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Challenges of performance testing an environmentally referenced - - PowerPoint PPT Presentation

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Challenges of performance testing an environmentally referenced sensor David McKnight October 2018 Guidance Marine History Completed the legal 1991 2005 2013 2014 2017 separation of the Automation and Marine businesses with the Guidance

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Challenges of performance testing an environmentally referenced sensor

David McKnight October 2018

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Guidance Marine History

2017 1991 2005 2013 2014

Completed the legal separation of the Automation and Marine businesses with the Guidance group

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Local Position Reference Sensor – User experience

  • We are familiar with the use of

local position reference sensors.

  • Typical user interface shown
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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Local Position Reference Sensors – What am I tracking

  • In order to start tracking a DPO will
  • Select one or more targets after identifying the targets are the correct ones.
  • Click on “Start tracking”
  • They will then be tracking either a prism or a radar responder.
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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless Position Reference Sensors - Introduction

  • Recently launched targetless sensor – SceneScan.
  • Scans the scene with a 2D laser scanner
  • Matches the current observation against previous to

determine the sensor motion between observations.

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless Position Reference Sensors - Why

  • Avoids the problems with targets.
  • Delays moving targets to an appropriate position
  • Delays cleaning targets which are dirty
  • Delays due to power issues with radar target
  • Difficulties placing targets optimally
  • No more target hand-overs
  • Breaks the dependency a vessel has on an asset
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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless Position Reference Sensors – What am I tracking

  • A targeted sensor has an easy answer

to “What am I tracking”

  • The target!
  • A targetless sensor allows tracking by

looking at how the environment changes

  • ver time to deduce what the motion of

the vessel is within that scene.

  • Simultaneous Localisation And Mapping
  • SLAM
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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless Position Reference Sensors – What is a scene reference point?

  • On a targeted sensor there are targets which are tracked.
  • We must send a position of something to the DP system.
  • We have called this the Scene Reference Point
  • It is a virtual target.
  • When we start tracking we assign one at the weighted

middle of the point cloud

  • From the DP system point of view the exact position doesn’t

matter.

  • The DPO does have the option to change this.
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SceneScan – On-land testing

  • With a PRS utilizing a target static testing is

easy to conceptualise.

  • Place target in a suitable area.
  • Measure distance to sensor whilst everything

is static.

  • SceneScan requires an asset-like target to

produce realistic performance figures.

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

SceneScan – On-land testing

  • With a PRS utilizing a target static testing is

easy to conceptualise.

  • Place target in a suitable area.
  • Measure distance to sensor whilst everything

is static.

  • SceneScan requires an asset-like target to

produce realistic performance figures.

  • Dry-dock!
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Tel: +44 116 229 2600 Web: www.guidance.eu.com

SceneScan – On-land testing results

Structure type Range to structure Position noise on pre-production algorithm TLP 75m 0.028m radial 0.057m tangential TLP 25m 0.006m radial 0.010m tangential Jackup 90m 0.031m radial 0.076m tangential

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless sensors at sea – characterizing position.

  • Having characterized performance in a static setting we should look at how to characterize

performance at sea.

  • Visualization and measurement of tracking performance.
  • Comparison to known sensors.
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Targetless sensors at sea – Visualization of position holding

  • Tracking may be visualized in a diversity of

ways.

  • A simple 2D plot will show a position which

combines:

  • Noise from the sensor
  • Wave motion
  • Box holding performance of the DP

system.

  • Driven movement.
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Targetless sensors at sea – Visualization of position holding

  • Tracking may be visualized in a diversity of

ways.

  • By increasing the scope of the 2D plot to

include the map and scan data we can add context.

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Targetless sensors at sea – Visualization of position holding

  • Multiple 2D plots, showing different

components of position can be shown.

  • X, Y, Heading
  • Range, Bearing, Heading
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Targetless sensors at sea – Visualization of position holding

  • Multiple 2D plots, showing different

components of position can be shown.

  • X, Y, Heading
  • Range, Bearing, Heading
  • This has the advantage of showing tracks

being formed.

  • Slow movements are separated out, though

noise and wave motion are still merged.

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Targetless sensors at sea – Visualization of position holding

  • Ideally separating the different components
  • f motion would allow us to evaluate noise

performance.

  • Utilising signal processing methods we can

filter by frequency.

  • We take wave motion to occur on

timescales of 5 seconds or longer

  • 2nd order Butterworth high-pass filter with a

cut-off of 0.2Hz used

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless sensors at sea – Visualization of position holding

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Targetless sensors at sea – comparison between sensors

  • From Shell Mars platform testing – comparing SceneScan, CyScan and RadaScan data
  • Different timescales shown.
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Targetless sensor - TLP and accommodation vessel

Results against a TLP at 110m Position noise – radial Position noise – tangential DP position holding performance 0.088m 0.084 degree (0.161m distance referenced) SceneScan position noise 0.013m 0.009 degree (0.017m distance referenced)

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Targetless sensor - drillship

Results against a drilllship at 60m Position noise – radial Position noise – tangential DP position holding performance 0.088m 0.104 degree (0.109m distance referenced) SceneScan position noise 0.028m 0.019 degree (0.020m distance referenced)

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Tel: +44 116 229 2600 Web: www.guidance.eu.com

Targetless sensor - conclusion

  • We have shown the basis of testing a targetless sensor in

isolation on land.

  • We have show testing methods at sea.
  • We have shown results from all of these against a variety of

assets.

  • Performance is similar or better than targeted systems.