition

• DXF

• ESRI (SHP)

• Exclusion zone settings

• Background mapping• DXF

• ESRI (SHP)

• Raster file (TIF, BMP, JPG, PNG)

• Bathymetry functions• Depth import from CSV text file

(X/Y/Z or Lat/Lon/Depth)

• Contour calculator


14/27Slide 14

Vessel Positioning Model

Vessel position model

• Weighting and ranking of vessel DGPS receivers

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

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)


15/27Slide 15

Source Positioning Modes Models

Source centre calculation modes

• Tow-point track layback

• Towed/array mounted compass derived layback

• Array mounted DGPS

• Array mounted RGPS

Source positioning models (non-layback modes)

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)

• 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

• 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


16/27Slide 16

Streamer Positioning Models

Streamer shaping/positioning

• Compass bearing traverse

• Receiver locations by fitted model

• Compass bias calculation

• Stretch functions

• Rotation to tailbuoy position

Streamer head CNG) positioning

• 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 position 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.


17/27Slide 17

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

*All lines are stored as discrete points, allowing native support for:-

Trigger Positions

The following may be selected as the shot predictor (“trigger”) position: -

• 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

•Grid or Great Circle

•Dog-legs

• Curves/Circles • Spirals

• 4D • Variable shot spacing


18/27Slide 18

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 lock-down 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.


19/27Slide 19

Receiver Cable Deployment Positioning

Cable tracking/management

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.

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)

• 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


20/27Slide 20

Deployment positioning data flow


21/27Slide 21

Receiver Cable Positioning

Acoustic positioning

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.

Multiple receiver lines may be “pinged” simultaneously

OBC-12 control

TriggerFish fully controls the Sonardyne OBC12 transceiver, it assigns interrogation commands, gain settings,

interrogation window sizes and receives ranges.

Acoustic solution

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.

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.

Solutions are 3D, least squares. QC is displayed for error ellipse, residuals, number observations by quadrant.


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Slide 22

Sample OBC/TZ crew


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Slide 23

Shooter schematic

Shot (sync) Radio

Mast-mount enclosure

UHF (serial) Radio

Data Radio


(See radio options)

Gravel Trigger Unit

(3 x trig in, 3 x trig out, GPS clock)

GPS ant

Gravel Decoder Unit

(8 channel serial & network

interface)

PC (main system)

(See PC options)

GP S

E ch o

G yr o

r GP S

D a t a

D a t a

D a t a

D a t a

Network switch

F i r e

S e r i a l

F T B

PC

(remote terminal if required)

Monitor

options

Monitor

options

Tracking

Configuration

Remote control

Data transfer

Synchronisation

Timing QC

Header transfer


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Slide 24

Recorder schematic

Shot (sync) Radio

Mast-mount enclosureUHF (serial) Radio

Data Radio

Mast-mount enclosure(See radio options)

Gravel Trigger Unit

(3 x trig in, 3 x trig out, GPS clock)

GPS ant

PC (main system)

(See PC options)GPS

Echo

Gyro

Network switch

C T B

H e a d e r

S t a r t

Monitor

options

Tracking

Configuration

Remote control

Data transfer

Synchronisation

Timing QC

Header transfer


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Slide 25

Acoustic vessel schematic

Data Radio


(See radio options)

PC (main system)

(See PC options)

G P S

E c h o

G y r o

Monitor

options

Tracking

Configuration

Remote control

Data transfer

S p a r e

A c o u s t i c ( O B C 1 2 )

S p a r e

S p a r e

S p a r e


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Slide 26

Deployment

vessel

schematic

Data Radio


(See radio options)

PC (main system)

(See PC options)

G P S

E c h o

G y r o

Monitor

options

Tracking

Configuration

Remote control

Data transfer

S p a r e

A c o u s t i c ( O B C 1

2 )

S p a r e

S p a r e

Fix Box


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triggerfish tech overview march 2013

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