Kongsberg HiPAP 501 Technical specifications

Product Description
317748/F I
HiPAP®
High Precision Acoustic Positioning
Model 501/451/351/101
This document describes the High Precision Acoustic
Positioning (HiPAP®) systems. The HiPAP®systems are
designed for optimal positioning of subsea objects in both
shallow and deep water.
The HiPAP®systems have four different models.
The HiPAP®systems use both Super Short Base Line
(SSBL) and Long Base Line (LBL) positioning techniques.

HiPAP Model 501/451/351/101
II 317748/F
Document history
Rev
Date
Written by
Checked by
Approved by
F
18.01.2013
JEF/AJ
SER
JEF
Removed APC information. Updated drawings.
Copyright
© 2013 Kongsberg Maritime AS.
All rights reserved. The information contained in this document remains the sole
property of Kongsberg Maritime. No part of this document may be copied or
reproduced in any form or by any means, and the information contained within it is not
to be communicated to a third party, without the prior written consent of Kongsberg
Maritime.
Disclaimer
Kongsberg Maritime endeavours to ensure that all information in this document is
correct and fairly stated, but does not accept liability for any errors or omission.
Warning
The equipment to which this manual applies must only be used for the purpose for
which it was designed. Improper use or maintenance may cause damage to the
equipment and/or injury to personnel. The user must be familiar with the contents of
the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by
improper installation, use or maintenance of the equipment.
Support
All Kongsberg Maritime products:
Phone 24 hour: [phone]
E-mail: [email protected]
Strandpromenaden 50
P.O.Box 111
N-3191 Horten,
Norway
Kongsberg Maritime AS
Telephone: [phone]
Telefax: [phone]
[e-mail]
www.kongsberg.com

Product Description
317748/F III
Contents
1ABOUT THIS DOCUMENT ..................................................................................1
1.1 Contents..................................................................................................................1
1.2 List of abbreviations...............................................................................................1
2HIPAP® SYSTEM –SHORT DESCRIPTION....................................................2
2.1 Systems...................................................................................................................2
HiPAP® 501 ............................................................................................................. 3
HiPAP® 451 ............................................................................................................. 3
HiPAP® 351 ............................................................................................................. 4
HiPAP® 101 ............................................................................................................. 4
2.2 Operating modes.....................................................................................................5
2.3 APOS......................................................................................................................5
2.4 Sensors....................................................................................................................5
3SYSTEM CONFIGURATIONS .............................................................................6
3.1 HiPAP® systems....................................................................................................6
3.2 Single HiPAP® system ..........................................................................................6
3.3 Redundant HiPAP® system ...................................................................................6
3.4 Dual HiPAP® system.............................................................................................7
Accuracy improvement ............................................................................................. 7
Redundancy improvement......................................................................................... 8
HiPAP with Transceiver unit Model x81.................................................................. 9
HiPAP with Transceiver unit Model x21................................................................ 10
HiPAP redundant system ........................................................................................ 11
4SYSTEM FUNCTIONS.........................................................................................12
4.1 Main functions......................................................................................................12
List of main functions ............................................................................................. 12
HiPAP® system software........................................................................................ 12
Optional HiPAP® system functions ....................................................................... 16
5SYSTEM UNITS....................................................................................................22
5.1 Operator station ....................................................................................................22
Operator Station configuration................................................................................ 23
Standard operator station......................................................................................... 23
Operator console ..................................................................................................... 24
5.2 Ethernet switch/Converter....................................................................................24
5.3 Fibre Splice Box...................................................................................................24
5.4 Transceiver units...................................................................................................24
5.5 Responder Driver Unit (option)............................................................................25
5.6 Transducers...........................................................................................................25
5.7 Hull units ..............................................................................................................26
A HiPAP® hull unit is equipped with the following sub units:.............................. 26

HiPAP Model 501/451/351/101
IV 317748/F
6EXTERNAL INTERFACES.................................................................................28
6.1 Position outputs ....................................................................................................28
6.2 Surface navigation................................................................................................28
6.3 Motion Sensor Unit ..............................................................................................28
6.4 Heading sensor .....................................................................................................28
6.5 Attitude sensors ....................................................................................................29
6.6 Interface specification...........................................................................................29
7TRANSPONDERS.................................................................................................30
7.1 cNODE®series....................................................................................................31
7.2 MST series............................................................................................................32
8POSITIONING PRINCIPLES AND PROCESSING.........................................33
8.1 SSBL positioning..................................................................................................33
8.2 LBL positioning....................................................................................................35
Calibration............................................................................................................... 35
Positioning............................................................................................................... 35
Multi-User LBL positioning ................................................................................... 37
8.3 Combined SSBL and LBL positioning.................................................................38
8.4 HiPAP® processing..............................................................................................39
8.5 Cymbal acoustic protocol.....................................................................................40
Technology.............................................................................................................. 40
Range capability and reduced impact from noise ................................................... 40
Range accuracy ....................................................................................................... 40
Directional measurements....................................................................................... 40
Number of channels ................................................................................................ 40
Multi-path capability............................................................................................... 41
Position update rate –MultiPing............................................................................. 41
Power management –lifetime................................................................................. 41
Data Link with variable data rate –adaptable......................................................... 41
Integrated navigation and data link......................................................................... 41
cNODE®- Modeless transponder .......................................................................... 41
9MEASUREMENT COMPENSATION................................................................42
9.1 Roll - pitch - heading compensation.....................................................................42
9.2 Ray bending compensation...................................................................................42
9.3 Transducer alignment...........................................................................................43
10 APPLICATIONS................................................................................................46
10.1 Dynamic Positioning (DP) reference....................................................................46
10.2 Subsea survey and inspection...............................................................................46
10.3 Rig and Riser monitoring .....................................................................................46
10.4 Acoustic Blow Out Preventer (BOP) control.......................................................46
10.5 Construction work and metrology........................................................................47

Product Description
317748/F V
11 TECHNICAL SPECIFICATIONS...................................................................49
11.1 SSBL accuracy .....................................................................................................49
Transducer reference point...................................................................................... 50
HiPAP® 501 ........................................................................................................... 51
HiPAP® 451 ........................................................................................................... 52
HiPAP® 351 ........................................................................................................... 52
HiPAP® 101 ........................................................................................................... 54
11.2 LBL accuracy .......................................................................................................54
11.3 Range capabilities.................................................................................................56
HiPAP units/transducer cables ........................................................................................57
11.4 Computer..............................................................................................................58
11.5 Keyboard ..............................................................................................................58
11.6 Trackball...............................................................................................................59
11.7 Display..................................................................................................................59
11.8 Responder Driver Unit (option)............................................................................59
11.9 Fibre Splice Box...................................................................................................59
11.10 Transceiver units...............................................................................................60
Common data .......................................................................................................... 60
11.11 HiPAP® hull units............................................................................................61
11.12 Mounting flange................................................................................................62
11.13 Gate valve .........................................................................................................62
11.14 Raise and lower motor......................................................................................63
11.15 Hoist Control Unit ............................................................................................63
11.16 Remote Control Unit.........................................................................................64
11.17 Transducer units................................................................................................64
12 DRAWING FILE................................................................................................65
12.1 Outline dimensions...............................................................................................65
Computer –desktop mounting and outline dimensions........................................... 66
Keyboard................................................................................................................. 67
19” Display.............................................................................................................. 68
Responder Driver Unit (option) .............................................................................. 69
Transceiver Unit Model x81 ................................................................................... 70
Transceiver Unit Model x21 ................................................................................... 71
DN 500 mounting flange w/gate valve ................................................................... 72
DN 350 mounting flange w/gate valve ................................................................... 73
Hoist Control Unit................................................................................................... 74
Remote Control Unit............................................................................................... 75
HiPAP® HL 2180................................................................................................... 76
HiPAP® HL 3770................................................................................................... 77
HiPAP® HL 4570................................................................................................... 78
HiPAP® HL 6120................................................................................................... 79

Product Description
317748/F 1
1ABOUT THIS DOCUMENT
1.1 Contents
This document covers the complete HiPAP®Model
501/451/351/101 systems. It provides a general description of
the systems, each module, the functions and technical
specifications. It also includes outline dimension drawing of the
main units.
1.2 List of abbreviations
ACC
Acoustic Control Commander
ACS
Acoustic Control Subsea
APOS
Acoustic Positioning Operator Station
AUV
Autonomous Underwater Vehicles
BOP
Blow Out Preventer
DP
Dynamic Positioning
GNSS
Global Navigation Satellite System
GPS
Global Positioning System
HiPAP®
High Precision Acoustic Positioning
LBL
Long Base Line
MPT
Multifunction Positioning Transponder
MST
Mini SSBL Transponder
MULBL
Multi-User Long Base Line
ROV
Remotely Operated Vehicle
SPT
SSBL Positioning Transponder
SSBL
Super Short Base Line

HiPAP Model 501/451/351/101
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2HIPAP® SYSTEM –SHORT DESCRIPTION
2.1 Systems
The HiPAP® systems are designed to provide accurate positions
of subsea objects such as Remotely Operated Vehicles (ROVs),
autonomous underwater vehicles (AUVs), towed bodies or fixed
seabed transponders. To achieve the accuracy, the HiPAP®
system uses unique signal processing techniques. This technique
enables narrow transmitter and receiver beams to be generated
in all directions within the lower half of the transducer using
electronic beam control.
The HiPAP® Model 501/451/351/101 systems are the second
generation HiPAP® systems. These models have a new
transceiver unit and a new signal processing algorithms for
Cymbal processing.
Cymbal is KM’s new acoustic protocol for positioning and
communication.
All HiPAP® systems; HiPAP® 501, HiPAP® 451, HiPAP®
351 and HiPAP® 101 have common software and hardware
platforms, and thereby offer the same kind of additional
functionality and options.
The HiPAP® 501, HiPAP® 451, HiPAP® 351 systems are
medium frequency systems operating from 21 kHz to 31 kHz.
The HiPAP® 101 system is a low frequency system
operating from 10 kHz to 15.5 kHz.

Product Description
317748/F 3
HiPAP® 501
The HiPAP® 501 has a full spherical transducer body
including 241 transducer elements. This model has close to full
accuracy in the half sphere sector and is the preferred system
where the best possible performance is required. The HiPAP®
501 can also track targets above the half sphere sector.
The use of very narrow beams provides:
High accuracy
Long range capabilities
Good noise reduction capabilities
Good multipath suppression
The HiPAP® 500 transducer has a diameter of 392 mm and
will be installed with the 500 mm gate valve.
HiPAP® 451
The HiPAP® 450 transducer is the same unit as the HiPAP®
500 transducer. The system has Transmitter/Receiver boards for
only 46 elements, similar to the HiPAP® 351 system.
The HiPAP® 451 system has the same operational and technical
performance as the HiPAP® 351 system.
Refer to HiPAP® 351 system description on page 4.
The HiPAP® 451 uses the same hull units as the HiPAP® 501.
Refer to HiPAP® 501 system description on page 3.
Upgrade to HiPAP® 501
The HiPAP® 451 can be upgraded to full HiPAP® 501
performance. This is done by:
Insert 6 additional Transmitter / Receiver Boards in the
transceiver unit which is fully prepared for this.
APOS software upgrade.

HiPAP Model 501/451/351/101
4317748/F
HiPAP® 351
The HiPAP® 351 has a spherical transducer with a cylindrical
body including 46 transducer elements. This model has good
accuracy in the ± 60º sector and is suited for operations where
the major positioning objects are within this sector. The total
coverage is ± 80º.
The use of narrow beams provides:
High accuracy
Long range capabilities
Good noise reduction capabilities
Good multipath suppression
The HiPAP® 350 transducer has a diameter of 320 mm and it
will be installed with a 350 mm gate valve. Installing the system
with a 500 mm gate valve, will enable an easy upgrade to a
HiPAP® 501 system.
HiPAP® 101
The HiPAP® 101 has a planar transducer array with a
cylindrical body including 31 transducer elements. This model
has good accuracy in the ± 60º coverage sector and is suited for
operations where the major positioning targets are within this
sector.
The HiPAP® 100 transducer has a diameter of 452 mm and will
be installed with the 500 mm gate valve.

Product Description
317748/F 5
2.2 Operating modes
SSBL - Positions various targets by directional and range
measurements, using a unique processing technique that
provides very high accuracy.
LBL - Positions the surface vessel by simultaneously use of
combined directional and range measurements to
transponders in an LBL array.
MULBL - Positions the surface vessel in an MULBL
transponder array.
Telemetry –acoustic communication to:
transponders for LBL calibration, metrology
measurements and set-up
Instrument units and BOP systems.
2.3 APOS
The HiPAP® system is operated from the APOS, which is a
Windows based software used to operate the HiPAP® system.
The system can be operated from one single APOS station or
from a wide number of APOS operator stations connected on a
network.
2.4 Sensors
The HiPAP® system has a wide range of interfaces to sensors
from different manufacturers.
The HiPAP® system needs high accuracy heading, roll and
pitch sensors to be interfaced.
The accuracy of the sensors has direct impact on the position.
Examples of search sensors are Seapath and MRU.

HiPAP Model 501/451/351/101
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3SYSTEM CONFIGURATIONS
3.1 HiPAP® systems
A HiPAP® system may be configured in several different ways,
from a single system to a redundant system with several
operator stations. Some configurations are described below.
See the system diagrams with all types of transducers on
pages 9, 10 and 11.
There are two different transceiver types and several different
hull units available. The HiPAP® x81 transceiver unit can be
used for all HiPAP® transducers, while the compact HiPAP®
x21 transceiver unit can be used for HiPAP® 351 and
HiPAP®101.
3.2 Single HiPAP® system
The single HiPAP® system has one transceiver and hull unit,
but it may have one or more operator stations.
See the system diagram on pages 9 and 10.
3.3 Redundant HiPAP® system
The redundant HiPAP® system has two or more operator
stations and two or more transceivers and hull units. All
transceivers are accessible from all operator stations. The
redundant system will operate with 2 transponders, one on each
transducer, or two LBL arrays. The redundant system shall still
be operational after one single failure in the system.
See the system diagram on page 11.

Product Description
317748/F 7
3.4 Dual HiPAP® system
A dual system applies for the HiPAP® 501 only. HiPAP® is
designed to operate two sets of transceivers / transducers, both
operated from the same operator station(s).
See the system diagram on page 11.
The dual system uses both transducers to measure the position
of one single target (transponder / responder) by controlling
beam forming and directional measurement separately for each
system in parallel. This means that both systems will measure
and calculate a position for the same reply pulse from the
transponder.
If the signal is lost due to noise or air bubbles on one of the
transducers, it may still be possible to receive it on the other
one.
A position estimator will use the position information from both
systems to estimate one optimal transponder position. Each
system calculates a variance for its measurements, determined
from the known system accuracy and the standard deviation of
the measurements. The position estimator receives the position
and the variance from the two systems, and calculates the
weighted mean of the two positions. The variances are used as
the weights.
The quality control function uses variance data, standard
deviation and position difference to perform a quality control of
the position. If the variance and the position difference are
outside a pre-set limit, a warning will be displayed for the
operator.
For the dual configuration, a synchronisation line between the
transceivers is required.
The following paragraphs indicate the benefits of a dual system:
Accuracy improvement
The improvement factor from 1 to 2 transducers is 2. This is
based on the statistical improvements when using two
independent systems.

HiPAP Model 501/451/351/101
8317748/F
Redundancy improvement
The two transducers will normally be installed at different
locations onboard. One transducer may then have a better
location with respect to noise environments and reflections than
the other. The computed position will be a weighted mean of
these two measurements, if one of the systems fails to receive a
reply, the other system may still receive it and the position will
still be computed.

Product Description
317748/F 9
HiPAP with Transceiver unit Model x81
(Cd31053a)
Operator
Station
Heading sensor
Motion sensor
Data output
Fibre B (optional)
Ethernet
Ethernet
Ethernet interfaced
with APOS/APC
Fibre A
Responder sync.
Fibre A Fibre B
Hull
Unit
Ethernet
switch/
Converter
Fibre Splice
Box
Junction
Box
Responder
Driver Unit (option)
Responder
Transceiver unit
Model x81
Hoist
Control Unit
Remote
Control
Unit
HiPAP 100
transducer
HiPAP 350
transducer HiPAP 500
transducer
Option 1
Option 2

HiPAP Model 501/451/351/101
10 317748/F
HiPAP with Transceiver unit Model x21
Ethernet
Responder sync.
Responder
Driver Unit (option)
Responder
(Cd31053)
Transceiver unit
Model x21
Hoist
Control Unit
Operator
Station
Heading sensor
Motion sensor
Data output
Ethernet
Fibre A Fibre B (optional)
Fibre A Fibre B
Hull
Unit
Ethernet
switch/
Converter
Fibre Splice
Box
HiPAP 100
transducer
HiPAP 350
transducer
Junction
Box
Ethernet interfaced
with APOS/APC
Remote
Control
Unit
Option 1
Option 2

Product Description
317748/F 11
HiPAP redundant system
This illustration shows an example of a HiPAP redundant
system.
Operator Station Operator Station Operator Station
Dual Ethernet
Ethernet Ethernet
Fibre A
Fibre A
Fibre B (optional)
Fibre B (optional)
Hoist
Control Unit
Hull Unit Hull Unit
Power
Power
Hoist
Control Unit
Power A Power A
Power B
(option) Power B
(option)
Power
(Cd31085)
Gate valve
Gate valve
position indicator Gate valve
position indicator
HiPAP 500/350
transducer
Power
Gate valve
HiPAP 500/350
transducer
Remote
Control
Unit
Remote
Control
Unit
GPS GPS GPS
Heading sensor Heading sensor Heading sensor
Motion sensor Motion sensor Motion sensor
Responder Responder
Ethernet
switch/
Converter
Ethernet
switch/
Converter
HiPAP
Transceiver Unit
Model x81
500
HiPAP
Transceiver Unit
Model x81
500
(Sync for Dual HiPAP only)
Ethernet interfaced
with APOS/APC
Ethernet interfaced
with APOS/APC
Option 1
Option 1
Option 2
Option 2

HiPAP Model 501/451/351/101
12 317748/F
4SYSTEM FUNCTIONS
A HiPAP® system consists of a wide range of functions. A
function is selected by the operator. The basic systems have
standard functions included, to ensure normal operation. The
systems may be delivered with additional options selected from
the system option list.
4.1 Main functions
The main functions in the HiPAP® system are described below.
The system may be configured with one or several of these
functions. They will appear in the systems main menu.
List of main functions
The list below shows which functionality each of the function
includes. The “Reg. No.”(Registration Number) is the unique
identification for this function.
Example; the Reg. No. for APOS Base version is 886 - 212745.
HiPAP® system software
Description
Reg. No.
APOS Base Version
Base for running all applications, including:
Sound velocity profile function
Ethernet interface for position data
Serial line, RS-422 for transceiver interface
Serial line, RS-422 for position data
Transponder telemetry for SPT/MPT transponders including:
Set transmit power level
Set receive sensitivity
Set Pulse length
Change channel
Enable/Disable
886-212745