Monitoring Lecture ETH Zürich, Michael Rutschmann
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1 Monitoring Lecture ETH Zürich, Michael Rutschmann
2 Monitoring lecture Contents 1. Monitoring System Intro 2. Different Setup of Monitoring Systems 3. GeoMoS (Monitor and Analyzer) 4. Setup of a combined TPS and GNSS Monitoring 5. GeoMoS Web Service 6. Spider and GNSS QC Software 7. Live Demo GeoMoS 2
3 What structures are monitored? Land slides Excavations Mines Tunnels Buildings Oil platforms Dams Volcanoes Bridges Subsidence areas Crustal deformation areas 3
4 Leica Monitoring Systems Permanente installations Damm, Iran Lanslide, Italy Landslide, Austria Cupper, USA Cupper, Chile Uran, Namibia 4
5 Automatic Monitoring Systems Stages Consultation and system design Purchase Hardware and Software Mounting measurement hut, pillars, prisms, antennas, cables, power, heating/cooling, security etc. Installation communications, instrument and software setup Fine Tuning step by step tweaking of measurement and computation parameters to maximize accuracy and reliability Analysis, configuration of limit checks and warning messages Maintenance of the overall system software updates, hardware calibration and servicing 5
6 Automatic Monitoring Systems Major Components Hardware Geodetic Instrumentation 3D Coordinates Geotechnical Instrumentation 1D dimensions, environmental factors Messaging systems Power Sirens, flashing lights etc. Communications Software Data management software Measurement scheduling Data archiving, import and export Data processing software Validation, calibration, estimation Calculation of movements Limit checks and messaging ( , SMS etc.) Analysis software Detection and verification of movements Data editing and post processing 6
7 Monitoring lecture Software Modules 1. GeoMoS (monitoring platform) 2. GeoMoS Web Service 3. Spider (GNSS processing) 4. GNSS QC (high speed GNSS data) 7
8 Automatic Monitoring Systems Components of a monitoring system Control points Natural surfaces X,Y,Z Monitoring points X,Y,Z X,Y,Z Other Instruments Measurement Hut Meteo sensor Web Application Data Management, Processing and Analysis Software Switchbox Pillar Security Heating/cooling Solar panel / battery Radio, WLAN, GPS/GPRS, Cable (RS232, RS485) Direct power supply / UPS 8 Messaging and alerts system
9 Automatic Monitoring Systems Architecture GNSS Monitoring and Reference Station Integrity Monitoring Radio / LAN / GSM etc. Internet LAN LAN Files: RINEX, NMEA, SQL: Results Leica GNSS Spider Real Time Positioning Post Proc Positioning Sensor Configuration Data Archiving Leica GNSS QC Profiling Limit checks and messaging Analysis Integrity monitoring Leica Spider Web User management Display/Analysis 9
10 Automatic Monitoring Systems Architecture TPS Monitoring Radio / LAN / GPRS etc. Internet LAN FTP SQL: Measurements and results 10 Leica GeoMoS Monitor Sensor Configuration Measurement scheduling Calibration and calculation Profiling Limit checks and messaging Data Archiving Leica GeoMoS Analyzer Analysis Reporting Data import/export Leica GeoMoS Web User management Analysis Reporting
11 Automatic Monitoring Systems Architecture Multi-sensor Monitoring Leica GNSS Spider Radio / LAN / GPRS etc. Internet LAN FTP SQL: Measurements and results 11 Leica GeoMoS Monitor Sensor Configuration Measurement scheduling Calibration and calculation Profiling Limit checks and messaging Data Archiving Leica GeoMoS Analyzer Analysis Reporting Data import/export Leica GeoMoS Web Analysis Reporting
12 Advanced Monitoring with GNSS Spider Reference Station(s) Monitoring Point Monitoring Point GMX901 or GMX902 GG or GRX1200 receiver GRX1200 GMX901 or GMX902 GG Direct power supply (220v) Raw Data Solar panel Solar panel GNSS QC GeoMoS Raw Data GNSS Spider Real time, permanent connection or periodic downloading of data logged onboard Real time, permanent connection -Profiling -Limit checks -Messaging -Analysis 13 LAN Other Sensors NMEA X,Y,Z -GPS computation -Raw data archiving -Sensor configuration Radio Modem, GSM Wireless LAN Cable (RS232, RS485) Raw Data
13 Leica GeoMoS Multi-Sensor Monitoring Software Multi sensor monitoring with total stations, GPS, tilt sensors, meteo sensors, extensometers and more. Advanced GPS monitoring via link to Leica GNSS Spider Calculation of movements using profiles for easy analysis Integrated analysis Configurable limit checks (displacements and measurements) Powerful event management and messaging system Customizable with flexible options and open SQL database Secure with robust data synchronization and backup Scalable and expandable from measurement engine to complete system 14
14 Leica GeoMoS Monitor Features Connection and control of geodetic and geotechnical sensors Connection to Leica GNSS Spider and data loggers Display of status information and online charts Scheduling of measurements and actions (e.g. Start time, End time, Interval, Continuous) Measurement validation and re-measurement Reduction of measurement for atmospheric effects (PPM, VzCorrection) Calculation of free station and orientation Calculation of results (displacements) Limit checks (absolute, velocity, regression) Messaging ( , lights, sirens, external programs and devices, database queries) Monitor showing overall system status. 15
15 Leica GeoMoS Monitor Geotechnical and meteorological instruments Wide range: Rain gauge, extensometer, borehole inclinometer, piezometer, temperature/pressure,.. Calibration of total station measurements Confirmation of movement Interface to Campbell Scientific data loggers for flexible connection of a wide range of third party sensors Virtual sensors (sensor fusion) Combine data from multiple sensors of the same or different types Compute torsions, convergences etc. Calibrate measurements (e.g. tilt for temperature, displacement for water level) A Campbell Scientific data logger with a GPRS modem connected to a series of geotechnical sensors 16
16 Leica GeoMoS Analyzer Features Overview map with traffic light status Graphical & numerical presentation of measurements and results Data editing and post-processing Outlier detection Enter and filter comments User customisable graphics User customisable reports Various export functionality (ASCII, BMP, DXF) Import/Export of database backup files Analyzer showing longitudinal displacement with regression lines for two points. 17
17 Leica GeoMoS Analyzer Site Map and Background Map The Site Map shows at a glance the status of your monitoring project. Traffic light symbols display the limits. Photographs or maps can be overlaid. Geo-reference maps with common local and pixel points. Manage and navigate with the Site Map for more detailed information. Rearrange the position of the points within the Site Map. Analyzer Site Map with photograph and monitoring points. 18
18 Leica GeoMoS Analyzer Combine the data from multiple points or sensors in a single graph to check for correlations. Raw slope distance PPM corrected slope distance Raw Hz angle Orientation corrected Hz angle Raw V angle Corrected V angle Level reading Nivel X and Nivel Y Atmospheric PPM correction Reference PPM correction Orientation Vz correction Temperature Pressure Easting Easting Difference Northing Northing Difference Height Height Difference 19
19 Leica GeoMoS Combined Total Stations and GNSS Total stations and control points often must be placed in an area that may be subject to movements With the combination of TPS and GPS the stability of the total stations and reference points can be effectively managed GPS co-located to the total station and on one or more reference points can be used to update the position and orientation of the total station GNSS receivers can also be used for direct monitoring of points of interest Reflector with 5/8 thread adapter for mounting of GPS antenna. 20
20 Leica GeoMoS Configuration 1 Direct update Total station with colocated GNSS antenna Orientation point with GNSS antenna. Stable GNSS antenna as reference station. 21
21 Leica GeoMoS Configuration 2 Free station Control points with GNSS antenna used by total station for free station calculation. Stable GNSS antenna as reference station. 22
22 Leica GeoMoS Web Contents 1. Typical use case Analyzing monitoring results 2. What is Leica GeoMoS Web? 3. Service What are the advantages? 4. Access to the service 5. Demo of Leica GeoMoS Web 6. Setup the service as administrator 7. Summary 23
23 Leica GeoMoS Web 1. Typical use case analyzing monitoring data Thousands of result records are produced in a large prism monitoring installation It can be time consuming to analyze the data GeoMoS Analyzer It can be time critical to get a clear overview about the actual deformation situation in the mine Define the correct time period Navigate to the critical points A lot of different Plots must be produced (e.g. Longitudinal Displacement, Height Displacement) Visualize real time monitoring data in GeoMoS Analyzer 24
24 Leica GeoMoS Web 1. Typical use case analyzing monitoring data A package of time line plots, vector plots and reports must be produced with different software packages GeoMoS Analyzer Results are transmitted to more powerful software packages to get better overview In a daily interval the complete report must be produced Sometimes there is high time pressure to prepare the complete information The report can only be produced in the mine and access from outside is difficult Visualize real time monitoring data in GeoMoS Analyzer 25
25 Leica GeoMoS Web 2. What is Leica GeoMoS Web? Leica GeoMoS Web is an on demand web based service that allows to display monitoring data Anytime, Anywhere With an Internet connection and Leica GeoMoS Web, customers can access their monitoring data anytime and anywhere Visualize real time monitoring data via Internet 26
26 Leica GeoMoS Web 3. Service What are the advantages? Anytime, Anywhere Try before Fast to the market Customizable Scalable The monitoring data can be accessed from any location with a standard web browser. Test the service with a demo account before you purchase. The Leica GeoMoS Web service can be ordered and immediately set up. The graphs and views that are presented are customizable with wizards no programming is required. The graphs, views and number of points can be tailored to the needs of the customers projects. 27
27 Security Architecture Overview Internet user GeoMoS Monitor (field) Strong authentication and authorization True 128 bit encryption HTTP over SSL (https) Internet Strong 3 level authentication and authorization HTTP over SSL and FTP over SSL (https, ftps) True 256bit encryption of all data Encrypted software configuration (e.g. user/password) GeoMoS Web Servers Server and application hosting at Leica Geosystems IT center in Heerbrugg, Switzerland Extended SSL certificate from VeriSign High secure data storage High availability and reliability Continuous server monitoring No clear text passwords (all hashed) Intrusion detection 28
28 Leica GeoMoS Web 4. Access to the service User Group Viewer Administrator Localization International units for measurements Date and time settings Time zones Language files can be easily translated Web browser Windows Internet Explorer Mozilla Firefox Opera Safari Help Leica Getting Started Manual is available electronic as online help and as pdf file 29
29 Leica GeoMoS Web 5. Demo Visualizing tools show at a glance the monitoring system easy to manage and navigate to measurement and result data Analyzing tools quickly display monitoring data interactive graphs timeline scatter vector graphs Visualizing Analyzing 30
30 Leica GeoMoS Web 5. Demo Overview Map 31 Site Map
31 Leica GeoMoS Web 5. Demo 32 Time line graphs Time line graphs
32 Leica GeoMoS Web 5. Demo 33 Scatter graphs Vector graphs
33 Leica GeoMoS Web 5. Demo Overview and Sites The customer navigate via overview and site images to the monitoring data Overview and site maps show at a glance the monitoring system 34
34 Leica GeoMoS Web 5. Demo Graphs Leica GeoMoS Web version 1 graphs display monitoring data by the use of timeline with one axis, timeline with two axis, scatter or vector graphs Next Leica GeoMoS Web version graphs can display monitoring data by the use of scatter with changing color, timeline with multiple series 35
35 Leica GeoMoS Web 6. Set-up the service as administrator Customizable All views and graphs can be customized by the administrator with self-explanatory wizards How to set-up your monitoring project for the first time Follow the Leica GeoMoS Web Online Help 36
36 Leica GeoMoS Web 7. Summary Authenticated access with user name and password and different access levels Easy access to your monitoring data through a standard web browser Interactive graphics for visualization of monitoring Customizable displays and graphics tailored for your monitoring project Integrated with Leica GeoMoS 37
37 Leica GNSS Spider Advanced GNSS Monitoring Scalable solution for GNSS monitoring Flexible communications and data formats Advanced GNSS data processing algorithms Multi-baseline solutions for increased accuracy and redundancy Online receiver tracking and communications status and history Standard data output formats for integration of third party software High speed real time positioning (20 Hz) Single frequency processing in real time and post processing Dual frequency processing for highest performance and long baselines 38
38 Leica GNSS Spider Advanced GNSS Monitoring Reference Station 1. Monitoring point Monitoring point Double check of the positioning results The baseline between the reference stations can also be monitored to check their long term stability. Reference station 2. 39
39 GNSS Spider vs Classic RTK Classic GPS GNSS Spider Communications Dual lines (1 for corrections, 1 for results) Single line Reference stations supported 1 n (multi-baseline) L1 (single frequency) No Yes L1+L2 (dual frequency) Yes Yes On-the-fly (OTF) ambiguity resolution Quasi-static (QS) ambiguity resolution Yes No Yes Yes Real Time Yes Yes Post Processing No Yes Remote control and configuration Archiving of RINEX and NMEA data No No Yes Yes 40
40 Leica GNSS Spider Post Processing - 3km baseline, dual frequency 2D Time Series Height Time Series 2D Precision (95%) 10 minutes 5.2mm 11.8mm 1 hour 3.8mm 7.2mm 24 hours 1.8mm 2.0mm Height Precision (95%) GMX902 GG and AX1202GG 3.3km baseline with 10m height difference PP Positioning with 10 minutes, 1 hour and 24 hours of data 27 days of data (3795, 633 and 26 results respectively) 41
41 Leica GNSS Spider Post Processing - 3km baseline, single frequency 2D Time Series Height Time Series 2D Precision (95%) 10 minutes 7.2mm 12.4mm 1 hour 3.8mm 7.0mm 24 hours 2.2mm 1.8mm Height Precision (95%) GMX km baseline with 10m height difference PP Positioning with 10 minutes, 1 hour and 24 hours of data 27 days of data (3699, 632 and 25 results respectively) 42
42 Leica GNSS Spider Real Time - 3km baseline, dual frequency 2D Time Series Height Time Series 2D Precision (95%) Real Time 14.0mm 16.0mm Height Precision (95%) GMX902 GG and AX1202GG 3.3km baseline with 10m height difference RT Positioning with quasi static initialization and no smoothing 27 days of data ( results) 43
43 Leica GNSS QC Overview Analysis of Monitoring Data Display of displacements in real time and offline Limit checks (3 levels) Messaging with , SMS and applications Supports high speed data (20 Hz) Interface to Leica GNSS Spider RT and PP Positioning NMEA Interface (GGA, GGQ, LLQ) Analysis of GNSS Measurement Data Tools for site selection and quality control of code and phase data Analysis of tracking, cycle slips, signal to noise ratio and multipath to identify data quality issues 44
44 Leica GNSS QC Displacement Analysis Real Time and Post Processing Analysis Real time or offline analysis of NMEA or Leica GNSS Spider Positioning data Supports NMEA GGA, GGQ, LLQ and LMM Supports GNSS Spider PP Positioning results with direct link to the Spider Positioning database Simple configuration of data streams using direct link to Leica GNSS Spider Serial or TCP/IP communications Support for high speed data (20Hz) The Real Time Plot tab showing a real time graph of height displacement for six NMEA data streams output by Leica GNSS Spider RT Positioning Products 45
45 Leica GNSS QC Displacement Analysis Visualisation and Reporting Display of longitudinal, transverse, height, easting, northing, 2D and 3D displacement time series and 2D scatter. Display of CQ, HDOP and number of satellites used. Customizable web page output with selectable graphs and status information Use of transparency to make it easier to see multiple data series in a single plot Limit checks and messaging A 2D scatter plot using transparency to make it easier to see underlying data series 46
46 Leica GNSS QC Reference Station Integrity Monitoring NMEA Statistics Real time calculation of statistics Use together with a permanent rover or Spider RT Positioning Statistics calculated over defined intervals from 1 minute to 24 hours Accuracy, precision, message count, % fixed solutions, % limit check failures, average satellites used Graphical output of key performance indicators A plot showing 2D and 3D precision and accuracy for a 20km long single base RTK baseline indicating poor site coordinates (high precision, apparent low accuracy). 47
47 Leica GNSS QC Limit Checks and Messaging Limit Checks Absolute limit checks definable for each connection Three levels of limit check for each of longitudinal, transverse, height, 2D and 3D displacement Limit checks for NMEA statistics (accuracy and reliability) Messaging Flexible messaging and event configuration , SMS and run application events supported Designed for use with high speed input data The Messages and Events dialog showing the flexible configuration of events. Each event may be assigned, in any combination, to the various messages defined in the software for use with the displacement analysis and automatic RINEX processing options 48
48 Leica GNSS QC Nivel200 Inclination Sensor Support Sensor Control and Data Logging Connect any number of Leica Nivel210 inclination sensors or Leica Nivel220 bus systems Log data to ASCII files with user defined rollovers Real time display of x tilt, y tilt and temperature Free (no dongle or software key required) The Real Time Plot tab showing a real time graph of inclination data recorded from a Nivel220 bus system 49
49 GNSS QC vs GeoMoS Analysis of GNSS Results GNSS QC GeoMoS Interface to Spider RT Positioning Yes Yes Interface to Spider PP Positioning Yes Yes NMEA Interface GGA, GGQ, LLQ, LMM GGA Support for other sensors Only Nivel TPS, Nivel, levels, meteo, geotechnical, etc. Maximum data rate 20Hz 0.1Hz Profiles Yes Yes Limit checks Absolute Absolute, short time, long time, regression Messaging Application, , SMS Application, , SMS, SQL, Digital IO Web page output Yes Requires GeoMoS Web Offline analysis Yes (Data stored in files) Yes (Data stored in SQL database) Raw data analysis Yes No 50
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