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CYSCAN AS A POSITION REFERENCE

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 1 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd
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CONTENTS

1. INTRODUCTION .............................................................................................3
2. TYPICAL CYSCAN TARGET ARRANGEMENTS ....................................................3
SINGLE TARGET IN VIEW. ................................................................................3
2.2 MULTIPLE TARGETS IN VIEW OFFERING GOOD GEOMETRY .................4
MULTIPLE TARGETS IN VIEW BUT POOR GEOMETRY ........................................4
3. USING CYSCAN ..............................................................................................5
3.1 WORKING ALONGSIDE A FIXED STRUCTURE. .......................................5
3.2 WORKING ALONGSIDE A MOBILE STRUCTURE.....................................5
3.3 EXAMPLE SETTINGS ..............................................................................6
4. MODIFICATION RECORD ................................................................................7

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 2 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd
=>?

1. INTRODUCTION
CyScan has the capability for use with single or multiple targets located on fixed or
mobile structures. Single target operation is simpler to set up but more susceptible to
the single reflector being obscured or the system latching on to a rogue reflection.
Multiple target operation enables the CyScan to use pattern recognition techniques to
reject rogue reflections, and by combining measurements can provide a more
accurate fix, independent of the ship’s gyrocompass. The latter requires more setting
up time to establish the relative position of the targets which is known as the
‘moorings’.

The number and location of targets will depend upon installation time and
accessibility. If the same location is visited frequently targets should be located
optimally for the vessel position and no adjustments of moorings should be necessary.

The scanner has a tilt mechanism to compensate for vessel motion and changes in
target height. Motion plus target height differences (to the centre of the target) must
not exceed the 20° capability.

CyScan is able to operate up to ranges of about 250 metres from targets. If it is

required to maintain station relative to a moving structure, moored FPSO, or ship,
multiple targets must be deployed to ascertain the changing heading of the structure.
For maximum range the targets should be at right angles to the laser light. At 45° the
range is reduced to 50m.

Targets become less effective reflectors when they are very wet and the chances of
missing the occasional reflection from individual targets will increase.

2. TYPICAL CYSCAN TARGET ARRANGEMENTS

2.1 SINGLE TARGET IN VIEW.

Scanner position calculated from range

and bearing relative to vessel.

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 3 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd
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2.2 MULTIPLE TARGETS IN VIEW OFFERING GOOD GEOMETRY

Targets must be unequally spaced, as

shown, with locations programmed
into CyScan as a ‘mooring’. Scanner
position calculated from the range
from each target.

The angle, at the ship, between the

most separated targets should be
between about 60 and 120 degrees.

2.3 MULTIPLE TARGETS IN VIEW BUT POOR GEOMETRY

Targets must be unequally spaced, as

shown. Scanner position is calculated
from range and bearing of one target
relative to the vessel.

In the above examples, 2.1 is the simplest arrangement but has disadvantages that:

- prone to lose position if single target masked

- scanner could lock on to an adjacent target which subsequently moves away

- not possible to determine a rotation of the target if it is on a mobile structure

- effected by errors in ship’s compass.

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 4 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd
=>?

Example 2.3 uses the same measurement principle but with more targets in view the
chances of the scanner locking onto a ‘rogue target’ is reduced, and it is possible to
determine a rotation of the reflector structure. However the system is equally prone to
the loss of the primary target, and equally effected by the ship’s compass errors.

Example 2.2 overcomes all the disadvantages of examples 2.1 and 2.3 when the
reflectors are on a fixed structure. If a single target is obscured or effected by heavy
rain then the system will continue to function with the remaining 2 targets. When
targets are on a mobile structure the calculation will be effected by errors in the ship’s
gyrocompass.

3. USING CYSCAN

3.1 WORKING ALONGSIDE A FIXED STRUCTURE.

If only 1 target is available then CyScan is used in ‘Primary’ mode with the DP console
showing CyScan as ‘fixed’.

If the single target is obscured then the CyScan cannot continue to provide a position
reference. Also if another target e.g., a worker’s reflective jacket, is detected the
CyScan may not be able to distinguish the two. Hence the single target mode should
be used with caution and ideally with 2 other measurement devices to enable
automatic median rejection logic.

If 2 or more targets are available the CyScan can be used in ‘primary’ or ‘raw’ mode
(depending upon the target geometry) with the DP console showing CyScan as ‘fixed’.

In primary mode with 2 or more reflectors the CyScan is better able to reject false
reflections that are incorrectly spaced.

In raw mode the CyScan is able to compute vessel position using the ranges from
each target. The targets are known in N. E. co-ordinates and hence the scanner
position can be calculated. CyScan has an automatic survey feature, which gives
target co-ordinates in orthogonal axes aligned to reflectors. There is then a facility to
rotate the axes to align with North and East

3.2 WORKING ALONGSIDE A MOBILE STRUCTURE

With 2 or more targets available the CyScan can be used in ‘primary’ or ’raw’ mode
depending upon the target geometry with the DP console showing CyScan as ‘mobile’.

In primary mode the main target must not be obscured whereas in raw mode all
targets are being used and contributing to the calculation.

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 5 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd
=>?@

3.3 EXAMPLE SETTINGS

With reference to the examples in the previous section, the set up would be:

Examples 1 2 3

Fixed Mobile Fixed Mobile

Structures Structures Structures Structures

DP Console Setting Fixed Fixed Mobile Fixed Mobile

Moorings As surveyed Rotate to North As surveyed As surveyed

CyScan Message Primary or Raw Primary

Raw *

*With single target selecting between Primary or Raw message has no effect, either is OK.

When the Moorings have been correctly rotated to North the CyScan displayed heading (DP
database parameter RLSO_ANGLE) will be equal to the ship’s heading.

When the device is selected as mobile, the ‘button’ appears ‘striped’. In DP mode any mobile
device is excluded from position calculation. The device is allowed in the ‘ROV follow’ mode
where the mobile is used to update the target but station keeping is performed on the fixed
devices. Unless there are no fixed devices in which case the mobile is used as the station
keeping reference.

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 6 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd
=>?@

4. MODIFICATION RECORD

Issue Date Author Details

Draft 29 Apr 02 BAK Initial issue.
Draft 10 Jun 02 BAK Single target message can be primary or raw

Customer : Issue : DRAFT

Project : CyScan as a Position Reference Date : 10 jun 02
Document: Author : BAK
Ref : cyscan as pme.doc Page : 7 of 7
©2002 ALSTOM T&D Ltd ALSTOM T&D Ltd