Fugro Marinestar Improvements Hans Visser Fugro Intersite B.V. Improvements in Marinestar Positioning Hydro 2016 Warnemünde, 10 November 2016
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
Fugro 12,000 Employees 129 330 18 100 48 42 Laboratories 6 37 Consultancy centres 3
Some Questions Who in the audience is using positioning? Who uses GPS? Who uses Glonass Who uses BeiDou? Who will use Galileo? 4
Marinestar HP GNSS Reference Station Network ~100 sites Netherlands China USA Egypte Australia 5
Marinestar 8 Geostationary communication satellites 6
Fugro Marinestar G4 GNSS Reference Station Network 7
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 G2 2009 Decimeter Orbit1 Clock1 GPS Dual PPP XP2 2014 Decimeter Orbit2 Clock2 GLONASS Dual PPP G4 2015 Decimeter G4+ 2016 (Today) Centimeter Orbit2 Clock2 Orbit2 & Clock2 & UPDs GPS GLONASS BeiDou Galileo Dual Dual PPP PPP-RTK 8
GPS Availability Minimum number of satellites 21-Aug-2016 9
GLONASS Availability Minimum number of satellites 21-Aug-2016 10
GNSS Systems - BeiDou 5 Geostationaire Earth Orbit satellites (GEO) 5 Inclined Geosynchronous Orbit satellites (IGSO) 4 Medium Earth Orbit (MEO) 11
Beidou Availability Minimum number of satellites 21-Aug-2016 12
Beidou Availability Maximum number of satellites 21-Aug-2016 13
Galileo Availability 2-6 12h 2-6 7h 2-6 7h 2-6 50% 2-6 50% 3-6 90% 2-6 7h 4-5 4-5 100% 100% 2-6 75% 2-7 3-6 40% 4-5 60% 3-6 60% 4-5 100% 3-7 80% 4-5 80% 4-5 95% 2-6 75% 21-Aug-2016 2-7 75% 1,2,8,9,11,12,19,20,22,24,26,30 14
120 Total number of available satellites in the coming years Satellites 100 80 60 40 14 14 24 30 30 24 20 0 31 2016 2017 2018 2019 2020 GPS Glonass Beidou Galileo 32 15
Typical minimal visible GNSS Satellites outside BeiDou Conus Number of visible satellites 25 20 15 10 5 0 Typical minimum visible GNSS Satellites outside Beidou Conus Glonass GPS 17-Nov Galileo BeiDou MEO 2016 2017 2018 2019 2020 GPS minimal Glo Min Bei Min Row Gal Min 16
Marinestar VBS (L1 GPS Code) Performance 17
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Occurrence of Scintillations (2014 and 2015) Total Number of Scintillation hours observed in Network: 9007 h in 2014 and 6586 h in 2015. Scintillation hours 2015 27% less than 2014. Next Solar Minimum predicted: 2019 Next Solar Maximum predicted: 2024 19
400 350 300 Macae Brazil December 2013 (During Scintillation) 250 200 150 Lat lon height 100 50 0 20 3 4 5 6 7 8 9 10
Horizontal standard deviation in centimetre Horizontal Standard Deviation versus age 25 20 15 10 5 0 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 0 5 10 15 20 25 30 Age of Clock Correction in minutes Normal age of orbit and Clock corrections is 10-20 seconds. When loosing L-band communication we can continue for extended period of time 21
Height Standard deviation in centimetre Height Standard Deviation versus age 100 90 80 70 60 50 40 30 20 10 0 Height Stdev Height std = 6.4 cm+ 0.3 Age+0.0862 Age 2 Age increase from 5 to 10 Minutes Improved in HP7.14a Normal age of orbit and Clock corrections is 10-20 seconds. When loosing L-band communication we can continue for extended period of time 0 5 10 15 20 25 30 Age of Clock Correction in minutes 22
Glonass R09 ClockJitter St Johns Improved in HP7.14a 23
Adding BeiDou helps. (Perth) BeiDou GPS+Glonass Improved in HP7.14a 24
Satellite Hardware delay Hardware delay = Electronic Distance Signal Generation to Antenna phase centre UPD= Uncalibrated Phase Delay = Fractional phase value. 25
Hardware delay estimation 26
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
Limitations for PPP-RTK: `Antenna locations Antenna not on monkey deck Antenna in top of the mast 28
PPP-RTK effect of extreme Weather 29
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
G2+ Improvements 70 G2+ versus G2 standard deviation 60 50 Millimeter 40 30 20 10 0 East North Height East North Height Shasta California G2+ G2 Brownsville Texas Carmen Mexico Walvisbay Namibia Chennai India Miri Malaysia Perth Australia 31
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
Global improvements of Marinestar over the years 16 14 Marinestar 95% global accuracy improvement Height 12 centimeter 10 8 6 4 Horizontal 5 cm 8 cm? 2 0 2014 2015 2016 2016 G2 G4+ Year 2017 33
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
GNSS Antenna height in ITRF2008 Tidal model Geoid model Ellpisoid reference system Sea bottom ITRF
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
Thanks for your attention You can meet us at Booth 20 Hans Visser Fugro Intersite B.V. Dillenburgsingel 69 Leidschendam 2263 HW The Netherlands Hans.Visser@fugro.com
Tropospheric Zenith Wet Delays: Climate statistics 38 Graphs made by Sam Storm van Leeuwen NLR European Centre Meteo Weather Forecast (ECMWF) Period 2002-2013. 3 Hour interval 80 x 80 km Global coverage Calculate ZWD effects. (next slides)
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 2002-2013. 3 Hour interval 80 x 80 km Global coverage Calculate ZWD effects. (next slides)
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 2002-2013. 6 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