GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf ·...

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GPS KINEMATIC APPLICATIONS & HYDROGRAPHY ROCK SANTERRE, Ph.D., QLS, P.Eng. DÉPARTEMENT DES SCIENCES GÉOMATIQUES UNIVERSITÉ LAVAL

Transcript of GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf ·...

Page 1: GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf · 2013-05-27 · Precise GPS navigation (GEOIDE NCE project) Ship squat determination using

GPS KINEMATIC APPLICATIONS& HYDROGRAPHY

ROCK SANTERRE, Ph.D., QLS, P.Eng.

DÉPARTEMENT DES SCIENCES GÉOMATIQUESUNIVERSITÉ LAVAL

Page 2: GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf · 2013-05-27 · Precise GPS navigation (GEOIDE NCE project) Ship squat determination using

HYDROGRAPHY = MARINE GEOMATICS 2

Surveying

GeodesyDesign

Planning

AcquisitionGPS

Photogrammetry

Remote Sensing

Digital Mapping

GISSpatial DB

Cadastre

Economics

ManagementHealth & Safety

Environment

Dissemination

Quality control

Fusion

Processing

Modelling

Visualization

Analysis

Updating

Santerre, Département des sciences géomatiques

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Adapt the GPS-OTF algorithms for precise ship berthing Determine ship’s position, velocity and attitude Provide suitable information to an electronic map

during ship’s docking operations

GPS SHIP BERTHING

Ueno et Santerre, Département des sciences géomatiques

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N

100 m

1

32

Berthing loops at Trois-Rivières harbour

RESEARCH PROJECT: GPS SHIP BERTHING

Ueno et Santerre

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Ueno et Santerre, Département des sciences géomatiques

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-0.08-0.04

00.040.08

0 50 100 150Distance (m)

-0.08-0.0400.040.08(m)(m) HeightPosition

COMPARISON OF POSITIONS (GPS vs Total station)

0 20 40 60

Altitude GPS

Time (min)

Squat

Squat2.85

2.95

3.05(m)

Ueno et Santerre, Département des sciences géomatiques

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Mean RMS

Roll -0.05° ±0.44°

Pitch -0.18° ±0.34°

Yaw 0.01° ±0.60°

Differences(GPS-TSS or Gyro)

00

90

180

270

360

20 40 60Elapsed time (min)

Yaw

(°)

-4

-2

0

2

4

Yaw

diff.

(°)

Yaw differenceYaw

Ueno and Santerre

6GPS SHIP BERTHING – ATTITUDE DETERMINATION

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Information about underkeel clearance is required in order to : Insure ship’s driveability Protect the ship’s keel and the seaway Protect the environment

UNDERKEEL CLEARANCE

Morse, Michaud, Santerre et al., Université Laval

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SQUAT AND UNDERKEEL CLEARANCE

Illustration: Garde côtière canadienne

Morse, Michaud, Santerre et al., Université Laval

WATER LEVELWATER LEVEL

UNDERKEEL CLEARANCE

CHART DATUM

TIDE

DR

AU

GH

T

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Near Montréal’s harbour

MEASURED SQUAT IN THE WATERWAY

Morse, Michaud, Santerre et al., Université Laval

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WATER LEVEL DETERMINATION WITH GPS 10

Comparison of GPS (ellipsoidal) heightsand interpolated water levels from SINECO (COWLIS) tide gauges

Michaud, Santerre et Condal

11,27 m

Michaud, et Santerre, Département des sciences géomatiques

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Michaud, Santerre et Condal

WATER LEVEL WITH GPS

Difference of GPS (ellipsoidal) heightsand interpolated water levels from SINECO (COWLIS) tide gauges

±5.5±12.5±9.1RSS

±4.5±8.5±7.1RMS

-3.1-9.1-5.6Mean

FloodEbbTotal(cm)

±5.3±9.5±7.4RSS

±5.2±9.2±7.3RMS

1.1-2.6-0.5Mean

FloodEbbTotal(cm)

Not corrected for squat

Corrected for squat

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OTHER HYDROGRAPHY PROJECTS

Processing and filtering of bathymetric data

Kriging and Voronoi interpolation of bathymetric data

Kalman filtering of tidal data

Analysis of SINECO tidal data

Determination of river high water line

Precise GPS navigation (GEOIDE NCE project)

Ship squat determination using RTK-GPS

Multi-antenna GPS attitude determination

GPS-PPP (Precise Point Positioning)

N.B.: M.Sc. and Ph.D. theses can be written in French or English

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Autre photo…

Santerre, Département des sciences géomatiques

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GEOMATICS (HYDROGRAPHY) MUSEUM Located at Pavillon Casault, Laval University

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http://www.scg.ulaval.ca/gps-rs/en/History/exposition_en.htmor http://www.fig.net/hsm/collections.htm

Santerre, Département des sciences géomatiques

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Adapt GPS-RTK system (in inverse mode) for high accuracy monitoring

Determinate the (3D) position, velocity and acceleration Visualize GPS results along with video camera, heart beat and

wind speed measurements

ATHLETE’S PERFORMANCE MONITORING

Lambert et Santerre, Département des sciences géomatiques

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0.0 0.5 1.0 1.5 2.0

Hertz2.5 3.0 3.5 4.0

T = 1.25 s T = 0.63 s Altitude

0.0 0.5 1.0 1.5 2.0Hertz

2.5 3.0 3.5 4.0

T = 1.25 s Speed

Coefficient de corrélation: -0.64

CANOE-KAYAK GPS TEST

Lambert et Santerre, Département des sciences géomatiques

Spe

ed

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BICYCLE TRACK (VELODROME) GPS TEST

Lambert et Santerre, Département des sciences géomatiques

Heart beat

Speed

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Page 17: GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf · 2013-05-27 · Precise GPS navigation (GEOIDE NCE project) Ship squat determination using

FURTHER INFORMATION

Visit our Web sites:

Laval University: www.ulaval.ca

Geomatics Department: www.scg.ulaval.ca

GPS group: www.scg.ulaval.ca/gps-rs/

CRG: www.crg.ulaval.ca

GEOIDE NCE: www.geoide.ulaval.ca

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R. Santerre, CHC 2010 – Québec City, June 21 juin, 2010