EM2040 series - SAT procedure.pdf

Sea Acceptance Test EM 2040 series Multibeam Echo Sounder

EM 2040 series SAT Procedure

399540/ Rev. D / Page 2 of 17

Document history

Document number 399540

Rev A November 2014 First issue with slim PU

Rev B December 2014 Minor corrections in the text

Rev C March 2015 Extended the Noise Test Table

Rev D November 2016 Updates for EM 2040 series

Contents

1 Introduction

2 References

3 Test equipment

4 List of items

5 Configuration

6 Software

7 Interconnection / Arrangement

8 Test procedure

8.1 Test of Interfaces

8.2 Sensor Offset/Calibration

8.3 Survey

8.4 Sea Conditions Performance Assessment

9 Storage of Data Records

10 Testimonial

399540/ Rev. D / Page 3 of 17

1 Introduction The purpose of this procedure is to verify that the system as installed is fully functional at sea, and to serve as a step by step record of the successful completion of the Sea Acceptance Test. It is to be followed to verify correct functioning of the multibeam echo sounder and the various external sensors or systems as an integrated mapping system. It will also verify that the system interfaces and peripherals are functional.

The sea trials shall establish:

• that the different units work properly at sea

• that the heave, roll and pitch signals are correctly used

• that the heading signal is correctly used

• that the sound speed input data are correctly used

• that the positioning system data are correctly used

• that the system is capable of providing good depth data consistently

• that the system during operation produces digital data to its internal storage devices and, if available, to an external logging system connected via Ethernet

The Sea Acceptance Test shall consist of a verification of correct interfacing of external sensors, a calibration of external sensor offsets and time delays, a test survey, and assessment of the data from the test survey. In addition, as far as time and external conditions allow, limitations on system performance as a function of water depth, vessel speed and sea state shall be established.

2 References Factory and Harbour Acceptance Test records.

3 Test equipment No special test equipment is required for the Sea Acceptance Test, but all sensors normally needed for surveying with a multibeam echo sounder shall be available.

399540/ Rev. D / Page 4 of 17

4 List of items The items, which are to be tested, will depend on the particular configuration. Use the manufacturer type number column to indicate which items are actually included in this particular delivery or furnished by the owner to be used with the system.

Fill in the units included in the delivery:

Item Registration

Number Equipment Serial number

1 HWS Operator Station

2 Processing Unit

3 TX transducer unit(s)

4 RX transducer unit(s)

5 Sonar head(s)

6 Position system

7 Motion Sensor

8 Heading sensor

9 Sound Speed Profile Sensor

10 Fixed Sound Speed Sensor

399540/ Rev. D / Page 5 of 17

5 Configuration

The modules and circuit boards included in the system and their serial numbers were noted in the Factory and Harbour Acceptance tests. Any replacement modules or circuit boards since the HAT must be noted.

Replacement list

Item Equipment Registration number

Serial number

399540/ Rev. D / Page 6 of 17

6 Software The system software version must be noted, including the subsystems, and reflecting any changes made during the trials.

Item Equipment Version number

Version date

1 Multibeam Release version

- info is found in “about SIS”

2 Operator Station (SIS)

- info is found in “about SIS”

Processing Unit (PU):

3 CPU

4 VxWorks

5 CBMF

6 Filter

Transducer Unit / Sonar Head:

7 RX

8 TX

Example:

399540/ Rev. D / Page 7 of 17

7 Interconnection / Arrangement The system shall have been installed according to the Instruction Manual.

Note the locations of the transducers, motion sensor(s) and positioning system(s) as entered on the Operator Station:

X (forward pos) Y (starboard pos) Z (downwards)

TX Transducer Unit

RX Transducer Unit # 1

RX Transducer Unit # 2

Sonar Head 1

Sonar Head 2

Motion sensor no 1

Motion sensor no 2

Positioning system no 1

Positioning system no 2

Positioning system no 3

Pos. system Ethernet

Waterline downward

399540/ Rev. D / Page 8 of 17

Note the transducer alignment angles as entered on the Operator Station:

Roll Pitch Heading

TX Transducer Unit # 1

TX Transducer Unit # 2

RX Transducer Unit # 1

RX Transducer Unit # 2

Sonar Head 1

Sonar Head 2

399540/ Rev. D / Page 9 of 17

8 Test procedure

The test will be documented through the tables on the following pages. The tests shall generally be done in the following order:

• Interface tests

• Calibration

• Survey

• Data assessment

Assessment of the survey data collected should preferably be done on board.

Note that the noise measurements and test of performance with regard to depth and/or sea state are to be run in the order which best suits the conditions during the test period.

It is not expected that many different conditions will be encountered during the limited time available for the sea acceptance test. However, it is strongly advised that when different conditions are encountered during later use of the system, the system performance as a function of external conditions is noted, for example in this record.

This will be valuable for later use in survey planning and in ensuring the most efficient use of the system.

399540/ Rev. D / Page 10 of 17

8.1 Test of Interfaces

Tests of the external sensor interfaces should have been run during the Harbour Acceptance test. However, these tests were necessarily limited (static), as only performed along the quay side. Thus the data from the external sensors should be observed on the system display during vessel manoeuvring, and verified for correctness (positions and clock) or correct sign and/or reasonable magnitude (heave, roll, pitch, heading and sound speed).

During the test data will be logged, all connected hard-copy devices should be employed, and sound speed profiles loaded into the system. Observe that this is functional. Fill in the table below to record this.

Test no. Function to be tested

Test result

Notes

1 Position input

2 External clock input

3 Transducer depth sound speed input

4 Sound speed profile input

5 Heading input

6 Motion data input

7 Velocity input

8 External sync

9 Data output to internal storage

10 Data output to external storage

11 Data output to external Ethernet

12 Postscript printer

13 Printer/plotter/recorder output

399540/ Rev. D / Page 11 of 17

8.2 Sensor Offset/Calibration

The offset or zero bias of the roll, pitch and heading sensors and the time delay of the position system(s) are to be measured or estimated before leaving port if possible (this is especially important with regard to the heading sensor). A calibration of these offsets shall be performed at sea as the second part of the test in accordance with the procedures given in the Operator Manual. The calibration values should not exceed the measurement accuracies stated in the installation/instruction manual. System performance may be reduced if the requirements are not fulfilled. Finally, these offsets shall be estimated from the final test survey. Fill in the table below with the offsets as entered into the Operator Station:

Port Estimate Calibration result Final Estimate

Roll offset system 1

Roll offset system 2

Pitch offset system 1

Pitch offset system 2

Heading offset system 1

Heading offset system 2

Position time delay system 1

Position time delay system 2

Position time delay system 3

Note the positioning system type used during the sea acceptance test and its estimated accuracy. For calibration at shallow water, high position accuracy is required:

Positioning system type Estimated accuracy for position system

Pos system 1

Pos system 2

Pos system 3

399540/ Rev. D / Page 12 of 17

8.3 Survey

The integrity of the total survey system consisting of the multibeam echo sounder as installed on the vessel, motion sensor, heading sensor, sound speed sensor(s), and positioning system(s) shall be assessed by doing a survey of a limited area and inspecting the collected data. The result should be compared against the specified accuracy of the echo sounder, taking into account the precision of the external sensors, and any limitations imposed by the vessel and its handling. Note that this test is not designed to measure the accuracy of the echo sounder itself, as this would require a much more extensive test period, and has been done on previous system installations.

The sea acceptance test’s main part will be a sensor calibration followed by a system assessment survey in the calibration area. The area used for the sea trials should thus consist at least partly of a relatively flat bottom and partly of a significant slope as required for a calibration in accordance with the guidelines for calibration as given in the Operator Manual. In case this is not possible the calibration of the various sensors must be run in separate areas while the final assessment survey should be run in the flat part used for roll calibration. The depth should then ideally be in the 10-30 m range (not critical).

Five parallel lines should be run with a line spacing equal to about one quarter of the achieved coverage in the actual area. Neighboring lines should be run in opposite directions. The line length should be in the order of twice the achieved coverage. Two lines should be run perpendicular to and across the five previous lines.

Assess the data with the system’s grid display using a grid cell size giving about 10-20 soundings per cell. Using the various display options, investigate the frequency and magnitude of outliers, discrepancies between lines, and depth differences within cells.

Use also the calibration profile displays to assess any remaining errors due to roll offset or sound speed profile problems. If the performance of the system is not according to expectation, describe the results in the Comment section below, otherwise note that the system performance is accepted. Any un-resolvable performance problems should be further investigated and quantified with a post-processing system.

Note the area with positions and depths where the Customer Acceptance Test has been performed:

SAT area:

SAT position:

SAT depth:

399540/ Rev. D / Page 13 of 17

8.4 Sea Conditions Performance Assessment

During the sea acceptance test, the performance of the whole system shall be assessed.

The important factors limiting achievable accuracy and coverage are noise, sea temperature and salinity and sea state. With heavy seas it is to be expected that the performance will also depend upon vessel heading with respect to wave direction. On some vessels the noise level at particular speeds and propeller revolutions may also affect coverage. It is recommended to assess achieved coverage as a function of environmental parameters both during the sea acceptance test and later operation. The results should be entered in the table below, both to document conditions during the test and later to have a record of the system's performance according to external conditions.

The noise (at for example 200, 300 and 380 kHz) experienced by the system may be measured from the Operator Station as described in the Operator Manual. Several measurements should be taken and the result averaged before noting it in the table below:

Noise test Date Depth

(m)

Sea State

Heading Against Waves

Speed RPM Freq.

kHz

Noise level

Comments

399540/ Rev. D / Page 14 of 17

Noise test continue Date Depth

(m)

Sea State

Heading Against Waves

Speed RPM Freq.

kHz

Noise level

399540/ Rev. D / Page 15 of 17

The coverage is assessed by observing the swath width on the Operator Station on a reasonably flat bottom. The average of several pings and any occurrence of missed pings should be noted in the table below:

Coverage test Date Depth

(m)

Sea State

Heading Against Waves

Speed

(kn)

RPM Abs.

coeff.

Coverage

(m)

(BS level, freq. etc)

399540/ Rev. D / Page 16 of 17

9 Storage of Data Records From the Operator Station (SIS):

• Run all Built In System Tests. Save the BIST results to file.

• Run the System Info test and save to file (This file contains info about registration numbers, serial numbers, software versions etc.).

• Save PU parameters to file (this file contains information about runtime and installation parameters).

Transfer these files to Kongsberg Maritime head office for update of the ships installation records (Archive).

System report from SIS installation menu:

Performed by (date/sign) Witnessed by (date/sign)

399540/ Rev. D / Page 17 of 17

10 Testimonial The SEA ACCEPTANCE TEST for the EM 2040….., for ……………………………………..……..

has been performed according to the test procedure.

This SAT approval is only valid if the test is performed by an engineer certified by Kongsberg

Maritime A/S.

The test is: Accepted / Not accepted (Delete as appropriate)

Remarks:

Please use capital letters:

Test performed by Position Company

Kongsberg Maritime

Test accepted by Position Company

Date Signature