HUGIN HUGIN 1000 Arctic Class AUV - ArcticNet PROPRIETARY – See Statement of Proprietary Information • Arctic Challenges and Applications for AUV • HUGIN 1000 Arctic Class AUV

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HUGINHUGIN 1000 Arctic Class 1000 Arctic Class AUVAUVEinarEinar GustafsonGustafsonKongsberg MaritimeKongsberg Maritime

KONGSBERG PROPRIETARY – See Statement of Proprietary Information

• Arctic Challenges and Applications for AUV• HUGIN 1000 Arctic Class AUV Highlights• HUGIN 1000 Arctic Features• Geophysical Survey Suite for Under-Ice Survey• Data Product Examples• Risk Reduction for AUV Under-Ice Survey• Summary

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OutlineOutline


• Increased human activity in Arctic region• More bathymetric and geophysical

mapping requirements• MMS• Academia• National territory mapping (UNCLOS)

• AUV is the natural tool for under-ice surveying, both shallow and deep waters

• New challenges for under-ice AUV OPS• Tougher and remote environment• Risk of collision with the ice• Increased risk of a lost AUV• More challenging environment for maintaining

long-range autonomous navigation accuracy• L&R more difficult – will require innovative

solutions to keep the risk of damage low

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Arctic Challenges for AUVArctic Challenges for AUV


• Geophysical Seabed Mapping• UNCLOS• Oil and Gas

• Marine Research• Oceanography• Fisheries research• Ice profile mapping

• Offshore Ice Management• Around platforms or drillships• Req’d throughout the life of an oil field• AUVs crucial to estimate ice floe

masses and movements

• Environmental Monitoring• Oil spills• Climate

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Arctic AUV ApplicationsArctic AUV Applications


Addresses the Arctic challenges • High Area Coverage Rate (ACR) with HISAS 1030 and EM 3002 • Survey time reduced - lowering the risk and cost of the operation• 20’ + 10’ “fly-away” kit, shippable by land, air and sea• Options for L&R through a moon pool or hole in the ice• Safe, robust, low risk

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HUGIN 1000 Arctic Class AUVHUGIN 1000 Arctic Class AUV


Arctic Features• Radio-through-ice localization and communication systems• Arctic Class Container System• Advanced collision avoidance algorithms specifically

developed for under-ice operations• Underwater Transponder Positioning (UTP)• Terrain-based navigation• L&R in Ice-Covered Waters

• Subsea docking• Through-ice• Through moon pool

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HUGINHUGIN 1000 Arctic Class 1000 Arctic Class AUVAUV


• TILACSys enables a surface vessel, helicopter or UAV to locate HUGIN 1000 under ice at up to 1 km

• Provides redundancy to acoustic comms and localization

• Power: 4W RX – 16W TX – 5mW sleep

• Joint Kongsberg and WFS R&D project, EU-funded

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RF ThroughRF Through--Ice Localization and Comms System Ice Localization and Comms System (TILACSys)(TILACSys)


• HUGIN 1000 container system has insulation and heating for Arctic use

• Low logistics – can ship to remote locations

• Ship requirements: Voltage + deck space• Houses all AUV system functions:

• storage, shipping, maintenance, L&R, C2, PMA

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Arctic Class Container SystemArctic Class Container System


• Based on FLS mounted in nose• Uses ”vertical avoidance”

principle• See both bottom and ice

simultaneously

• For system robustness and redundancy – two altimeters used as add’l inputs

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UnderUnder--Ice Collission Avoidance SystemIce Collission Avoidance System


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UnderUnder--Ice Collision Avoidance Ice Collision Avoidance –– BlockedBlocked


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UnderUnder--Ice Collision Avoidance Ice Collision Avoidance –– IcebergIceberg


• AUV measures range to transponders on the seabed

• Range measurements tightly integrated with INS

• Works with one transponder or more• Deployment

• Along ice edge• In operation area using ice breaker• Quick box-in using ice breaker USBL

• Range• 3.5 kHz: Up to 20 km• 12 kHz: Up to 10 km• 25 kHz: Up to 4 km

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UnderUnder--Ice Transponder Positioning (UTP)Ice Transponder Positioning (UTP)

INSINS


• Terrain-referenced navigation is to estimate the vehicle’s position by correlating bathymetric measurements with a DTM

• Alternative to UTP for positioning• System requires an a priori map (DTM)• Performance dependent on topography

• In varied terrain, position accuracy is on the order of the DTM resolution(~1m)

• Not suitable for flat bottom• Bathymetric sensor required

• Altimeter• DVL• Multibeam echo sounder (EM)

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TerrainTerrain--Referenced NavigationReferenced Navigation

DVL-aided INS

DVL-aided INS

DVL-aided INS

DVL-aided INS


• Water surface uninhabitable for AUV, due to full or partial ice-cover • Subsea docking of the AUV away from the ice

• Collapsible docking frame assembly • Self-aligned with current for optimal approach speed• Acoustic homing + mechanical latch• Video-monitored

• Prototype system built• Uses

• Moon pool• Ice camp

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L&R in IceL&R in Ice--Covered WatersCovered Waters


• Facilitates through-ice and -moon pool L&R with minimum aperture• Vertical lift through surface

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L&R in IceL&R in Ice--Covered Waters (contCovered Waters (cont’’d)d)


• HISAS 1030 + EM 3002 for bottom mapping• EM 3002: Max swath = 150 m• HISAS 1030 bathymetry – max swath = 500 m

HISAS 1030 can triple ACR over MBE only

Mapping of larger areas at lower cost and risk

• GeoSwath Plus 250 kHz for ice-mapping• 12 x depth swath• 100 max range

• Upward-looking DVL• Measure Doppler shift between AUV and ice• Upward DVL for current profiles above AUV

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Geophysical Survey Suite for Arctic Class HUGINGeophysical Survey Suite for Arctic Class HUGIN


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HISASHISAS 1030 Example Data1030 Example Data

HISASHISAS 1030 on 1030 on HUGINHUGIN 10001000--MRMRRange 45Range 45--325 m325 m

AUVAUV altitude 40 maltitude 40 mSpeed 2.3 knotsSpeed 2.3 knots


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HISASHISAS 1030 Example Data1030 Example Data

1x1 m cubeRange 320 m

1x1 m cubeRange 275 m

Submarine wreckRange 205-245 m

HISAS 1030 on HUGIN 1000-MRRange 45-325 m

AUV altitude 40 mSpeed 2.3 knots


Length of aircraft 12 mRange 60 m

Data Examples from Data Examples from HUGINHUGIN OperationsOperations

Length 5.5 mRange 46 m



DrumRange 110 m

14-Mar-11/ 19 /


Why SAS?Why SAS?

1. Increased area coverage rate• Factor 5-10 compared to high frequency SSS• Factor 2-4 compared to high end DF SSS

2. Increased along-track resolution• Factor 2-10 compared to SSS• Range-independent resolution

3. Additional products• Full-swath bathymetry• Very high resolution SAS bathymetry for 3D object

rendering• Multi-aspect imagery• Echo enhancement processing (“auto focus”)• Shadow enhancement processing (“fixed focus”)

SSSSSS (400 kHz)(400 kHz)

HISASHISAS (100 kHz)(100 kHz)

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Ship subsystems to mitigate risk:• Communication and localization systems• Launch and recovery system• ROV• UAV or helicopter

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Risk Reduction for UnderRisk Reduction for Under--Ice OperationsIce Operations

AUV subsystems to mitigate risk:• Redundancy, error detection, error handling• Navigation• Anti-collision• Communication and localization systems• Launch and recovery

AUV operations under ice are inherently riskier than in open water• Hard, impenetrable border in place of ”safe” water surface• Typically harsher enviroment, more remote• L&R and emergency procedures affected• Drifting ice


HiPAP Acoustic Tracking/Comms• Crucial for safe under-ice

operations• HiPAP 500 required for large

opening angle – full water column• Provides critical information to

AUV operators about AUV position, mission progress

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Risk Reduction for UnderRisk Reduction for Under--Ice Operations (contIce Operations (cont’’d)d)

HiPAP®500• Opening angle :

100º• Operating range: 4000 m• Accuracy: Better than 0.1º


Error-Handling, Redundancy, Comms• The HUGIN 1000 error-handling system is designed to

sustain operation• Redundant sensors and systems• Redundant modes of operation

• Mission-threatening problems cause the AUV return to a pre-defined rendezvous point• Backtracking typically considered safest option

• If sustained operation not possible, AUV releases emergency weight to float to surface or park under ice

• Redundant communication and localization systems• Open water: Iridium, RF, ACOMMS, USBL• Under ice: ACOMMS, USBL, TILACSys

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Risk Reduction for UnderRisk Reduction for Under--Ice Operations (contIce Operations (cont’’d)d)


• Arctic AUV applications on the rise

• HUGIN 1000 Arctic Class AUV provides:• HISAS 1030 w/MBE more than triples ACR for

bathymetric mapping• Simultaneous recording of bathymetry, imagery,

sub bottom data, ocean current, CTD

• Large under-ice areas are effectively mapped by the combination of:• Ice-breaker vessel• Long range AUV • High ACR sensors

• HUGIN 1000 Arctic Class AUV mitigates risk for under-ice mapping• Innovative L&R for Arctic scenarios• Collisision avoidance system for under-ice OPS• RF-through-ice emergency localization system• High degree of redundancy mitigates risk

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ConclusionsConclusions

Documents

HUGIN HUGIN 1000 Arctic Class AUV - ArcticNet PROPRIETARY – See Statement of Proprietary Information • Arctic Challenges and Applications for AUV • HUGIN 1000 Arctic Class AUV