HAIN Subsea

The HAIN computer receives the aiding positions (latitude and longitude) from an acoustic positioning operator station via an Ethernet interconnection and will limit the position drift that is inherent in inertial navigation systems. ROV position, attitude, speed and expected accuracy of the data is sent to the acoustic positioning operator station, at a 1Hz update rate. The source of the aiding position can be SSBL, LBL or both.

Kongsberg Discovery

Horten, NO

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Description

The HAIN computer receives the aiding positions (latitude and longitude) from an acoustic positioning operator station via an Ethernet interconnection and will limit the position drift that is inherent in inertial navigation systems. ROV position, attitude, speed and expected accuracy of the data are sent to the acoustic positioning operator station, at a 1 Hz update rate. The source of the aiding position can be SSBL, LBL or both.

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Specifications

Other specifications: Graphical user interface

Y

Typical application

Attitude heading; and positioning of tethered subsea vehicles (ROV; ROTV; Tow fish).

Distinguishable features

Stable and continuous attitude; heading and position output. Increased position and depth accuracy; further increase by use of post-processing (NavLab).

Export restrictions

Depends on configuration

Environmental: Max. rotation speed [deg/s]

400

Min. operating temperature [°C]

-15

Max. operating temperature [°C]

55

Software: Name

HAIN

Filtering

Y

Adaptable filter strength

Y

Adaptable input signals

Y

Integrity monitoring of position input

Y

Integrity monitoring of log input

Y

Max. number of position input signals

1

Max. number of log input signals

1

Maximum latency of log input [ms]

1000

Uncertainty indicators given in output

Std.dev.

Uncertainty of time stamp for output [ms]

1

Doppler log aided uncertainty: Heading [deg]

0.03

Pitch [deg]

0.01

Roll [deg]

0.01

GNSS aided uncertainty: Heading [deg]

0.03

Pitch [deg]

0.01

Roll [deg]

0.01

Increase in position uncertainty w.r.t. stand-alone GPS [m]

3

General: Year of initial development

2003

Height [m]

0.28

Width [m]

0.24

Length [m]

0.24

Weight [kg]

30

Min. Voltage (DC)

16

Max. Voltage (DC)

72

Power consumption [W]

15

Splashproof casting

Y

Water resistant casting

Y

Water resistance [m]

4000

Mean time between failures [hr]

37000

Type of accelerometer

QA2000

Type of gyro

GG1320AN

Removable from base plate

N

Type of application

Marine

Moving parts

Y