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Sonardyne SPRINT 500 INS

ACOUSTICALLY AIDED INS

Inertial navigation is inherently self-contained, robust with very good short term accuracy but can drift over time. Therefore the INS is aided with complementary acoustic positioning to provide long term accuracy and robustness. The additional integrity offered by inertial integration significantly reduces operational delays during periods of challenging subsea acoustic conditions such as aeration and noise. The precision and update rate of the output allows greater subsea vehicle control and is suitable for ROV station keeping.

USBL aiding is vendor independent using a standard, absolute USBL position message. It can be further optimised with integration to a Sonardyne Marksman LUSBL or Ranger 2 USBL system. Alternatively, tightly coupled LBL aiding from Fusion 6G can be used with either full or sparse (2 to 3 beacon) arrays. LBL observations are optimally time stamped and the rich quality statistics provided with Wideband 2 are used to provide optimal aiding.

SPRINT does not need to be physically co-located with the Doppler Velocity Log. Misalignments are calculated in the field using a freely available calibration utility. This approach allows for more flexible mounting configurations to be considered. A ZUPT (zero velocity) aiding feature is available to provide exceptionally precise positioning during static fixes even if external aiding such as DVL has been lost (e.g. loss of bottom lock).

FLEXIBLE AND EASY TO USE

The SPRINT installed on the subsea vehicle is interfaced using a single serial or Ethernet connection through the vehicle’s umbilical. The SPRINT acts as a subsea multiplexer for it’s own data and all subsea aiding data. Each SPRINT unit is supplied with software to allow easy configuration, monitoring, communications routing and logging.  SPRINT can also be provided with a communications hub providing multiple serial/Ethernet ports for input and output.

Futures and benefits

  • High output rate (100Hz+)
  • Precise, low noise for smooth navigation
  • Resilience to outliers keeping the system on track
  • All computations made inside Lodestar reducing reliance on tethered communications
  • Topside connection via a single RS232 or Ethernet connection
  • AHRS and INS

– Continuous AHRS always available (regardless of aiding)
– INS

  • Battery backup to ride through brown outs
  • Onboard data storage provides redundant storage of log files
  • Vendor independent USBL aiding
  • Tightly coupled Fusion 6G LBL aiding option
  • DVL aiding (user auto configuration)
  • Subsea multiplexer (raw sensor feeds available topside)
  • Course or fine time synch (ZDA or ZDA+1PPS) options
  • Full navigation outputs available:

– Position / Depth / Attitude
– Velocity / Accelerations
– Rotations

  • Flexible configuration for all aiding sensors (configurable lever arms, DVL calibration routine)
  • ZUPT and Manual Position aiding options

 

SPRINT 500

Heading Accuracy (Secant Latitude) 0.1º (Lodestar AHRS)
0.04º (SPRINT INS)
Settle Time 5 minutes in dynamic conditions (Lodestar AHRS) Instantaneous (SPRINT INS)
Follow Up Speed 900º / second**
Roll and Pitch Accuracy 0.01º
Maximum Acceleration 10.0 g**
SPRINT Aided INS Aiding Supported USBL, Depth, DVL, Zero Velocity, Manual Position, LBL
USBL Aided 3 times improvement in precision over ‘raw’ USBL
USBL and DVL Aided 4-10 times improvement in precision over ‘raw’ USBL
DVL Aided Accuracy 0.1% position error for distance travelled
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