428711_EM 124 - SAT procedure.pdf

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Sea Acceptance Test

EM 124 Multibeam Echo Sounder

Doc No: 428711

Revision: A

Status: This document is under configuration control at Kongsberg Maritime.

Kongsberg Maritime AS COMPANY SHARED

KONGSBERG PROPRIETARY – see Statement of Proprietary Information

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Document history

Revision Description of Change

A First Issue

Disclaimer

Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omissions.

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Table of 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 and System Calibration

8.3 Noise and Sea Conditions Performance Assessment

8.4 Survey

8.5 Data records

9 Testimonial

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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 record of the successful completion of the Sea Acceptance Test.

The sea trials shall establish:

• that the different EM 124 units work properly at sea

• that the heave, roll, pitch and heading signals are 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 EM 124 Reference manual.

EM 124 Product description

EM 124 data sheet.

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.

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4 List of items

List of items to be tested Item Manufacturer, type and/or registration number

Equipment Serial number

1 EM 124 Transmitter Unit # 1

2 EM 124 Transmitter Unit # 2

3 EM 124 Receiver Unit # 1

4 EM 124 Receiver Unit # 2

5 EM 124 Processing Unit # 1

6 EM 124 Processing Unit # 2

7 HYDROGRAPHIC WORKSTATION

8 POSITIONING SYSTEM

9 MOTION SENSOR

10 SOUND SPEED PROFILE SENSOR

11 FIXED SOUND SPEED SENSOR

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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

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 CPU version

2 DCL version

3 VxWorks version

4 CBMF version

5 TX version

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Item Equipment Version number

Version date

6 RX version

7 K-Controller version

8 SIS version

7 Interconnection/Arrangement The system shall have been installed according to the Installation 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

RX transducer

Motion sensor no 1

Motion sensor no 2

Positioning system no 1

Positioning system no 2

Positioning system no 3

Waterline downward NA NA

Note the transducer alignment angles as entered on the Operator Station

Roll Pitch Heading

TX transducer

RX transducer

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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 as 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.

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 only), and may not even have been done due to non-availability or non-functionality of external sensors. Thus the data from the external sensors should be observed on the system display during vessel maneuvering, and verified for correctness (positions and clock) or correct sign and/or reasonable magnitude (heave, roll, pitch, heading and sound speed).

Data will be logged during the test, 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 Motion data input

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Test no. Function to be tested

Test result

Notes

6 Data output to internal storage

7 Data output to external storage

8 Data output to external Ethernet

If included in the delivery:

9 Postscript printer

10 Printer/plotter/recorder output

8.2 Sensor Offset and System 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. 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:

Alignment survey result Final calibration result

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

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Note the positioning system type used during the sea acceptance test and its estimated accuracy:

Positioning system type 1:

Estimated accuracy for position system:

Positioning system type 2:

Estimated accuracy for position system:

Positioning system type 3:

Estimated accuracy for position system:

8.3 Noise and 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 (vessel and environmental) 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 experienced by the system may be measured from the Operator Station as described in the Reference Manual. Several measurements should be taken and the result averaged before noting it in the table below:

Date Depth

(m)

Sea State

Heading Against Waves

Speed RPM Noise Comments

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Date Depth

(m)

Sea State

Heading Against Waves

Speed RPM Noise Comments

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:

Date Depth

(m)

Sea State

Heading Against Waves

Speed

(kn)

RPM Abs.

coeff.

Coverage

(m)

Missing Pings, Comments

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Date Depth

(m)

Sea State

Heading Against Waves

Speed

(kn)

RPM Abs.

coeff.

Coverage

(m)

Missing Pings, Comments

8.4 Survey

The integrity of the total survey system consisting of the multibeam echo sounder as installed on the vessel, motion 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 Reference 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 1000-2000 m range (not critical).

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Five parallel lines should be run with 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. A sixth line 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. The expected total system RMS accuracy can be found in the Product Description document. If the performance of the system is not according to technical specifications, 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 Sea Acceptance Test has been performed:

SAT area:

SAT position:

SAT depth:

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8.5 Data records

From the Operator Station use K-Controller:

From Set parameter click the BIST test menu:

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

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

From :

• Export 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).

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9 Testimonial The SEA ACCEPTANCE TEST for the EM 124, for ………………………..….

has been performed according to the test procedure.

The 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 Date

Test accepted by Position Date

Signatures

9 Testimonial