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Master's Dissertation
DOI
https://doi.org/10.11606/D.3.2011.tde-06042011-131110
Document
Author
Full name
Rodrigo Sauri Lavieri
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2011
Supervisor
Committee
Fujarra, André Luis Condino (President)
Matos, Vinícius Leal Ferreira
Tannuri, Eduardo Aoun
Title in Portuguese
Métodos de navegação inercial aplicados a lançamentos submarinos.
Keywords in Portuguese
Acelerômetros
Estaca-torpedo
Girômetros
Quatérnios
Sensores Inerciais
Strapdown
Abstract in Portuguese
A demanda crescente por petróleo impulsiona a exploração marítima desta riqueza para águas cada vez mais profundas. O aumento da lâmina dágua exige novas soluções de engenharia principalmente no que se refere à operação de unidades flutuantes de produção. Dentre os desafios impostos pelos novos ambientes de prospecção, destaca-se o processo de ancoragem, neste texto explorado sob a ótica da chamada estaca-torpedo. Embora já tenha sido empregada com sucesso na ancoragem de risers e FPSOs, esta solução encontra-se em constante desenvolvimento, sendo a principal fonte de informação acerca dos lançamentos da estaca-torpedo proveniente de uma unidade de medição inercial (UMI). A presente pesquisa baseou-se no estudo desta UMI e teve como objetivos principais verificar seu desempenho e compreender a empregabilidade deste tipo de monitoração em operações submarinas de maneira mais ampla. Além do estudo detalhado dos sensores, foi dada especial atenção aos algoritmos empregados no tratamento dos sinais provenientes da UMI. Foram estudadas técnicas de correção do sinal, quantificação de ruído, desafios inerentes aos sistemas do tipo strapdown e o processo de integração. Como resultado final foi desenvolvido um algoritmo baseado em quatérnios, alternativo ao atualmente empregado para o processamento dos sinais provenientes da UMI que equipa a estaca-torpedo.
Title in English
Inertial navigation methods applied to submarine launching.
Keywords in English
Accelerometer
Inertial sensors
Quaternions
Rate gyro
Strapdown
Torpedo pile
Abstract in English
The increasing demand on crude oils constantly pushes the offshore exploitation to deeper waters. As the water depth grows, new engineering challenges arise, especially concerning to the operation of floating production units. Among all the technical issues inherent to the new prospection environment, the mooring system is a significant topic and the development of the torpedo-pile takes place at this scenario. This mooring system has already been successfully applied in anchoring risers and FPSOs; nevertheless, it is in constant study and improvement. The major source of information about the torpedo-pile deployment comes from an inertial measurement unit (IMU). The research presented here is based on this IMU and had as main objective verify its performance and also comprehend the applicability of such kind of unit in other subsea processes. Along with the detailed sensors study, it was given special attention to the algorithms used to process the signals from the IMU. Signal correction techniques and noise quantification were investigated as long as challenges intrinsically related to strapdown navigation systems and the integration process. In the end, an alternative data processing algorithm based on quaternions was produced, to be employed in torpedo-pile launching together with its IMU.
 
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Publishing Date
2011-05-17
 
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