Fugro Marinestar Improvements

Transcription

1 Fugro Marinestar Improvements Hans Visser Fugro Intersite B.V. Improvements in Marinestar Positioning Hydro 2016 Warnemünde, 10 November 2016

2 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 2

3 Fugro 12,000 Employees Laboratories 6 37 Consultancy centres 3

4 Some Questions Who in the audience is using positioning? Who uses GPS? Who uses Glonass Who uses BeiDou? Who will use Galileo? 4

5 Marinestar HP GNSS Reference Station Network ~100 sites Netherlands China USA Egypte Australia 5

6 Marinestar 8 Geostationary communication satellites 6

7 Fugro Marinestar G4 GNSS Reference Station Network 7

8 Fugro Marinestar GNSS Positioning Services Service Since Accuracy Method System Frequency Technique VBS 1996 Meter Reference Stations GPS/ Glonass Single Differential HP 2000 Sub Decimeter Reference Stations GPS Dual Differential G Decimeter Orbit1 Clock1 GPS Dual PPP XP Decimeter Orbit2 Clock2 GLONASS Dual PPP G Decimeter G (Today) Centimeter Orbit2 Clock2 Orbit2 & Clock2 & UPDs GPS GLONASS BeiDou Galileo Dual Dual PPP PPP-RTK 8

9 GPS Availability Minimum number of satellites 21-Aug

10 GLONASS Availability Minimum number of satellites 21-Aug

11 GNSS Systems - BeiDou 5 Geostationaire Earth Orbit satellites (GEO) 5 Inclined Geosynchronous Orbit satellites (IGSO) 4 Medium Earth Orbit (MEO) 11

12 Beidou Availability Minimum number of satellites 21-Aug

13 Beidou Availability Maximum number of satellites 21-Aug

14 Galileo Availability h 2-6 7h 2-6 7h % % % 2-6 7h % 100% % % % % % % % % % 21-Aug % 1,2,8,9,11,12,19,20,22,24,26,30 14

15 120 Total number of available satellites in the coming years Satellites GPS Glonass Beidou Galileo 32 15

16 Typical minimal visible GNSS Satellites outside BeiDou Conus Number of visible satellites Typical minimum visible GNSS Satellites outside Beidou Conus Glonass GPS 17-Nov Galileo BeiDou MEO GPS minimal Glo Min Bei Min Row Gal Min 16

17 Marinestar VBS (L1 GPS Code) Performance 17

18 18

19 Occurrence of Scintillations (2014 and 2015) Total Number of Scintillation hours observed in Network: 9007 h in 2014 and 6586 h in Scintillation hours % less than Next Solar Minimum predicted: 2019 Next Solar Maximum predicted:

20 Macae Brazil December 2013 (During Scintillation) Lat lon height

21 Horizontal standard deviation in centimetre Horizontal Standard Deviation versus age Hor std = 3.7 cm+0.27 Age+(0.09 age) 2 Age increase from 5 to 10 Minutes Improved in HP7.14a Horizontal Stdev Age of Clock Correction in minutes Normal age of orbit and Clock corrections is seconds. When loosing L-band communication we can continue for extended period of time 21

22 Height Standard deviation in centimetre Height Standard Deviation versus age Height Stdev Height std = 6.4 cm+ 0.3 Age Age 2 Age increase from 5 to 10 Minutes Improved in HP7.14a Normal age of orbit and Clock corrections is seconds. When loosing L-band communication we can continue for extended period of time Age of Clock Correction in minutes 22

23 Glonass R09 ClockJitter St Johns Improved in HP7.14a 23

24 Adding BeiDou helps. (Perth) BeiDou GPS+Glonass Improved in HP7.14a 24

25 Satellite Hardware delay Hardware delay = Electronic Distance Signal Generation to Antenna phase centre UPD= Uncalibrated Phase Delay = Fractional phase value. 25

26 Hardware delay estimation 26

27 PPP-RTK Principle L1 L2 Code L1=~19 cm UPD L2=~24 cm Lwide (L1-L2)~86 cm Lnarrow (L1+L2)=~11 cm Apply UPD. Start with code. Fix Wide Lane, than Fix Narrow Lane Do this for all GPS Satellites 27

28 Limitations for PPP-RTK: `Antenna locations Antenna not on monkey deck Antenna in top of the mast 28

29 PPP-RTK effect of extreme Weather 29

30 Troposphere: Standard Deviation of Zenith Wet Delay USA GOM East coast India China Japan 12 cm 10 cm Gulf of California Senegal 8 cm 6 cm Graphs made by Sam Storm van Leeuwen NLR North Australia 4 cm 2 cm 0 cm 30

31 G2+ Improvements 70 G2+ versus G2 standard deviation Millimeter East North Height East North Height Shasta California G2+ G2 Brownsville Texas Carmen Mexico Walvisbay Namibia Chennai India Miri Malaysia Perth Australia 31

32 30% Percentage improvement G2+ versus G2 25% 20% 15% 10% 5% 0% Shasta California Brownsville Texas Carmen Mexico Walvisbay Namibia Chennai India Miri Malaysia Perth Australia Average East% North% Height% 32

33 Global improvements of Marinestar over the years Marinestar 95% global accuracy improvement Height 12 centimeter Horizontal 5 cm 8 cm? G2 G4+ Year

34 Products including Marinestar Fugro Marinestar 9200, 9205 Trimble SPS Series BD960, BD920, BD982, Kongsberg 3610, 3710 Applanix Pos MV, AP15,AP25, AP50 SBG Apogee-E Stema Systems GNS982 Poe Advanced Navigation Spatial Dual Norbit Iwbms Teledyne Reson TS20, TS80 Z-Boat and more... 34

35 GNSS Antenna height in ITRF2008 Tidal model Geoid model Ellpisoid reference system Sea bottom ITRF

36 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? 36

37 Thanks for your attention You can meet us at Booth 20 Hans Visser Fugro Intersite B.V. Dillenburgsingel 69 Leidschendam 2263 HW The Netherlands

38 Tropospheric Zenith Wet Delays: Climate statistics 38 Graphs made by Sam Storm van Leeuwen NLR European Centre Meteo Weather Forecast (ECMWF) Period Hour interval 80 x 80 km Global coverage Calculate ZWD effects. (next slides)

39 Troposphere Wet Zenith Delay (Max value over 12 Year) 39 Graphs made by Sam Storm van Leeuwen NLR European Centre Meteo Weather Forecast (ECMWF) Period Hour interval 80 x 80 km Global coverage Calculate ZWD effects. (next slides)

40 Troposphere: Wet Zenith delay: Average over 12 Year 80 N 35 cm 60 N 30 cm 40 N 25 cm 20 N 20 cm Equator 20 S 15 cm 40 S 60 S 80 S Graphs made by Sam Storm van Leeuwen NLR European Centre Meteo Weather Forecast (ECMWF) Period Hour interval 80 x 80 km grid Global coverage Calculate ZWD effects. (next slides) 10 cm 5 cm 0 cm 40 PPP Can model and scale the Wet delay well