Marinestar GNSS Augmentation Services

Transcription

1 Marinestar GNSS Augmentation Services Hydrographic Society South West Plymouth Tuesday 6-Jan-2015 Hans Visser and Robert Buttress Fugro Satellite Positioning

2 Contents Fugro as a Company Fugro-Marinestar: New Worldwide Multi-constellation GNSS Positioning, VBS L1 code and carrier with Reference station HP L1/L2 code and carrier with Reference station G2/XP Orbit and Clock Solutions HPG2 Melting solutions G4 GPS, Glonass, Beidou and Galileo Convergence times Accuracy of orbit and Clock Interference Scintillations Marinestar Applications Robert Butress Questions: (or during the presentation!) 2

3 Fugro s Mission Our mission is to be the world s leading service provider in the collection and interpretation of data relating to the Earth s surface and sub-surface, and in the support of infrastructure developments on land, at the coast and on the seabed. 3

4 Fugro Company Profile Fugro provides the people, equipment, expertise and technology that support the exploration, development, production and transportation of the world s natural resources. 4

5 Fugro History Fugro was founded in the Netherlands in 1962 and has been listed on the NYSE Euronext Amsterdam since It has grown organically and through acquisition, and now employs over 12,500 people in over 60 countries Implementation of Growth through leadership strategy Establish a joint venture with CGG: Seabed Geosolutions th anniversary celebration and divestment of Geoscience division 2003 Largest acquisition in the history of Fugro: Thales Geosolutions 2002 Introduction of a third core activity: Geoscience 1994 Breakthrough of offshore survey Flotation on the Amsterdam Stock Exchange Acquisition of John E. Chance & Associates Acquisition of McClelland Engineers Foundation of Fugro 5

6 Acquisitions Fugro has made numerous acquisitions of companies that have provided complementary expertise and resources, helping to expand our capabilities and strengthen our market position

7 Services - Survey Fugro provides the energy sector, commercial and engineering industries, governments and other agencies with offshore survey and geospatial services tailored to the specific needs of each client. 7

8 Fugro Global Presence Fugro s operating companies deliver a wide range of services from several locations. They collaborate to provide integrated solutions in every region of the globe. 8

9 Resources Fugro s people, vessels, equipment and facilities are continually growing in capability and expertise in order to meet the demand for continuous high quality services in evermore challenging regions of the globe. 12,591 employees 61 nearshore craft 53 vessels 26 aircraft 97 CPT trucks 261 onshore and 17 offshore rigs 30 jack-up platforms 35 laboratories 9 autonomous underwater vehicles (AUVs) 150 remotely operated vehicles (ROVs) 40 diving systems 2,226 nodes 9

10 State of the art GNSS augmentation infrastructure 108 HP and 42 G2 reference sites, 10 satellite broadcast channels 10

11 A range of GNSS Augmentation services Service System Freq Mode NSAT 2015 NSAT 2020 Hor. Std Vert 95% VBS GPS L1 Ref Site cm 60 cm-4m HP GPS L1/L2 Ref Site cm 6-10 cm XP GPS L1/L2 Orbit+Clock cm 16 cm XP2 G2 HPG2 G4 GPS Glonass GPS Glonass GPS Glonass GPS Glonass BeiDou Galileo L1/L2 L1/L2 L1/L2 L1/L2 L1/L2 L1/L2 L1/L2 L1/L2 B1,B2 E1,E5 Orbit+Clock cm 12 cm Orbit+Clock cm 12 cm Ref Site Orbit+Clock cm 6-12 cm Orbit+Clock cm 10 cm 11

12 VBS Virtual Base Station PRN01 = m PRN03= m.. PRN32 = m PRN01 = m PRN03= m.. PRN32 = +0.21m L1 Code PRN01 = m PRN03= m.. PRN32 = m PRN01 = m PRN03= m.. PRN32 = m PRN01 = m PRN03= m.. PRN32 = m 12

13 Typical Quality of L1 VBS Service <60 CM <60 CM <2 M <60 CM Location of maximum vertical delay at two hour intervals for one day 13

14 Advantages of VBS 1) Accuracy horizontal : cm standard deviation 2) Only 4 L1 GPS CA code measurements are needed 3) Instant positioning 4) No convergence time, other than code smoothing 5) Is more accurate than WAAS and EGNOS 6) Lower price hardware cost 14

15 Limitations of VBS 1) A network of VBS Reference stations is needed 2) Maximum distance up to 1000 km from reference station 3) Does not work in the equatorial zone during local day time 4) L1 Code multipath errors meter 5) Accuracy degrades as distance to reference station due to 1) Ionospheric variation 0 Mostly (1 meter per 100 km Max) 2) Orbit errors 10 cm per 100 km 3) Tropospheric errors 0-30 cm per 100 km (Rain Weather front) 6) Degradation of error as age of corrections increase 1) Satellite Clock errors 10 cm per minute typical, 50 cm per minute (Extreme) 2) Ionospheric variation 3) Troposphere 0-30 cm per minute (Rain Weather front extreme) 15

16 HP = High Performance PRN01 Φ L12 = m PRN03 Φ L12 = m.. PRN32 Φ L12 = m PRN01 = Φ L m PRN03= Φ L m.. PRN32 = Φ L m PRN01 Φ L12 = m PRN03 Φ L12 = m.. PRN32 Φ L12 = m PRN01 Φ L12 = m PRN03 Φ L12 = m.. PRN32 Φ L12 = m PRN01 = Φ L m PRN03= Φ L m.. PRN32 = Φ L m 16

17 Principle of Precise Point Positioning T 0 Broadcast ephemeris Total change in Orbit/Clock L 1 = ~19.6 cm L 2 = ~24.6 cm L ionofree = ~10 cm T n Ionosphere KM Troposphere 0-13 km Local phase multipath 17

18 HP 95% Horizontal error 01-Jan CM 6 CM 4 CM 5-8 CM 5-10 CM Scintillation 4-5 CM 4 CM 5 CM 18

19 Advantages HP Accuracy Horizontal 2-3 cm standard deviation Vertical 4 cm standard deviation 6 cm 95% Ionospheric delay is resolved using dual frequencies (Up to 1%) 19

20 0 Example of HP accuracy Shannon HP ESAT Horizontal 01-Jan Stdev = 1.7 cm Average = 2.9 cm 95% = 5.9 cm Maximum = 12.2 cm 0 00H

21 Shannon HP Height Shannon HP ESAT Height 01-Jan Maximum = 24.1cm 95% value = 10.1 cm Standard Deviation = 4.9 cm Average = +1.5 cm 0 0 Minimum = cm H

22 Limitations of HP 1) Need to be in ~500 km range of HP Reference stations 2) Only GPS, so less robust towards Scintillations In the equatorial zone after local sunset 3) L1 Code multipath errors during convergence 4) Accuracy degrades as distance to reference station increases due to 1) Orbit errors (Resolved by using broadcast orbits) 2) Tropospheric errors 5) Degradation of error as age of corrections due to 1) Satellite Clock drifting 2) Satellite orbit errors 3) Ionospheric variation 4) Troposphere 22

23 XP2 Orbit and Clock corrections source1 XP = GPS orbit and Clock Since 2004 XP2 = GPS + Glonass Orbit and Clock Corrections Available since Sep 2014 Advantages Worldwide Independent Source of Orbit and Clocks Both GPS and Glonass 23

24 G4 Orbit and Clock corrections calculated by Fugro) System Since G1 = GPS 2006 G2 = GPS+Glonass 2009 G3= GPS+Glonass+Beidou 2014 G4= GPS+Glonass+Beidou+Galileo 2015 (We are ready) Advantages Most accurate Orbit and Clock Source Works Worldwide Limitations Convergence time Unhealthy GPS or Glonass satellites (But GPS+Glonass are abundant) Satellite Clock jumps. (Resolve by Quality Control) Satellite Clock Jitter Scintillation Phase noise. Phase multipath near the antenna 24

25 Fugro s first Galileo Only Positioning, 18 March 2013 Fugro s first decimeter level Galileo fix (made 6 days after ESAs own first Galileo fix) was acknowledged by ESA. / 25 /

26 G2 95% Horizontal error 27-Dec-2014 <8 CM <9 CM <8 CM <7 CM <8 CM <12 CM <12 CM <7 CM <13 CM <13 CM 26

27 G2 GPS Orbit errors G2 Height error = 170 cm GPS PRN 10 Range=189 cm on ASAT 14:27:00 UTC 9 GPS satellites visible 27

28 XP Orbit errors XP Height error = 180 cm GPS PRN 10 Range=192 cm on ASAT 14:16:31 UTC 9 GPS satellites visible 28

29 Difference between XP and G2 GPS in position error Height Max = -10 cm GPS PRN 17 Range=37 cm on ASAT 03:30 UTC 12 satellites visible 29

30 HPG2 HP and G2 blended Using observations from Orbit and Clock Use observations from HP Calculate optimal position Advantages Robust against G2 outages Robust against HP Reference station outages Robust against GPS or Glonass outages No selection of algorithm needed Limitations No BeiDou, Galileo yet If HP and G2 Solutions do not match a reset is possible. 30

31 Movement of the Ionospheric disturbance over the world Animation for a normal day and for a day with an Ionospheric Storm arriving 31

32 Challenges for GNSS: Ionospheric scintillations 100 days/year Less than 10 days/year Solution: Multiple GNSS, more robust signals 32

33 Results of Scintillations Prediction (Animated) 33 ESWW11, 18th Nov 2014, Fugro Offshore Positioning: Sailing through the solar maximum

34 Challenges for GNSS: RF interference L1 Jammer Glonass L1 Iridium L2 UHF L-Band China GSM Japan 4G L-Band L2- Interference Glonass L2 beaacon?? L-Band Taxi Taxi? Solution: Multiple GNSS, better antenna filters, more frequencies SMOS data 2010 showing areas of interference identified by bright colors. Credit: CESBIO 34

35 Satellite systems available to Marinestar GPS GLONASS BeiDou Galileo 35

36 GNSS Systems - BeiDou 5 Geostationaire Earth Orbit satellites (GEO) 5 Inclined Geosynchronous Orbit satellites (IGSO) 4 Medium Earth Orbit (MEO) 36

37 BeiDou: Coverage final constellation?? 37

38 IGS Beidou satellite orbit accuracy 38

39 BeiDou Satellite orbit and clock errors +6 Meter Average -3 cm +/-120 cm standard deviation -6 Meter 39

40 Fugro G4 Tracking network (Dec-2014) IOR Broadcast 40

41 Number of visible BeiDou Satellites Min - Max >5 elevation 12-Dec

42 Fugro G4 Oslo GPS, Glonass, BeiDou Horizontal 0cm No BeiDou 8cm 5cm 3cm 0cm Tijd in UTC 42

43 Convergence time 1) Dependant on initial start accuracy. (At mid latitude VBS L1 = 30 cm standard deviation 2) In equatorial zone start at L1/L2 Ionofree code = 1.5 meter 3) The more time, the more orbit curvature the better intersection. 4) More measurements help 4/SQRT( NSAT-4) improvement 5) 10 minutes 30 cm 6) Code Multipath can delay convergence 43

44 Convergence time height stdev, Macae Brazil 24 Hour CM Process restarted every 10 Minutes during 24 hours. From UTC with Scintilation present Minutes 44

45 Tidal height measurements and wave height Den Helder Harbour Survey Area 2 Credits: Royal Dutch Navy Survey Area 3 Survey Area 3 Marinestar use for Tide correction accuracy is good. 70 cm geoid dif. (Use accurate Geoid model) 45

46 Fugro Marinestar 9205G2 receiver GPS L1, L2, L2C,L5(option),code, phase = 15 SV in View x 4 = 80 Channels max Glonass L1, L2,,code, phase =12 SV in View x 2 = 24 Channels max Beidou (Option) B1, B2,B3,code, phase =15 SV in View x 3 = 45 Channels max 220 Separate Channels Web Graphical User Interface L-Band decoding SBAS 10 Hz position output Ethernet or RS232 communication Bluetooth 47

47 Trimble GA830 Antenna BX982 SPS461 SPS855 SPS985 Applanix BD-960,920,

48 Hemisphere 49

49 SXLBue III and Earth Observation Systems Marinestar G2 capable 52

50 Fugro Satellite Positioning Market Activity FSP provides GNSS augmentation services to marine customers in these market segments: Oil & Gas Non-Oil & Gas Survey vessels Seismic vessels Construction vessels and barges Drill ships Semi-submersible drilling units DP Anchor handling tugs (AHT) DP Platform support vessels (PSV) DP Drill ships and DP Submersible DP Drilling rigs DP Dive support vessels (DSV) DP Multi-purpose vessels (MPV) DP Standby and rescue vessels Deep sea international trading vessels Passenger/cruise ships Navy and Coast Guard Dredging/marine construction Cable laying Hydrography Oceanographic research Wind farm support Pilotage Fishery 53

51 Seastar (Oil and Gas Dynamic Positioning) DP Anchor handling tugs (AHT) DP Platform support vessels (PSV) DP Drill ships and DP Submersible DP Drilling rigs DP Dive support vessels (DSV) DP Multi-purpose vessels (MPV) DP Standby and rescue vessels Oil and Gas Dynamically Positioned (sensor, computer and thrusters controlling surge, sway and yaw) Typically Kongsberg equipment but also other high-end DP control systems, Rolls Royce, Navis etc Key requirements: redundancy and reliability. Accuracy is important but secondary IMO defines 3 equipment classes based on redundancy 65% of est. 2,750 vessels 54

52 Starfix (Oil and Gas) Survey vessels Seismic vessels Construction vessels and barges Drill ships Semi-submersible drilling units Oil and Gas Not dynamically positioned 50% of est. 500 vessels 55

53 Marinestar (non Oil and Gas) Deep sea international trading vessels Passenger/cruise ships c. 49,000 > 300 GRT Deep Sea Deep sea international trading vessels Coastal Passenger/cruise Marine ships Navy and Coast Guard Dredging/marine construction Navy and Coast Cable Guard laying Dredging/marine Hydrography construction Cable laying Oceanographic research Wind farm support Hydrography Pilotage Oceanographic Fishery research Wind farm support Pilotage Fishery c. 3,000 Vessels 56

54 Marinestar Manoeuvring System Deep sea international trading vessels Passenger/cruise ships Deep Sea Navigation Trim Optimisation Berthing Assistance Alarms 57

55 Marinestar Manoeuvring System Deep sea international trading vessels Passenger/cruise ships Deep Sea Provides type approved: Heading Rate of Turn Speed over Ground (ahead and athwartships) 58

56 Marinestar Manoeuvring System Deep sea international trading vessels Passenger/cruise ships Deep Sea Accurate, real-time measurement and optimisation of trim in all conditions, for: Reduced bunker cost Lower carbon footprint 59

57 Marinestar Manoeuvring System Deep sea international trading vessels Passenger/cruise ships Deep Sea Provides: Quay distances Approach speed 60

58 Marinestar Manoeuvring System Deep sea international trading vessels Passenger/cruise ships Deep Sea 61

59 Marinestar Coastal activity sectors Coastal Marine Navy and Coast Guard Dredging/marine construction Cable laying Hydrography Oceanographic research Wind farm support Pilotage Fishery c. 3,000 Vessels 62

60 Marinestar market: Navy Coastguard Hydrographic mapping AUV's, drones and unmanned helicopters. AUV's, drones and unmanned helicopters. Hydrographic survey, minesweeping, security patrol, search and recovery missile retrieval 63

61 Marinestar market: Dredging and Construction Windfarm projects Dredging in remote areas with no local infrastructure Difficult UHF Radio Licensing Ploughing 64

62 Marinestar market: Cable Laying Communication cable lay vessels need to keep good records of cable location and orientation. Good position data is essential for this work. 65

63 Marinestar market: Hydrographic Surveys Harbour Surveys, Coastal mapping 66

64 Marinestar market: Oceanic Research Vessels 67

65 Marinestar market: Fishery 68

66 Questions? For commercial contacts UK Raymond Bilkerdijk Europe Fugro Satellite Positioning BV USA Fugro Satellite Positioning Inc. Australia/NZ Fugro Satellite Positioning Pty India Asia Pacific Fugro Satellite Positioning Pte Ltd For any other questions: