GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf ·...
Transcript of GPS KINEMATIC APPLICATIONS & HYDROGRAPHYgps-rs.scg.ulaval.ca/pdf/Kine & Hydro RS En.pdf ·...
GPS KINEMATIC APPLICATIONS& HYDROGRAPHY
ROCK SANTERRE, Ph.D., QLS, P.Eng.
DÉPARTEMENT DES SCIENCES GÉOMATIQUESUNIVERSITÉ LAVAL
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
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
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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
-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
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
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
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
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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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