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Transcript of Fugro Marinestar Improvements - hydroconferences.org · 3 Fugro 42 Laboratories 12,000 Employees...
Fugro Marinestar Improvements
Improvements in Marinestar Positioning
Hydro 2016 Warnemünde, 10 November 2016
Hans VisserFugro Intersite B.V.
www.fugro.com2
Overview of presentation
The Marinestar GNSS Networks
The supplied Services
Satellite availability for GPS, Glonass, Beidou and Galileo
Gradual Improvements over the years Ionosphere and Scintillations
Clock jitter
Minimum Elevation
Maximum Age
Robustness
PPP-RTK G4 : How to fix ambiguities
PPP-RTK limitations
Conclusions
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com3
Fugro
42 Laboratories
12,000 Employees
129
100
330
18
6
48
37 Consultancy centres
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com4
Some Questions
Who in the audience is using positioning?
Who uses GPS?
Who uses Glonass
Who uses BeiDou?
Who will use Galileo?
www.fugro.com5
Marinestar HP GNSS Reference Station Network ~100 sites
USA
Netherlands China
AustraliaEgypte
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com6
Marinestar 8 Geostationary communication satellites
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com7
Fugro Marinestar G4 GNSS Reference Station Network
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com8
Service Since Accuracy Method System Frequency Technique
VBS 1996 MeterReferenceStations
GPS/
GlonassSingle Differential
HP 2000Sub
Decimeter
ReferenceStations
GPS Dual Differential
G2 2009 DecimeterOrbit1 Clock1 GPS
GLONASS
Dual PPP
XP2 2014 DecimeterOrbit2 Clock2
Dual PPP
G4 2015 DecimeterOrbit2 Clock2 GPS
GLONASS BeiDou Galileo
Dual PPP
G4+ 2016(Today)
CentimeterOrbit2 & Clock2 &
UPDsDual PPP-RTK
Fugro Marinestar GNSS Positioning Services
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com9
GPS Availability Minimum number of satellites
Hydro 2016 Fugro Marinestar Improvements Hans Visser
21-Aug-2016
www.fugro.com10
GLONASS Availability Minimum number of satellites
Hydro 2016 Fugro Marinestar Improvements Hans Visser
21-Aug-2016
www.fugro.com11
GNSS Systems - BeiDou
5 Geostationaire Earth Orbit satellites (GEO)
5 Inclined Geosynchronous Orbit satellites (IGSO)
4 Medium Earth Orbit (MEO)
www.fugro.com12
Beidou Availability Minimum number of satellites
Hydro 2016 Fugro Marinestar Improvements Hans Visser
21-Aug-2016
www.fugro.com13
Beidou Availability Maximum number of satellites
Hydro 2016 Fugro Marinestar Improvements Hans Visser
21-Aug-2016
www.fugro.com14
Galileo Availability
2-612h
2-6 7h
2-6 50%
2-6 50%
2-6 7h
2-6 7h
2-7
4-5100%
3-690%
2-6 75%
2-6 75%
2-7 75%
3-6 40%
3-7 80%
1,2,8,9,11,12,19,20,22,24,26,30
4-560%
3-6 60%
4-5100%
4-5100%
4-580%
4-595%
Hydro 2016 Fugro Marinestar Improvements Hans Visser
21-Aug-2016
www.fugro.com15
0
20
40
60
80
100
120
2016 2017 2018 2019 2020
Sa
telli
tes
Total number of available satellites in the coming years
GPS Glonass Beidou Galileo
14
14
3231
24
30
24
30
www.fugro.com16
Typical minimal visible GNSS Satellites outside BeiDou Conus
0
5
10
15
20
25
2016 2017 2018 2019 2020Nu
mb
er o
f vi
sib
le s
atel
lites
Typical minimum visible GNSS Satellites outside Beidou Conus
GPS minimal Glo Min Bei Min Row Gal Min
GPS
Glonass BeiDou MEO
Galileo
17-Nov
www.fugro.com17
Marinestar VBS (L1 GPS Code) Performance
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com19
Occurrence of Scintillations (2014 and 2015)
Scintillation hours 2015 27% less than 2014.
Total Number of Scintillation hours observed in Network:
9007 h in 2014 and 6586 h in 2015.
Next Solar Minimum predicted: 2019Next Solar Maximum predicted: 2024
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com20
Macae Brazil December 2013 (During Scintillation)
0
50
100
150
200
250
300
350
400
3° 4° 5° 6° 7° 8° 9° 10°
Lat
lon
height
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com21
Horizontal Standard Deviation versus age
Horstd = 3.7 cm+0.27 Age+(0.09 age)2
0
5
10
15
20
25
0 5 10 15 20 25 30
Ho
rizo
nta
l sta
nd
ard
de
via
tion
in c
en
tim
etr
e
Age of Clock Correction in minutes
Horizontal Stdev
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Normal age of orbit and Clock corrections is 10-20 seconds.
When loosing L-band communication we can continue for extended period of time
Age increase from 5 to 10 MinutesImproved in HP7.14a
www.fugro.com22
Height Standard Deviation versus age
Heightstd = 6.4 cm+ 0.3 Age+0.0862 Age2
0
10
20
30
40
50
60
70
80
90
100
0 5 10 15 20 25 30
He
igh
t S
tan
da
rd d
evi
atio
n in
ce
ntim
etr
e
Age of Clock Correction in minutes
Height Stdev
Age increase from 5 to 10 MinutesImproved in HP7.14a
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Normal age of orbit and Clock corrections is 10-20 seconds.
When loosing L-band communication we can continue for extended period of time
www.fugro.com23
Glonass R09 ClockJitter “St Johns”
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Improved in HP7.14a
www.fugro.com24
Adding BeiDou helps. (Perth)
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Improved in HP7.14a
BeiDou
GPS+Glonass
www.fugro.com25
Satellite Hardware delay
Hardware delay = Electronic Distance Signal Generation to Antenna phase centre
UPD= Uncalibrated Phase Delay= Fractional phase value.
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com27
PPP-RTK Principle
Hydro 2016 Fugro Marinestar Improvements Hans Visser
L1 L2 Code
L1=~19 cm
L2=~24 cm
Lwide (L1-L2)~86 cm
Lnarrow (L1+L2)=~11 cm
UPD
Apply UPD. Start with code. Fix Wide Lane, than Fix Narrow LaneDo this for all GPS Satellites
www.fugro.com28
Antenna not on monkey deck Antenna in top of the mast
Limitations for PPP-RTK: `Antenna locations
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com29
PPP-RTK effect of extreme Weather
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com30
Troposphere: Standard Deviation of Zenith Wet Delay
Graphs made by Sam Storm van Leeuwen NLR
12 cm
10 cm
8 cm
6 cm
4 cm
2 cm
0 cm
USA GOMEast coast
Gulf of California
Senegal
North Australia
India
ChinaJapan
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com31
0
10
20
30
40
50
60
70
East North Height East North Height
G2+ G2
Mill
imete
r
G2+ versus G2 standard deviation
ShastaCalifornia
BrownsvilleTexas
CarmenMexico
WalvisbayNamibia
ChennaiIndia
MiriMalaysia
PerthAustralia
Hydro 2016 Fugro Marinestar Improvements Hans Visser
G2+ Improvements
www.fugro.com32
Percentage improvement G2+ versus G2
0%
5%
10%
15%
20%
25%
30%
ShastaCalifornia
BrownsvilleTexas
CarmenMexico
WalvisbayNamibia
ChennaiIndia
MiriMalaysia
PerthAustralia
Average
East% North% Height%
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com33
Global improvements of Marinestar over the years
0
2
4
6
8
10
12
14
16
2014 2015 2016 2016
G2 G4+
cen
tim
eter
Year
Marinestar 95% global accuracy improvement
2017
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Height
Horizontal
?
8 cm
5 cm
www.fugro.com34
Products including Marinestar
Stema Systems GNS982 Poe
Fugro Marinestar 9200, 9205 Trimble SPS Series BD960, BD920, BD982,
Kongsberg 3610, 3710 ApplanixPos MV, AP15,AP25, AP50
SBG Apogee-E
Advanced NavigationSpatial Dual
Norbit Iwbms Teledyne ResonTS20, TS80
Z-Boat
and more...Hydro 2016 Fugro Marinestar Improvements Hans Visser
Ellpisoid reference system
Tidal model
Sea bottomITRF
GNSS Antenna height in ITRF2008
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Geoid model
www.fugro.com36
Conclusions
The Ionosphere is calming. We are prepared for the next solar cycle in ~2023
The quality of Fugro Marinestar is continuous improving
Multiple constellations improve accuracy, availability and robustness
PPP-RTK requires more attention of the hydrographer
Antenna location in the mast.
Radio Interference
Horizontal standard deviation is now 4-5 cm 95%
Height standard deviation is now 8 cm 95%
Question: What Height accuracy is required?
Hydro 2016 Fugro Marinestar Improvements Hans Visser
Hans Visser
Fugro Intersite B.V.
Dillenburgsingel 69
Leidschendam 2263 HW
The Netherlands
Thanks for your attention
You can meet us at Booth 20
www.fugro.com38
Tropospheric Zenith Wet Delays: Climate statistics
European Centre Meteo Weather Forecast (ECMWF)Period 2002-2013. 3 Hour interval80 x 80 km Global coverageCalculate ZWD effects. (next slides)
Graphs made bySam Storm van LeeuwenNLR
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com39
Troposphere Wet Zenith Delay (Max value over 12 Year)
European Centre Meteo Weather Forecast (ECMWF)Period 2002-2013. 3 Hour interval80 x 80 km Global coverageCalculate ZWD effects. (next slides)
Graphs made bySam Storm van LeeuwenNLR
Hydro 2016 Fugro Marinestar Improvements Hans Visser
www.fugro.com40
Troposphere: Wet Zenith delay: Average over 12 Year
European Centre Meteo Weather Forecast (ECMWF)Period 2002-2013. 6 Hour interval80 x 80 km grid Global coverageCalculate ZWD effects. (next slides)
Graphs made bySam Storm van LeeuwenNLR
35 cm
PPP Can model and scale the Wet delay well
80°N
60°N
40°N
20°N
Equator
20°S
40°S
60°S
80°S
30 cm
25 cm
20 cm
15 cm
10 cm
5 cm
0 cm
Hydro 2016 Fugro Marinestar Improvements Hans Visser