Digital Compasses for Orientation-Tilt Monitoring in Offshore Deep-Sea Infrastructures: The KM3NeT Case

• DOI: 10.3390/ecsa-9-13213
• Publication Date: 2022-12-08T06:33:16Z
• Authors: Harold Yepes-Ramirez
• Keywords: Download

first_page settings Order Article Reprints Font Type: Arial Georgia Verdana Size: Aa Line Spacing:  Column Width:  Background: Open AccessProceeding Paper Digital Compasses for Orientation-Tilt Monitoring in Offshore Deep-Sea Infrastructures: The KM3NeT Case † by Harold Yepes-Ramirez on behalf of the Collaboration Instituto de Investigación para la Gestión Integrada las Zonas Costeras, Universitat Politècnica València, C/Paranimf, 1, 46730 Gandia, Spain Presented at 9th International Electronic Conference Sensors and Applications, 1–15 November 2022; Available online: https://ecsa-9.sciforum.net/. Eng. Proc. 2022, 27(1), 44; https://doi.org/10.3390/ecsa-9-13213 Published: 1 2022 (This article belongs to Proceedings Applications) Download PDF with Cover XML Epub Browse Figures Versions Notes Abstract: is currently constructing two neutrino detectors depths Mediterranean Sea. An excellent angular resolution will be necessary an accurate reconstruction direction, much as a precise knowledge position orientation detector components mandatory order achieve required resolution. For High-Energy Neutrino Astrophysics program, < 0.05 deg expected sparser if synchronization ~1 ns, positioning 20 cm, 3 are guaranteed Detection Units. orientation-tilt system, known “Digital Compasses”, Attitude Heading Reference System (AHRS) board coupled inner Central Logic Boards detection modules. AHRS integrates 3D-magnetometer containing Anisotropic Magnetoresistive Sensor estimate Earth’s magnetic field 3D-accelerometer equipped Micro-Electro Mechanical that estimates acceleration intensity. performance Compasses, together magnitudes calibration, presented discussed this contribution. Keywords: KM3NeT; digital compasses; attitude heading reference system 1. IntroductionThe aims operating largest multidisciplinary undersea observatory from abyss Once completed, it house biggest ever deep-sea Cherenkov detectors, complemented high-reliability cabled seabed network (marine bio- geo-science research) [1]. In (better than 0.1 deg), which crucial success physics particular high-energy astronomy, accuracy better cm modules need provided main calibration systems.This contribution addresses (onshore, offshore) based (AHRS), (AMS) Micro-Electro-Mechanical (MEMS). Section 2 infrastructure briefly introduced, dedicated Compass, 4 its discussed, conclusions 5. 2. InfrastructureThe ORCA (Oscillation Research Cosmics Abyss) ARCA (Astroparticle being constructed strategic locations 40–100 km off coasts Toulon (France) Sicily (Italy), between 2.4–3.4 km, respectively, instrumentation associated sciences. Units (DUs) formed 18 Optical Modules (DOM) each, arranged along vertical slender strings tied parallel Dyneema® ropes copper conductors fibers backbone structure, breakout cable each DOM. Each DOM (Figure 1a) high-pressure-resistant borosilicate sphere, housing 31 inches photocathode area PMTs, Board (CLB) 1b), Power (voltage supply CLB), Octopus (to gather signals PMT bases), devices such NanoBeacon (for timing), piezo-sensor positioning), other equipment [2].Communications, both onshore offshore, performed optical fiber transmission Gbit/s speed, base module via Dense Wavelength Division Multiplexing (DWDM) string anchor, where user ports (nodes) long-term high-bandwidth connection coupled. data follows “all shore” scheme filtering high-performance computer farm. White Rabbit (WR) time protocol absolute timestamping GPS nodes has been implemented KM3NeT. final layouts (cylindrical structures diameters ~212 m 1000 m, length ~200 700 respectively) comprise × 115 DUs, total instrumented volume ~7 Mton Gton, correspondingly. 3. Compasses: Hardware CalibrationThe CLB sensor section 1b: up-left; Figure 1c: red), Compass (AHRS AMS+MEMS system) incorporated. performs synchronous work measurement internally fixed into Moreover, AMS field, providing orientation, intensity field. MEMS angle/tilt compass horizontal plane, giving direction systems DOM, CLB, equivalent design. Two kinds actually CLB: so-called AHRS-LNS (LIS3LV02DL HMC5843 separated sensors) [3,4] LSM303D (3D-accelerometer integrated single custom sensor) [5]. Both have same goal closely similar electronic features, but rely different technology. share common sources instrumental uncertainties propagate reconstructed values. can represented four categories according effects Accelerometer (A = [Ax,Ay,Az]) Magnetometer (H [Hx,Hy,Hz]) vectors: (a) Offsets (shift constant vector value respect real one), (b) Scale Factor (instrumental or environmental factors affecting scale axis read), (c) Non-Orthogonality (the three may not orthogonal due manufacturing defects), (d) Misalignment axes accelerometer/magnetometer, always aligned they mounted). analytical expressions corrections Offsets, Factor, Non-Orthogonality, conveniently matrix notation. notation used description (“Static Calibration”) YPR (Yaw/Pitch Roll) angles [6], offshore Quaternions (tilt, twist) formalism (“Dynamic [7]. 3.1. On-Shore CalibrationBefore integration subsequent DU operation calibrations (Plane, Wobbling) carried out [8]. Uncertainty before DU, uncertainty 6 reached. By establishing level uncertainty, possible guarantee terms calibration. particular, during Wobbling Calibration, attached gyroscope-gimbal plastic mounting free tilting (see 1c). This requires surface capable rotation field-free environment. rotated eight directions: axes, one 45 z-axis their corresponding mirror rotations. accelerometer (A) magnetometer (H) recorded procedure. A time-upgrading software uses collected automatically determine offset (Aoff-Hoff) (Arot-Hrot) accelerometer/magnetometer sensor, parameters stored database. implementation process raw indicated Equations (1) (2): calibrated → c l r o t − f x y z H (2) From obtained (2), values as: Y n s i R , P + (3) ( ) ; (4) As seen (4), PR data, only while depends accelerometers magnetometers data. CLBs finished, more tests after integration: functionality acceptance. offline procedure, some quality cuts (filtering) communication applied. 3.2. Off-Shore CalibrationFor dimensions change seasonally varying sea currents non-negligible issue “Dynamic Calibration” (time-dependent) instead “Static (time-independent) deemed appropriate tackling [9]. current scheme, steps considered: Quaternion series averaged average interpolated, so outliers filtered out. Before that, following way. “Qb” per 10′ sorted, fit Q 0 (Q0, Q1, zi, standing tilt twist height floor respectively), Qc residual procedure spatial correlations fitting polynomial words, starting Qa “static data” structure QcQb represents (interpolated specific time), b applied stores previous structure. missing policy introduced. 4. Performance: Selected ResultsA relative (σA/A σH/H) readout 10% demanded acceptance criterion integration. If test successful, stringent cut Yaw residuals (difference cardinal points) required, ≤ (Yaw shift average) After this, constants allowed uploaded Accelerometer- magnetometer-derived uncertainties, computed small sample recent UPV Lab, well resulting shift, shown 2.As 2a, 1.8–2.5% obtained, reasonably within criteria stage. deg, 2b, validation Already mentioned above, optimized Preliminary results calm strong period ~30 days [9] indicate works reasonably, illustrated 3.Very promising Q1 (twist) all DUs analyzed period, outstanding stability, observed once conditions (as commented 3.2) difference size (e.g., regarding DU11) matter further investigations, arising kind (AHRS-LNS, LSM303D) installed DOMs. Similar Q0 (tilt). ConclusionsThe shows high reliability operation. Onshore, found 2.5% (acceptance stage 10%). evaluations outputs demonstrate below drag forces orientations DOMs, traced Dynamic Calibration means time-dependent output. well, resolutions specifications. tracing positions reliably reconstruct events interest efficiently remove background first analysis demonstrates sufficiently reaching goals. FundingThis research received no external funding.Institutional Review StatementNot applicable.Informed Consent applicable.Data Availability applicable.AcknowledgmentsThe author thanks support “María Zambrano” Program Excellence framework grants talent retaining Spanish Ministry Universities, funded European Union “NextGenerationEU” (UPV Contract C16898).Conflicts InterestThe declares conflict interest.ReferencesAdrián-Martínez, S.; Haren, H. 2.0–Letter Intent ORCA. J. Phys. G: Nucl. Part. 2016, 43, 084001. 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Talk (online) Meeting, 8–19 February 2021. test: mounted; unmounted DOM; mounted “Wobbling” bench. Acceptance calibration: uncertainties; shift. detector: (color refers DU); function (DU3F17). Publisher’s Note: MDPI stays neutral regard jurisdictional claims published maps institutional affiliations. © author. Licensee MDPI, Basel, Switzerland. open access distributed under Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Share Cite ACS Style Yepes-Ramirez, H., Collaboration. Case. 27, 44. AMA Engineering Proceedings. 27(1):44. Chicago/Turabian 2022. "Digital Case" no. 1: Find Other Styles Metrics No Access Statistics information journal statistics, click here. Multiple requests IP address counted view.