laser scanner vs. total station - · pdf filelaser scanner vs. total station –...

Laser Scanner vs. Total Station

Subsea Survey & Positioning UK Ltd.

Wednesday 18th June 2014

Simon Canning

Dimensional Control Manager

THSiS & SUT Subsea Metrology Seminar 2014


• Introduction

• Project Introduction

• Project & Scope of Work

• DC Survey Overview – Total Station

• DC Survey Overview – Laser Scanner

• Results & Cross Correlation

• What Next?

Content

Laser Scanner vs. Total Station – Introduction

Damaged field architecture was recovered from the seabed

• Banff P1 Production Riser Base

• Banff P2 Production Riser Base

• Banff Gas Export Subsea Isolation Valve (SSIV)

• Banff Gas Injection Riser Base

• Kyle Production Riser Base

• Kyle SSIV

• Kyle Umbilical Riser Base

• 68m 6” Rigid Gas Injection Spool

• 47m 8” Rigid Production Spool

Laser Scanner vs. Total Station – Introduction

Purpose of DC Survey?

Install Structures in Design Position

Install Structures in Design Orientation

Determine As-installed Position

Determine As-installed Orientation

Determine As-installed Attitude

Determine Hub to Hub HD

Determine Hub to Hub VD

Determine Hub P&R&HDG

Design & Manufacture Rigid Spools

Laser Scanner vs. Total Station – Project Scope of Work

What we need to know about all 7 structures?

Sensor & Hub XYZ offsets relative to the Common Reference Point (CRP)

• Positioning Aids

• Gyro

• Gyro/MRU

• Bullseye Bubble

• Centre of Hub Face

• Centre of Hub Boltholes

Positioning Compatt

Gyro & Gyro/MRU + Bullseye

CRP

+X Axis

Structure North +Y Axis


What else we need to know about all 7 structures?

Sensor & Hub orientation and attitude, relative to structure north, and the

horizontal & vertical planes

• Gyro Mounting – P&R & HDG

• Gyro/MRU – P&R & HDG

• Bullseye Bubble – P&R & HDG

• Hub Face – P&HDG

• Hub Bolthole Rotations


Structures were re-furbished ready to be re-installed on the seabed in

the design orientation and position

Positioning

Aid

Bullseye

Bubble

Bullseye

Bubble

MRU & Ring Laser

Gyro


Dimensional Control Survey Scope

• Accuracy & Precision Requirement

• XYZ Offsets – 0.010m

• XYZ Angular Rotations – 0.05°

• Trimble S8 Precise Total Station

• Distance – 1mm + 1ppm

• Angular – 1”

• FARO Focus 3D

• Distance – 2mm

Laser Scanner vs. Total Station – DC Survey Overview – Total Station

• Trimble S8 Precise Total Station

• Surveyed Discrete Points With a Mini Prism

• Define the CRP and Z Datum

• Define XYZ Offsets & Rotations

• Basic Point Coding

• Process Using SC4W Software

• Shift & Rotate Survey Data

• Extract Coordinates Directly for Offsets

• Extract Coordinates & Calculate Pitch & Roll

• Extract Coordinates & Calculate Headings

• Extract Coordinates for Bolthole Rotations

Laser Scanner vs. Total Station – DC Survey Overview – Laser Scanner

• FARO Focus 3D

• Surveyed Millions of Points

• ~15 Scan Positions per Structure

• Spheres & Checker Board Targets

• Process Using FARO SCENE

• Automated Cleaning Routines

• Register Scans

• Process Using Trimble RealWorks

• Shift & Rotate Survey Data

• Extract Coordinates Directly for Offsets

• Extract Pitch & Roll Directly from Planes

• Extract Headings Directly from Planes

• Export to CAD for Bolthole Rotations

Laser Scanner vs. Total Station – Results & Cross Correlation

Banff P1 Production Riser Base

Trimble S8 FARO Focus 3D Δ Values

Sensor X Offset (m) Y Offset (m) Z Offset (m) Sensor X Offset (m) Y Offset (m) Z Offset (m) Sensor Δ X Offset

(m)

Δ Y Offset

(m)

Δ Z Offset

(m)

Male Stab Plate (Top

Surface) -0.667 -0.859 4.19


Surface) -0.672 -0.854 4.196


Surface) 0.005 -0.005 -0.006

Sonardyne Lodestar

Subsea AHRS – s/n 273071-002

-0.667 -0.729 4.65

Sonardyne Lodestar


-0.659 -0.724 4.646

Sonardyne Lodestar


-0.008 -0.005 0.004

Sonardyne MK5

Compatt - s/n 241756-002 (ID - 000A5C / ADD - 805 / HPR - B12)

-0.657 -0.499 5.262

Sonardyne MK5


-0.652 -0.492 5.259

Sonardyne MK5


-0.005 -0.007 0.003

Bullseye Bubble

(Bottom Surface) 0.213 -0.878 4.165

Bullseye Bubble

(Bottom Surface) 0.21 -0.872 4.173

Bullseye Bubble

(Bottom Surface) 0.003 -0.006 -0.008

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O Value

(DD)

Male Stab Plate HDG -90.04 Male Stab Plate HDG -90.00 Male Stab Plate HDG -0.041

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.08

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.05

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.035

Bullseye Bubble 0 Bullseye Bubble 0.01 Bullseye Bubble -0.006

System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-O

Value (DD)

Δ Roll C-O

Value (DD)

Male Stab Plate -0.18 -0.24 Male Stab Plate -0.20 -0.26 Male Stab Plate 0.024 0.019

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.43 -0.47

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.41 -0.50

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.018 0.027

Bullseye Bubble -0.17 0.34 Bullseye Bubble -0.16 0.31 Bullseye Bubble -0.011 0.029


Banff P2 Production Riser Base



(m)

Δ Y Offset

(m)

Δ Z Offset

(m)


Surface) -0.646 -0.858 4.194


Surface) -0.652 -0.85 4.192


Surface) 0.006 -0.008 0.002

Sonardyne Lodestar


-0.646 -0.728 4.654

Sonardyne Lodestar


-0.65 -0.733 4.643

Sonardyne Lodestar


0.004 0.005 0.011

Sonardyne MK5


-0.646 -0.491 5.261

Sonardyne MK5


-0.653 -0.484 5.27

Sonardyne MK5


0.007 -0.007 -0.009

Bullseye Bubble

(Bottom Surface) 0.267 -0.872 4.173

Bullseye Bubble

(Bottom Surface) 0.259 -0.878 4.184

Bullseye Bubble

(Bottom Surface) 0.008 0.006 -0.011

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O Value

(DD)

Male Stab Plate HDG -89.58 Male Stab Plate HDG -89.60 Male Stab Plate HDG 0.016

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.47

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.50

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-0.033

Bullseye Bubble 0 Bullseye Bubble -0.05 Bullseye Bubble 0.05

System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-O

Value (DD)

Δ Roll C-O

Value (DD)

Male Stab Plate -0.53 0 Male Stab Plate -0.50 0.03 Male Stab Plate -0.029 -0.032

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-0.09 -0.61

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-0.11 -0.57

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.023 -0.041

Bullseye Bubble -0.2 0.05 Bullseye Bubble -0.23 0.01 Bullseye Bubble 0.033 0.039


Banff Gas Injection Riser Base


Sensor X Offset

(m)

Y Offset

(m)

Z Offset

(m) Sensor

X Offset

(m)

Y Offset

(m)

Z Offset

(m) Sensor

Δ X Offset

(m)

Δ Y Offset

(m)

Δ Z Offset

(m)


Surface) -0.69 -0.763 4.188


Surface) -0.679 -0.772 4.185


Surface) -0.011 0.009 0.003

Sonardyne Lodestar


-0.687 -0.78 5.206

Sonardyne Lodestar


-0.682 -0.785 5.206

Sonardyne Lodestar


-0.005 0.005 0

Bullseye Bubble

(Bottom Surface) 0.224 -0.84 4.164

Bullseye Bubble

(Bottom Surface) 0.216 -0.846 4.153

Bullseye Bubble

(Bottom Surface) 0.008 0.006 0.011

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O

Value (DD)


Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

179.65

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

179.67

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-0.018


System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-

O Value

(DD)

Δ Roll C-O

Value (DD)

Male Stab Plate -0.5 -0.62 Male Stab Plate -0.53 -0.66 Male Stab Plate 0.034 0.043

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-1.4 -0.47

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-1.37 -0.44

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

-0.028 -0.026

Bullseye Bubble -0.31 0.13 Bullseye Bubble -0.35 0.08 Bullseye Bubble 0.041 0.048


Banff Gas Export Subsea Isolation Valve (SSIV)



(m)

Δ Y Offset

(m)

Δ Z Offset

(m)


Surface) -0.025 0.482 2.997


Surface) -0.027 0.476 3.005


Surface) 0.002 0.006 -0.008

Sonardyne Lodestar


-0.025 0.612 3.457

Sonardyne Lodestar


-0.036 0.606 3.455

Sonardyne Lodestar


0.011 0.006 0.002

Sonardyne MK5


-0.018 0.827 4.08

Sonardyne MK5


-0.009 0.82 4.087

Sonardyne MK5


-0.009 0.007 -0.007

Bullseye Bubble

(Bottom Surface) -0.068 -0.584 2.981

Bullseye Bubble

(Bottom Surface) -0.057 -0.592 2.975

Bullseye Bubble

(Bottom Surface) -0.011 0.008 0.006

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O Value

(DD)


Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.93

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.90

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.027

Bullseye Bubble 0 Bullseye Bubble 0.04 Bullseye Bubble -0.038

System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-O

Value (DD)

Δ Roll C-O

Value (DD)

Male Stab Plate 0.15 0.02 Male Stab Plate 0.14 0.05 Male Stab Plate 0.014 -0.031

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.58 0.48

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.57 0.44

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.013 0.043

Bullseye Bubble 0.18 -0.11 Bullseye Bubble 0.15 -0.13 Bullseye Bubble 0.033 0.017


Kyle Umbilical Riser Base



(m)

Δ Y Offset

(m)

Δ Z Offset

(m)


Surface) -1.898 1.714 0.785


Surface) -1.904 1.722 0.783


Surface) 0.006 -0.008 0.002

Sonardyne Lodestar

Subsea AHRS x1 - s/n 272938-002

-1.768 1.714 1.245

Sonardyne Lodestar


-1.774 1.712 1.234

Sonardyne Lodestar


0.006 0.002 0.011

Sonardyne MK5

Compatt x1 - s/n

215457-003 (ID - 000173

/ ADD – 106 / HPR -

B65)

-1.527 1.713 1.864

Sonardyne MK5

Compatt x1 - s/n

215457-003 (ID - 000173

/ ADD – 106 / HPR -

B65)

-1.52 1.722 1.871

Sonardyne MK5

Compatt x1 - s/n

215457-003 (ID - 000173

/ ADD – 106 / HPR -

B65)

-0.007 -0.009 -0.007

Sonardyne MK5

Compatt x2 - s/n 238678-007 (ID - 000685 / ADD –

603 / HPR - B15)

0.006 0 4.296

Sonardyne MK5


603 / HPR - B15)

-0.002 0.001 4.3

Sonardyne MK5


603 / HPR - B15)

0.008 -0.001 -0.004

Bullseye Bubble

(Bottom Surface) -2.696 1.707 0.767

Bullseye Bubble

(Bottom Surface) -2.704 1.704 0.764

Bullseye Bubble

(Bottom Surface) 0.008 0.003 0.003

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O Value

(DD)

Male Stab Plate HDG 0.21 Male Stab Plate HDG 0.19 Male Stab Plate HDG 0.025

Sonardyne Lodestar


-90.54

Sonardyne Lodestar


-90.57

Sonardyne Lodestar


0.031

Bullseye Bubble -315 Bullseye Bubble -315.04 Bullseye Bubble 0.043

System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-O

Value (DD)

Δ Roll C-O

Value (DD)

Male Stab Plate HDG -0.02 0.09 Male Stab Plate HDG -0.06 0.10 Male Stab Plate HDG 0.041 -0.013

Sonardyne Lodestar


0.79 0.49

Sonardyne Lodestar


0.76 0.46

Sonardyne Lodestar


0.034 0.031

Bullseye Bubble 0.09 0.14 Bullseye Bubble 0.08 0.09 Bullseye Bubble 0.009 0.051


Kyle SSIV



(m)

Δ Y Offset

(m)

Δ Z Offset

(m)


Surface) 2.513 -1.84 3.487


Surface) 2.507 -1.843 3.491


Surface) 0.006 0.003 -0.004

Sonardyne Lodestar


2.513 -1.71 3.947

Sonardyne Lodestar


2.521 -1.707 3.952

Sonardyne Lodestar


-0.008 -0.003 -0.005

Sonardyne MK5


2.51 -1.495 4.572

Sonardyne MK5


2.505 -1.507 4.574

Sonardyne MK5


0.005 0.012 -0.002

Bullseye Bubble

(Bottom Surface) 2.508 -2.651 3.533

Bullseye Bubble

(Bottom Surface) 2.504 -2.66 3.526

Bullseye Bubble

(Bottom Surface) 0.004 0.009 0.007

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O Value

(DD)


Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

2.55

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

2.52

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.029


System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-O

Value (DD)

Δ Roll C-O

Value (DD)

Male Stab Plate 0.13 0 Male Stab Plate 0.16 0.03 Male Stab Plate -0.033 -0.031

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.32 1.84

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.30 1.80

Sonardyne Lodestar

Subsea AHRS – s/n

273071-002

0.024 0.038

Bullseye Bubble -0.12 -0.09 Bullseye Bubble -0.13 -0.11 Bullseye Bubble 0.013 0.019


Kyle Production Riser Base



(m)

Δ Y Offset

(m)

Δ Z Offset

(m)


Surface) -3.016 1.5 0.788


Surface) -3.022 1.508 0.786


Surface) 0.006 -0.008 0.002

Sonardyne Lodestar

Subsea AHRS - s/n 3453-SX-GC-01-069

-2.886 1.5 1.248

Sonardyne Lodestar


-2.892 1.498 1.237

Sonardyne Lodestar


0.006 0.002 0.011

Sonardyne MK5

Compatt - s/n 245688-010 (ID - 000E63 / ADD -

609 / HPR - B25)

-2.661 1.503 1.879

Sonardyne MK5


609 / HPR - B25)

-2.654 1.512 1.886

Sonardyne MK5


609 / HPR - B25)

-0.007 -0.009 -0.007

Northern Compatt

Bridle Pad Eye -1.631 1.381 3.884

Northern Compatt

Bridle Pad Eye -1.639 1.382 3.888

Northern Compatt

Bridle Pad Eye 0.008 -0.001 -0.004

Southern Compatt

Bridle Pad Eye -1.639 -1.414 3.876

Southern Compatt

Bridle Pad Eye -1.647 -1.417 3.873

Southern Compatt

Bridle Pad Eye 0.008 0.003 0.003

Bullseye Bubble

(Bottom Surface) -3.814 1.492 0.769

Bullseye Bubble

(Bottom Surface) -3.817 1.484 0.774

Bullseye Bubble

(Bottom Surface) 0.003 0.008 -0.005

System C-O Value

(DD) System

C-O Value

(DD) System

Δ C-O Value

(DD)


Sonardyne Lodestar


-89.4

Sonardyne Lodestar


-89.43

Sonardyne Lodestar


0.031

Bullseye Bubble -315 Bullseye Bubble -315.04 Bullseye Bubble 0.043

System Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Pitch C-O

Value (DD)

Roll C-O

Value (DD) System

Δ Pitch C-O

Value (DD)

Δ Roll C-O

Value (DD)

Male Stab Plate HDG 0.1 0.17 Male Stab Plate HDG 0.06 0.18 Male Stab Plate HDG 0.041 -0.013

Sonardyne Lodestar


-0.92 0.68

Sonardyne Lodestar


-0.95 0.65

Sonardyne Lodestar


0.034 0.031

Bullseye Bubble 0 0 Bullseye Bubble -0.01 -0.05 Bullseye Bubble 0.009 0.051



• Total Station is the baseline measure – Assumed to be the correct values

• Accuracy & Precision Requirement – XYZ Offsets – 0.010m, Angular Rotations – 0.05°

Offset Statistics Δ X Offset (m) Δ Y Offset (m) Δ Z Offset (m)

Max 0.010 0.012 0.009

Min -0.008 -0.009 -0.011

Mean 0.002 0.001 0.000

SD 0.007 0.006 0.006

Heading Statistics Δ C-O Value (DD)

Max 0.05

Min -0.04

Mean 0.02

SD 0.03

Pitch & Roll Statistics Δ Pitch C-O Value (DD) Δ Roll C-O Value (DD)

Max 0.04 0.05

Min -0.03 -0.04

Mean 0.02 0.01

SD 0.02 0.03



• The results show that laser scanning is suitable for Dimensional Control surveys

• It is within the tolerances for this scope of work

• Accuracy & Precision Requirement – XYZ Offsets – 0.010m, Angular Rotations – 0.05°

Laser Scanner vs. Total Station – What Next


• Design Spools



• Using the Position, Orientation & Attitude of

Structures & Thence Hub Faces Calculate

• As-installed P&HDG of Hub Faces

• As-installed Hub to Hub Horizontal

Distance

• As-installed Hub to Hub Vertical

Distance



• Manufacture Spools



• Using Laser Scanning – Check As-built vs.

Design

• P&HDG of Hub Faces

• Bolthole Rotation of Hub Faces

• Hub to Hub Horizontal Distance

• Hub to Hub Vertical Distance




Design

• P&HDG of Hub Faces

• Bolthole Rotation of Hub Faces

• Hub to Hub Horizontal Distance

• Hub to Hub Vertical Distance




Design

• P&HDG of Hub Faces –

• Bolthole Rotation of Hub Faces –

• Hub to Hub Horizontal Distance –

• Hub to Hub Vertical Distance –

• Install

Laser Scanner vs. Total Station - Conclusions

• Laser Scanners Can be Used for DC Survey

• DC Feeds As-installed Information

• DC Feeds Metrology Information

• DC Feeds Design & Engineering

• DC Checks Manufacturing

Many Thanks

Simon Canning MSc MRICS AMRI

Dimensional Control Manager

Mob; +44 (0) 7753 310716

Email; [email protected]

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