Survey Operations

Motion Reference Unit Work Instruction

GR-SRV-412

Prepared by: Approved by:

1.0
Ver.

N R Shilling PJ Jansene
Issue for Use
Reason for Issue

Senior Surveyor Chief Surveyor

May.16.02
Issue Date Prepared by Approved by

Acergy

Survey Operations

May.16.02

GR-SRV-412 Ver. 1.0

Motion Reference Unit Work Instruction

Page 2 of 5

This is an electronically generated document, which has been reviewed and approved in accordance with the Acergy Management System. An audit trail of review and approval is available within the electronic system. The screen version of this document is the CONTROLLED COPY at all times. When printed it is considered a FOR INFORMATION ONLY copy, and it is the holders responsibility that he / she holds the latest valid version. , Acergy or a subsidiary thereof, Copyright 2006 and design right reserved. Copying and/or disclosure of the confidential information contained herein is prohibited without written permission of the proprietor.

TABLE OF CONTENTS
1. SCOPE.................................................................................................................3 2. OBJECTIVE..........................................................................................................3 3. REFERENCES.......................................................................................................3 4. DEFINITIONS......................................................................................................3 5. RESPONSIBILITIES.............................................................................................3 6. PROCEDURES......................................................................................................4 6.1 SYSTEM OBJECTIVES....................................................................................4 6.2 SYSTEM DESCRIPTION..................................................................................4 6.3 SYSTEM INSTALLATION.................................................................................4 6.3.1 MOUNTING.......................................................................................4 6.3.2 ELECTRICAL INSTALLATION................................................................5 6.4 SYSTEM CALIBRATION AND VERIFICATION.....................................................5 6.5 SYSTEM OPERATION.....................................................................................5

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Acergy

Survey Operations

May.16.02

GR-SRV-412 Ver. 1.0

Motion Reference Unit Work Instruction

Page 3 of 5

1.

SCOPE This Work Instruction covers the installation, operation and maintenance of the Motion Reference Unit.

2.

OBJECTIVE The objective of this work instruction is to enable suitably qualified personnel to operate the Motion Reference Unit.

3.

REFERENCES GR-SRV-301 GR-SRV-311 Surface Navigation Practice Singlebeam Echosounder Practice

4.

DEFINITIONS MRU ROV USBL Motion Reference Unit Remotely Operated Vehicle Ultra Short Baseline

5.

RESPONSIBILITIES The Project Surveyor has the overall responsibility for the successful completion of the Survey Project including direct liaison with the Client. The Senior Surveyor has the responsibility for the survey operations on board the ship, including communications with the Offshore Clients Representative and acting as an interface between Client and Office. He will report to the Project Surveyor on the status and progress of the offshore operation. All survey and personnel are responsible for complying with this procedure.

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Acergy

Survey Operations

May.16.02

GR-SRV-412 Ver. 1.0

Motion Reference Unit Work Instruction

Page 4 of 5

6.
6.1

PROCEDURES
SYSTEM OBJECTIVES

The Seatex MRU-5 is specifically designed for measurement of motions in marine applications. The unit incorporates 3-axis sensors for linear acceleration and angular rate, along with complete signal processing electronics and power supply. The MRU-5 outputs absolute roll and pitch. Dynamic acceleration in the north, east and down direction as well as velocity, and relative position is also provided. Absolute heading is computed based on heading feedback from the Kalman filter. The MRU achieves high reliability by using sensors with no rotational or mechanical wear out parts. Typical applications are for control of vessels and ROVs and their corresponding tool/instrument orientation, structure motion monitoring and ocean wave measurement.
6.2 SYSTEM DESCRIPTION

The Seatex MRU-5 consists of an electronic bottle mounted on the ROV or vessel. The bottle houses two sub-assemblies, an electronics unit and a sensor unit. The sensor unit contains three accelerometers and three angular rate sensors. The electronics unit consists of plug-in multi layer boards with dual sided component placement. Data from the sensors is processed to obtain the desired output quantities. The sensor readings are scaled, linearised and temperature compensated. A variable gain Kalman filter is part of the sensor error estimator. The MRU-5 is interfaced to the ROV/survey computer, which controls, display and stores the motion data.
6.3
6.3.1

SYSTEM INSTALLATION
Mounting

The MRU is the sensor for pitch, roll and heave in the Seapath system. It should therefore be mounted close to the user equipment it is supposed to measure the motion of. This is to avoid errors in alignment with the user equipment and eliminate errors due to vessels hull torsion. If the system is not allocated to measure motion of a particular user equipment, the MRU should be mounted as close to the vessel centre of gravity as possible. It is important that the MRU bracket is mounted on a surface, which is aligned to the vessels long-ship or cross-ship axis or to the axis of the user equipment. This is to avoid cross-coupling between the roll and pitch and pitch measurements. Alternatively, the offset angle from the ships axis must be carefully measured and entered into the MRU as yaw offset during installation.

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Acergy

Survey Operations

May.16.02

GR-SRV-412 Ver. 1.0

Motion Reference Unit Work Instruction

Page 5 of 5

6.3.2

Electrical Installation

The MRU shall be galvanic isolated from the hull. The cable shall have a common outer screen. This is connected to the housing inside the MRU and at the MRU connector. The screen shall be connected to the users chassis earth at the user end of the cable. Connector shall be twisted pairs. With the MRU mounted in the subsea bottle, the analogue data channels are not available.
6.4 SYSTEM CALIBRATION AND VERIFICATION
Following installation, the sensors in Seapath must be calibrated, and the calibration values entered into Seapath from the setup software. The reference for roll and pitch calibration must be carefully selected depending on the intended application. It may be the hull, or sensor like a multibeam echo sounder or a USBL acoustic system. Some sensors have internal calibration routines, and accurate calibration of the MRU is not required. All calibrations are performed within the software. No electrical or mechanical adjustments are necessary. If possible, yaw correction should be avoided by mounting the MRU on a surface, which is well aligned to the vessels along-ship or cross-ship axis. If that is not possible, the offset angle should be measured as accurately as possible and entered as yaw correction.

6.5

SYSTEM OPERATION

The MRU-5 equipment will be operated in compliance with manufacturer operation manuals. During survey the MRU-5 supplies motion data of the vehicle, typically at a rate of 100 times/sec. The data is used for directional compensation in bathymetric mapping (e.g. multibeam echo-sounder surveys) and other survey applications (cross profiles) carried out from ROV and vessels.

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