THE HUGIN 1000 AUV as sensor platform for seafloor mapping

Kongsberg SimradTHE HUGIN 1000 AUV as sensor platform forseafloor mappingPresented by Svein Otto Schjerven, Manager M & SWORLD CLASS – through people, technology and dedication

Content• The HUGIN 1000 AUV in brief• SAS/SSS in operation• Multibeam Echosounders• Forward Looking Sonar• Other sensors and system news• Summary/ 2 /

Kongsberg Maritime AS Site in HortenKongsberg Maritime AS•World leading companywithin maritime electronics& hydroacoustics•3300 employees in 25countries•Horten site 340.•More than 1100 abroad.KM about 7,7 billion NOKoperating renevue in 2007EBITA 10,8 %•More than 70% ofop.renevues earned outsideNorway•The growth has continuedin 2009/ 3 /

The Kongsberg GroupKongsberg Maritime – Subsea DivisionUnderwaterpositioningNaval sonarsystemsFisheries systemsAUV’sSeabed mappingUnderwatersurveillance/ 4 /

The HUGIN and REMUS AUV familyHUGIN 1000 HUGIN 3000HUGIN 4500/ 5 / 2-Dec-09

Royal Norwegian Navy - AUV OPEVALprogram• HUGIN I (2002-03) – development and demo• Payload: Multibeam echo sounder, COTS SSS• Endurance: 5-8 hours, charge time 6-8 hours• MCM coverage rate: 0.2-0.6 km2/h, 20-40 cm resolution• HUGIN 1000 (2004-06) – reduced capability pilotsystem– Payload: EdgeTech SAS or SSS, EM3000 MBE, CTD– Endurance: 12-18 hours, charge time 5 hours– MCM coverage rate: 0.8-1.6 km 2 /h, 10-30 cm resolution• HUGIN 1000-MR (2007-) – full-capability commercialdelivery– Payload: Kongsberg HISAS 1030, MBE, CTD– Endurance: 18-24 hours, charge time 5 hours– MCM coverage rate: 2-3 km 2 /h,

HUGIN 1000 main components/ 7 /

8 /Main sensors on HUGIN 1000 AUV

Basic Payload SuitePayloadHydro carbon snifferForward sonarCamerasSide scan sonar orsynthetic aperturesonarMultibeam echosounderCTDSea current profilerLeakage detectionCapabilityObstacle avoidance and leakage detectionDetailed visual inspectionImagery for inspection, mapping of debris andchange detectionBathymetry for inspection and ice surveillance(if upward MBE)Conductivity, temperature, depth sound speed, densityADCP• HUGIN has an open architecture for easy integrationof payload for specific applications/ 9 /

HUGIN 1000 MR - overviewRNoN testingHUGIN1000MRoutsideBergenApril/May2008/ 10 /

Payload sensors – MBES and HISAS 1030EM 3002 transducer and processingunitHISAS 1030 transducers on HUGIN 1000mid section/ 11 /

Sensor: Imagenex DeltaT• Frequency: 260 KHz• Range: 100m (150m)• Beam width: 120° x 20 °• Number of beams: 120 (240,480)• Power consumption:

HUGIN 1000 with under ice operation forFinnish Navy• HUGIN 1000 for Finnish Navy will get underice operation capability. First vehicledelivered 2009.• Under ice operation is tightly integrated withthe anti-collision system• HUGIN 1000 under ice functionality alsosuitable for arctic operationsIceSafe ice distanceCritical distance(water depth)Safe seabed distanceSeabed/ 13 /

14 /HUGIN 1000 FLS

Pollution awarenessThe HUGIN sensor suite include sensorsfor environmental pollution detection.HUGIN can patrol the field and check forpollution, using sensors such as:• Hydro carbon sniffer for leakagedetectionContros CH4 sensor forhydro carbon detection•Sonar for leakage detection•CameraImagenex 837A sonar foranti collision and leakagedetection/ 15 /

Payload sensorsFalmouth Scientific Micro-CTDWetLabs FLNTU Turbidity andFluorescence sensorForward Looking Sonar - Imagenex DeltaT/ 16 /

Proven and new Sub BottomProfiler/ 17 /

HUGIN SBP• Civillian SBP integrated on HUGIN vehicles forgeophysical survey:• EdgeTech 2200 SBP• EdgeTech 4500 DF SBP• Integrated on HUGIN 1000, HUGIN 3000 and HUGIN4500• Military SBP for 3-dimensional mapping of buriedobjects• EdgeTech BOSS• Integration design for HUGIN 1000 finnished/ 18 /

3D multibeam sub bottom profiler• Transducer wings required for multibeam sub bottom profilerProjector 3-20 kHzwings contain an 80 element receiver/ 19 /Bottom ViewEdgeTech BOSS with 4 m wing span mounted on HUGIN 1000

Sequence of wing and projectordeploymentProjector and Wings StowedProjector Deployed, Wings at 22.5 degreesProjector Deployed, Wings at 45 degrees Projector Deployed, Wings at 67.5 degrees/ 20 /Projector and Wings Fully Deployed

An Image of a Buried Object is Generatedat Each Aspect as the Sonar Passes theTargetSonar is atcenter of image3D matrix of pixels centered at focalpoints40 elementhydrophonearrayxyRtargetLength ofsyntheticapertureHistory of hydrophone positionsthat form synthetic aperture/ 21 /

22 /Operations in Artic Environment

Operational concept for mapping in artic areas• AUV is operated fromice breaker• Ice breaker bringsAUV into area ofinterest• Large under ice areasare effectivelymapped by thecombination of icebreaker and longrange AUV equippedwith high areacoverage ratesensors• Ice breaker providescapability to recoverthe AUV in case of anemergency situation(Picture of KV Svalbard. Shown for illustrationpurposes.)/ 23 /

Thickness (m)Upward mulitbeam echo sounder• Upward multibeam echo sounderis suited to measure• Ice topography• Ice thickness• Ice thickness estimate requiresintegration with• Pressure sensor• CTD for water densityKongsberg Maritime EM 3000mounted on HUGIN 100020-2-4-6-8-10-120 1 2 3 4 5 6 7 8 9 10Distance [km]20-2-4-6-8-10-12Ice topography picturetakenfrom Marcel Nicolaus andSebastian Gerland,Norwegian Polar Institute.For illustration purposes./ 24 /

Upward Doppler velocity log• Upward Doppler velocity log(DVL) can be integrated tomeasure Doppler shift betweenAUV and ice directly.• Upward DVL (in ADCP mode)can also measure currentprofiles above AUV.Teledyne RDI DVL/ 25 /

HiPAP navigation and tracking conceptIce breaker trajectoryAUV trajectory/ 26 /

Testing of equipment forthrough ice localization and communication• In case of emergency, the support vesselcan launch a helicopter or unmanned aerialvehicle (UAV) for AUV localization.• For testing, a 100 bps WFS S1510 RadioModem V2.2 was integrated in HUGIN1000./ 27 /

Risk reduction in AUV under ice surveyShip subsystems:• Communication and localizationsystems• Launch and recovery system• ROV• UAV or helicopterPhoto: S. GerlandFor illustration purposes.AUV subsystems for under iceoperations:• Redundancy, error detection and errorhandling• Navigation• Anti-collision• Communication and localization systems• Battery• Launch and recoveryFundamental requirement: Proven, robust and high performing AUV/ 28platform./

29 /New Camera

Optical imaging for AUVs• Advantages:• Mine detection, classification and identification on one vehicle• Optical imaging very useful to “train” SAS operators• Optical camera system TileFishdesigned for HUGIN• Large optics• Highly sensitive camera• Strobed LEDs as light source• Maximum separation betweenLED panel and camera• Colour and/or monochrome• Design altitude 2-4 m (colour);3-8 m (monochrome)LED panelCamera/ 30 /

Optical camera on HUGIN 1000-HUS (FFI)• High quality LED strobe. 3 – 6 maltitude.• Still picture cameraHUGIN 1000-HUSLED panelCamera/ 31 /

TileFish camera examples: Marine lifeTileFish camera on HUGIN 1000 (single images, no mosaic) Altitude 4 m/ 32 /

33 /HUGIN AUV SYSTEM NEWS

HAVOPS Introduction• HUGIN AUV & Vessel Operations Simulator (HAVOPS) is acomplete simulation system for education and proceduretraining for personnel involved in AUV operations• Designed for operations with Kongsberg HUGIN 1000 AUV,survey vessel, and Kongsberg HiPAP system• Operators can safely plan and carry out AUV surveyprocedures under different conditions• Based on the existing HUGIN AUV simulator engine SimP,and Kongsberg’s renowned Ship Simulator technology• HAVOPS includes the following five physical components:• Bridge of the vessel• AUV operations room• AUV L&R station• Instructor/Debrief stations/ 34 /

HUGIN 1000 Portable System for Vessel ofOpportunity• 20 ft and 10 ft container for both transportation and ship installation• Small system footprint – high degree of modularity and flexibility• Ship requirements: Voltage + deck space/ 35 /

36 /HUGIN 1000 Portable System10 feet container with Top Side systemComplete Post Mission Analysis System

SUMMARY• AUV`s with mine hunting capacity is available• Multi role capabilities• Flexible payload solutions• Portable system solution• Platform independent• HISAS 1030 fullfil the most important MCM requirments;• Reliability, resolution and range• SAS require stable vehicle motion/ 37 /

AUV HUGIN 1000MR with HISAS 1030Thank you –questions?svein.otto.schjerven@kongsberg.com/ 38 /