P.L.S.M. [Link].
eu
BP 18
78354 Jouy en Josas
France
Phone : +33 1 6019 3445 Fax : +33 1 7024 7281
AQUA-METRE R3000-NG
for
spool piece or jumper metrology
An AQUA-METRE R3000-NG Base unit on a flange (CAD result of a metrology)
Date: April 22, 2013
Doc ref: 0114-803-003
P.L.S.M. ( [Link] )
Summary
1 AQUA-METRE R3000-NG System..................................................................................................... 3
2 AQUA-METRE R3000-NG for Spool Piece Metrology......................................................................5
2.1 Direct flange to flange configuration...........................................................................................................5
2.2 Mid Base configuration................................................................................................................................7
2.3 Metrology results..........................................................................................................................................8
2.4 Mechanical interface definition, advanced measurement.............................................................................9
2.5 Measurement Quality Check......................................................................................................................11
2.6 Spool & jumper already completed since 2006.........................................................................................12
Document history
Document Date Modifications
ref.
0114-803-000 15/05/2007 Draft issue
0114-803-001 07/06/2007 first issue
0114-803-002 21/06/2008 Modification of PLSM address & tel/fax
0114-803-003 15/04/2013 Advanced measurements added, details on mechanical interfaces
added, list of achieved metrologies added
AQUA-METRE R3000 for Spool Piece Metrology
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P.L.S.M. ( [Link] )
1 AQUA-METRE R3000-NG System
The AQUA-METRE R3000-NG is a local underwater positioning
system based on an acoustical interferometric scheme (mainly
known as Ultra Short Base Line or USBL). It is particularly well
suited to Metrology Class local 3D positioning within the range of
up to 250 metres (more than 800 feet) from the reference point
(the Base). The system may be ROV or diver operated and
managed from the surface using acoustical networking features.
The AQUA-METRE R3000 has been designed for deep offshore
metrology, the system is operated through a set of commands
(monitor commands and acoustic commands) and may be operated
using the AQUA-CAD software from PLSM that allows real time
interface to a range of CAD software (Intelliplus and BricsCAD).
The simplest AQUA-METRE system configuration able to
measure 3D coordinates underwater is made of at least two main
components:
-The measurement Base, which constitutes the local reference
Cartesian coordinate system {0,0,0}),
-At least one Pointer which replies to Base interrogations.
R3000-NG Base with its interferometric frame and R3000 Pointer (Right)
AQUA-METRE R3000 for Spool Piece Metrology
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P.L.S.M. ( [Link] )
Basically, the system is dedicated to 3D measurement of Pointer(s) location in the local coordinate system(s)
defined by the Base(s). Each unit also includes a bi-axial accurate inclinometer that allows, among other
capabilities, to give access to Pitch, Roll angles, as well as difference of height between units as detailed later in this
document.
The AQUA-METRE R3000 allows a very flexible system configuration made of several stand alone units (a unit is
a Base or a Pointer), all units communicate using acoustic messages, one unit on the ROV allows underwater
system management from surface through a serial data-link (RS232 compatible). This specific unit, that can be any
Base or Pointer, is called the Communication Master (CM later in this manual).
Remote Remote
unit unit
#1 #2
ROV’s umbilical
ROV Remote
unit unit
(CM) #3
ROV
Power &
communication
interfaces Remote
unit
#4
AQUA-METRE R3000 underwater units
R3000-NG Pointer working as Communication Master (CM) on a work class ROV
Due to a recurrent demand for spool piece metrology and a collaboration with STOLT OFFSHORE
company in 2003 (STOLT is now SUBSEA7), PLSM has developed a specific script for this application
included in the AQUA-CAD software. This script automatically managed the underwater units
measurements and directly draw the metrology result in a CAD software, taking into account all
mechanical interfaces offsets, in order to speed up the survey report and avoid processing error (as well
as surveyor nightmare and headache…).
This specific way of using the AQUA-METRE R3000-NG is described in the present document.
AQUA-METRE R3000 for Spool Piece Metrology
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2 AQUA-METRE R3000-NG for Spool Piece Metrology
There are two AQUA-METRE R3000-NG configurations expected depending on flange-to-flange distance.
When the distance is less than about 70/80 metres with a clear flange-to-flange path, then a direct flange to flange
metrology can be set up.
Distance greater than 70/80 metres may be affected by multipath due to seabed proximity, in this case a middle
Base is recommended to split the metrology into two steps. This is also recommended when a clear path between
flanges cannot be guaranteed (direct path masked by a large steel structure for instance).
2.1 Direct flange to flange configuration
The AQUA-METRE configuration in this case appears below:
Rotation Locking
Pointer
Reference
Base
Offset
Base
Communication
Master
(ROV Pointer)
Direct Flange-to-Flange Spool piece Metrology
One Base is set up on each flange, the first one is called the Reference Base and defines the relative coordinate
system, all results will be output according to this Base coordinate system (which is defined by the interferometric
frame), the other Base is called the Offset Base and attached to the second flange. One Pointer is set up on a seabed
support in order to create roughly an isosceles triangle (see sketch).
AQUA-METRE R3000-NG Base on 20” flange and Pointer on seabed support frame
AQUA-METRE R3000 for Spool Piece Metrology
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P.L.S.M. ( [Link] )
Each Base to flange mechanical interfaces have to be defined in an CAD drawing (.dwg) prior to starting the
metrology (see later how to define this interface).
A Pointer attached to and preferably powered by the ROV is linked up to the survey room through a bi-directional
RS232 channel and acts as the Communication Master, thus sending commands to and receiving results from the
others units working on batteries (2 Bases and one Pointer in this case)
The metrology consists of four measurement steps:
Step #1: Measurement of Offset Base location from Reference Base,
Step #2: Measurement of Rotation locking Pointer from Reference Base,
Step #3: Measurement of Reference Base location from Offset Base,
Step #4: Measurement of Rotation locking Pointer from Offset Base,
All these acoustic measurements (four times Azimuth, Elevation and Distance) are processed by AQUACAD to
produce a final drawing of the metrology including the mechanical interfaces, subsequently getting direct access to
the flange-to-flange 3D distance, deltaZ, horizontal angles, pitch...
AQUA-CAD screen when using the Metrology script
The typical duration to do the measurements and process the data up to the final CAD file is less
than 5 minutes! (the overall metrology duration is mainly dictated by system set up and retrieval)
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P.L.S.M. ( [Link] )
2.2 Mid Base configuration
Rotation locking
Rotation locking
Pointer Posn #2
Pointer Posn #1
Ref
Offset Base
Base
Offset Base Posn #2
Posn #1
STEP #2
STEP #1
Communication Communication
Master Posn #1 Master Posn #2
Mid Base Spool piece Metrology
The Reference Base is set up on the seabed support and defines the relative coordinate system; all results will be
output according to this Base coordinate system (which is defined by its interferometric frame).
The metrology is then split in two steps corresponding to the two flanges:
1) The Offset Base is attached to the first flange. The rotation-locking Pointer is set up on a seabed support in
order to create roughly an isosceles triangle with the two Bases (see sketch).
2) The second step consists of moving the Offset Base to the second flange and the rotation locking Pointer in
order to create another isosceles triangle with the two Bases (see sketch)
A Pointer attached to and preferably powered by the ROV is linked up to the survey room through a bi-directional
RS232 channel and acts as the Communication Master, thus sending commands to and receiving results from the
others units working on batteries (2 Bases and one Pointer)
Each step requires the same type of 4 acoustic measurements and output the same type of results like the direct
flange-to-flange metrology.
Example of AQUA-METRE R3000 Base potentially masked by large steel structure
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P.L.S.M. ( [Link] )
2.3 Metrology results
The Metrology result is directly drawn in a CAD file (.dwg) that allows the surveyor to quickly produce direct
flange to flange final report.
Example of Spool Piece metrology result
Flange detail
AQUA-METRE R3000 for Spool Piece Metrology
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P.L.S.M. ( [Link] )
2.4 Mechanical interface definition, advanced measurement
The mechanical interface between the Base unit (Reference Base or Offset Base) and the flange (connector in case
of Jumper) is a key point that lead to a successful metrology.
This mechanical interface must be designed in order to:
- guarantee a known and repeatable Base location & attitude relatively to the flange center & axis,
- offer a way to easily plug the Base unit into it, by diver or ROV,
There is no universal design to address these constrains, it also depends if the interface can be installed prior to
pipe laying. However, this interface is most often made of two parts: one mechanical interface with a receptacle
attached to the flange, and a mechanical interface to the Base unit that fits in the receptacle,
PLSM offers a standard male-female cone interface, the female cone/receptacle being attached to the flange
interface, and the male cone to the Base unit as illustrated below:
example of flange mechanical Base unit with the mechanical
interface with a female receptacle interface to the male metrology cone
The male/female cone interface includes two alignment pins that
guarantee accurately the relative positioning (6 DOF locked).
The mechanical interface offered by PLSM between the Base unit and
the male cone is made of machined parts in inox (316L), thus the
offset and angles alignment are perfectly known for this part of the
interface between the Base and the flange. The rest of the interface
between the receptacle and the flange is often made on the yard using
welded metal plates, thus it has to be surveyd prior to the metrology
in order to identify the offsets and misalignments (6 DOF) between
the receptacle and the flange center and axis.
Male/female cone metrology interface
PLSM also offers ROV's grab handles and a protection frame to secure the interferometric frame (check PLSM's
web site at [Link] or contact PLSM for more details).
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P.L.S.M. ( [Link] )
Mechanical Interface CAD definition file:
When the mechanical interface is defined and has been built and surveyd, a specific CAD (dwg) file must be
prepared for the metrology process. This mechanical interface drawing defines the way each Base is attached to the
Flange. This is a very important file because it will be inserted in the final metrology drawing and allows the user to
directly get the flange-to-flange distances and angles measurements taking into account the offset and
misalignments introduced by the mechanical interface between the Base unit and the flange.
Example of Mechanical interface definition drawing
In case of error when drawing this interface, AQUA-CAD offer a replay mode that allows to replay a metrology
with a different mechanical interface.
Advanced measurement :
Within the mechanical interface definition file (dwg), the user may define for each flange:
- the center from/to which the distances and DeltaZ will be calculated ,
- the Pitch and Roll axis along which Pitch and Roll angles will be calculated,
The centers will be defined by a circle, the Pitch&Roll axis by simple line, these entities will be placed on specific
layers (CENTRE_A, PITCH_A and ROLL_A respectively for the reference Base mechanical interface, and with
suffix “_B” for the Offset Base).
After the completion of the four acoustic measurement steps, and the reference and offset Base inclination
measurement, the following metrology results will be automatically extracted and added to the CAD file:
- the horizontal (2D) or slope (3D) distance from flange center to flange center,
- the difference of height (DeltaZ) from flange center to flange center,
- the Pitch and Roll angles along the axis defined in the mechanical interfaces,
- in case of a jumper metrology, the user can alos choose the Pitch/Roll along/perpandicular to the center to center
axis.
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P.L.S.M. ( [Link] )
2.5 Measurement Quality Check
It is possible to check the consistency of the metrology by looking how the measurements close together at the
rotation locking Pointer location. The distance and angular errors for each end line is the combination of both Base
to Base and Base to Pointer measurements, the standard deviation for each is 2cm for distance (for distances less
than 50m) and 0.1° for angle.
The method to check the consistency of the metrology just consists of drawing the error volumes, which are slices
of cone, at the end of each Rotation Locking Pointer measurement and to check that they overlap, if they overlap it
assures the user that the flange to flange accuracy is consistent with the nominal system accuracy (2cm for distance
when distance is less than 50m, 0.1° for angles measurement). AQUACAD automatically add these measurement
error volumes in the CAD file.
Example of QC: passed when error volumes overlap
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P.L.S.M. ( [Link] )
2.6 Spool & jumper already completed since 2006
The AQUA-METRE R3000 system developpement started in 2004 along a collaboration with the STOLT
OFFSHORE company (now SUBSEA7). The system has been qualified in shallow water in 2006, then in deep
water in 2007. It has regularly been used since then around the world, the following table sum up all metrologies
achieved with the system up to now (more than 110 spools & jumpers).
Project Year Depth, Comment
Mad Dog, Customer: ACERGY USA/BP
Gulf of 2006 250m Qualification of AQUA-METRE R300, 4 vertical spool
Mexico metrologies, diver operated, ROV as CM and diver support
Customer: ACERGY WEST AFRICA/BP Angola
Greater 2007 1400m Qualification of AQUA-METRE R3000, 12 horizontal spool
Plutonio, metrologies, ROV operated, direct comparison with Compatt mk5 +
Angola Octans
Customer: ACERGY USA/Petrobras
PRA1, 2007- 100 to AQUA-METRE R3000 as primary system, more than 50 spools
Brazil 2008 180m (measured along 28 metrologies), diver operated with ROV for CM
Tombua Customer: ACERGY WEST AFRICA/ Chevron Texaco
Landana, 2007 450m AQUA-METRE R3000 as primary system, 4 horizontal spool
Cabinda metrologies, ROV operated.
Customer: BP/Mac DERMOTT/OCEANEERING
Baku Phase 1, 2007- 100 to AQUA-METRE R3000/R300 as primary system, 6 vertical "M
Azerbadjian 2008 280m shape" jumpers, ROV operated.
Customer: BP/SAIPEM/OCEANEERING
Baku Phase 2, 2008- 100 to AQUA-METRE R3000 as primary system, 6 vertical "M shape"
Azerbadjian 2009 280m jumpers , ROV operated.
Customer: ACERGY WEST AFRICA/ Total Gabon
Anguille, 2009 28m AQUA-METRE R3000 as primary system, 2 horizontal spool
Gabon metrologies, diver operated, "dunked Pointer" as CM (no ROV)
North Customer: TECHNIP-CANADA/ Husky Energy
Amethyst, 2009 150m AQUA-METRE R3000 as primary system, diver operated, ROV
Canada Pointer as CM , 6 jumpers
Mexilhao, Early Customer: ACERGY BRAZIL/PETROBRAS
Brazil 2010 <200m AQUA-METRE R3000 as primary system, 2 horizontal 34" Spool
metrologies, diver operated, CM Pointer on a ROV,
Baku Phase 3, 2010- Customer: BP/SAIPEM/OCEANEERING
Azerbadjian 2011 100 to AQUA-METRE R3000 as primary system, 3 vertical "M shape"
280m jumpers (up to mid-2010) , ROV operated.
Customer: ACERGY/TOTAL
B17, Early 40m AQUA-METRE R3000 as primary system, 1 spool, ROV operated
Angola 2011
AQUA-METRE R3000 for Spool Piece Metrology
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P.L.S.M. ( [Link] )
Late Customer: SUBSEA 7
EGP3B, 2011 to 7 to 30m AQUA-METRE R3000 as primary system, 9 spools in shallow
Nigeria early water, diver operated
2012
Sul Norte- Customer: SUBSEA 7 Brazil/Petrobras
Capixaba April AQUA-METRE R3000 as primary system, 4 spools, length 37 to
Phase 1, 2012 70m 71m, diver operated
Brazil
Sul Norte- Customer: SUBSEA 7 Brazil/Petrobras
Capixaba June AQUA-METRE R3000 as primary system, 2 spools, length 33 to
Phase 2, 2012 40m 49m, diver operated
Brazil
Customer: SeaTrucks/Total Gabon
Anguille, Nov. AQUA-METRE R3000 as primary system, 2 spools in shallow
Gabon 2012 30m-40m water, diver operated
Customer: OCS/PTTEP
Zawtika, March AQUA-METRE R3000 as primary system, 1 spool, lenth 36m,
Myanmar 2013 158m ROV operated
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