Subsea Precise Inertial Navigation System (C-PINS ROV)^TM

C-PINS^TM is a survey tool specifically designed to provide precise positioning and navigation for most offshore subsea marine construction operations.

C-PINS^TM delivers the same precision as conventional underwater positioning systems while consuming much less spread time for deployment, calibration and operations.

C-PINS^TM is a fully integrated system including:

High-performance inertial sensors

Data fusion software

I-O hardware interfacing multiple aiding sensors 

Subsea housings and interconnecting cables

Real time position, attitude, velocity at 50Hz

Job design and post processing software

C-PINS^TM has applications in:

Metrology – jumper, spoolpiece

Field layout – manifold, SSIV, PLEM installations

Pipeline and Umbilical installation

Pipeline out-of- straightness surveys

USBL smoothing

Decommissioning

In addition to developing a solid architecture during the design of C-PINS we have focused on specific limitations that we believe exist within other subsea aided inertial systems:

Tightly coupled LBL observations allowing dynamic use of lines of position (LoPs) or very sparse LBL

LBL time of validity (tov) through sampling of LBL Tx pings

DVL is coupled at the beam level  - more reliable solution

USBL is used to aid the inertial not the other way around

Navigation processing on the vehicle – significantly reducing issues due to slip ring outage and bandwidth demands

IMU flexible – select IMU based on error model requirements

Part Numbers: Subsea Precise Inertial Navigation system    C-PINS ROV^TM

Capabilities:

C-PINS can be configured to integrate any or all of the following aiding sensors:

Navigation grade Inertial Measurement Unit (IMU)

Doppler velocity Log (DVL) beam data

Long Baseline lines of position (LoP)

Precise pressure (depth) transducer (dual freq quartz)

Ultra Short Baseline acoustic positioning (USBL)

GPS range and time data (1PPS to UTC)

Speed of sound  - real time sound velocity profile (SVP)

Seawater Temperature (PRT)

Options:

Various IMUs depending on overall error budget

Various water depth packaging

Configurations for towfish, AUV as well as ROV

Specification:

4,000m rated system

                                                                                 32cm dia by 50cm long

                                                                                 Weight in air 70kg

                                                                                 Weight in water 55kg

1,000m rated system

                                                                                 29cm dia by 44cm long

                                                                                 Weight in air 52kg

                                                                                 Weight in water 38kg

Power/Comms Requirements:

Power                                                                  24 Vdc 45 Watts

Communications

                                                                                 Single 38,400bps RS232 Channel

Connector                                                            13 pin Burton (1,000m)

                                                                                 24 pin Seacon (4,000m)