Fugro Marinestar Improvements - hydroconferences.org · 3 Fugro 42 Laboratories 12,000 Employees 129 100 330 18 6 48 37 Consultancy centres Hydro 2016 Fugro Marinestar Improvements

Fugro Marinestar Improvements

Improvements in Marinestar Positioning

Hydro 2016 Warnemünde, 10 November 2016

Hans VisserFugro Intersite B.V.

www.fugro.com2

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

Hydro 2016 Fugro Marinestar Improvements Hans Visser

www.fugro.com3

Fugro

42 Laboratories

12,000 Employees

129

100

330

18

6

48

37 Consultancy centres


www.fugro.com4

Some Questions

Who in the audience is using positioning?

Who uses GPS?

Who uses Glonass

Who uses BeiDou?

Who will use Galileo?

www.fugro.com5

Marinestar HP GNSS Reference Station Network ~100 sites

USA

Netherlands China

AustraliaEgypte


www.fugro.com6

Marinestar 8 Geostationary communication satellites


www.fugro.com7

Fugro Marinestar G4 GNSS Reference Station Network


www.fugro.com8

Service Since Accuracy Method System Frequency Technique

VBS 1996 MeterReferenceStations

GPS/

GlonassSingle Differential

HP 2000Sub

Decimeter

ReferenceStations

GPS Dual Differential

G2 2009 DecimeterOrbit1 Clock1 GPS

GLONASS

Dual PPP

XP2 2014 DecimeterOrbit2 Clock2

Dual PPP

G4 2015 DecimeterOrbit2 Clock2 GPS

GLONASS BeiDou Galileo

Dual PPP

G4+ 2016(Today)

CentimeterOrbit2 & Clock2 &

UPDsDual PPP-RTK

Fugro Marinestar GNSS Positioning Services


www.fugro.com9

GPS Availability Minimum number of satellites


21-Aug-2016

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GLONASS Availability Minimum number of satellites


21-Aug-2016

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GNSS Systems - BeiDou

5 Geostationaire Earth Orbit satellites (GEO)

5 Inclined Geosynchronous Orbit satellites (IGSO)

4 Medium Earth Orbit (MEO)

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Beidou Availability Minimum number of satellites


21-Aug-2016

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Beidou Availability Maximum number of satellites


21-Aug-2016

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Galileo Availability

2-612h

2-6 7h

2-6 50%

2-6 50%

2-6 7h

2-6 7h

2-7

4-5100%

3-690%

2-6 75%

2-6 75%

2-7 75%

3-6 40%

3-7 80%

1,2,8,9,11,12,19,20,22,24,26,30

4-560%

3-6 60%

4-5100%

4-5100%

4-580%

4-595%


21-Aug-2016

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0

20

40

60

80

100

120

2016 2017 2018 2019 2020

Sa

telli

tes

Total number of available satellites in the coming years

GPS Glonass Beidou Galileo

14

14

3231

24

30

24

30

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Typical minimal visible GNSS Satellites outside BeiDou Conus

0

5

10

15

20

25

2016 2017 2018 2019 2020Nu

mb

er o

f vi

sib

le s

atel

lites

Typical minimum visible GNSS Satellites outside Beidou Conus

GPS minimal Glo Min Bei Min Row Gal Min

GPS

Glonass BeiDou MEO

Galileo

17-Nov

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Marinestar VBS (L1 GPS Code) Performance


www.fugro.com18 Hydro 2016 Fugro Marinestar Improvements Hans Visser

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Occurrence of Scintillations (2014 and 2015)

Scintillation hours 2015 27% less than 2014.

Total Number of Scintillation hours observed in Network:

9007 h in 2014 and 6586 h in 2015.

Next Solar Minimum predicted: 2019Next Solar Maximum predicted: 2024


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Macae Brazil December 2013 (During Scintillation)

0

50

100

150

200

250

300

350

400

3° 4° 5° 6° 7° 8° 9° 10°

Lat

lon

height


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Horizontal Standard Deviation versus age

Horstd = 3.7 cm+0.27 Age+(0.09 age)2

0

5

10

15

20

25

0 5 10 15 20 25 30

Ho

rizo

nta

l sta

nd

ard

de

via

tion

in c

en

tim

etr

e

Age of Clock Correction in minutes

Horizontal Stdev


Normal age of orbit and Clock corrections is 10-20 seconds.

When loosing L-band communication we can continue for extended period of time

Age increase from 5 to 10 MinutesImproved in HP7.14a

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Height Standard Deviation versus age

Heightstd = 6.4 cm+ 0.3 Age+0.0862 Age2

0

10

20

30

40

50

60

70

80

90

100

0 5 10 15 20 25 30

He

igh

t S

tan

da

rd d

evi

atio

n in

ce

ntim

etr

e

Age of Clock Correction in minutes

Height Stdev

Age increase from 5 to 10 MinutesImproved 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

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Glonass R09 ClockJitter “St Johns”


Improved in HP7.14a

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Adding BeiDou helps. (Perth)


Improved in HP7.14a

BeiDou

GPS+Glonass

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Satellite Hardware delay

Hardware delay = Electronic Distance Signal Generation to Antenna phase centre

UPD= Uncalibrated Phase Delay= Fractional phase value.


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Hardware delay estimation


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PPP-RTK Principle


L1 L2 Code

L1=~19 cm

L2=~24 cm

Lwide (L1-L2)~86 cm

Lnarrow (L1+L2)=~11 cm

UPD

Apply UPD. Start with code. Fix Wide Lane, than Fix Narrow LaneDo this for all GPS Satellites

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Antenna not on monkey deck Antenna in top of the mast

Limitations for PPP-RTK: `Antenna locations


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PPP-RTK effect of extreme Weather


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Troposphere: Standard Deviation of Zenith Wet Delay

Graphs made by Sam Storm van Leeuwen NLR

12 cm

10 cm

8 cm

6 cm

4 cm

2 cm

0 cm

USA GOMEast coast

Gulf of California

Senegal

North Australia

India

ChinaJapan


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0

10

20

30

40

50

60

70

East North Height East North Height

G2+ G2

Mill

imete

r

G2+ versus G2 standard deviation

ShastaCalifornia

BrownsvilleTexas

CarmenMexico

WalvisbayNamibia

ChennaiIndia

MiriMalaysia

PerthAustralia


G2+ Improvements

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Percentage improvement G2+ versus G2

0%

5%

10%

15%

20%

25%

30%

ShastaCalifornia

BrownsvilleTexas

CarmenMexico

WalvisbayNamibia

ChennaiIndia

MiriMalaysia

PerthAustralia

Average

East% North% Height%


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Global improvements of Marinestar over the years

0

2

4

6

8

10

12

14

16

2014 2015 2016 2016

G2 G4+

cen

tim

eter

Year

Marinestar 95% global accuracy improvement

2017


Height

Horizontal

?

8 cm

5 cm

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Products including Marinestar

Stema Systems GNS982 Poe

Fugro Marinestar 9200, 9205 Trimble SPS Series BD960, BD920, BD982,

Kongsberg 3610, 3710 ApplanixPos MV, AP15,AP25, AP50

SBG Apogee-E

Advanced NavigationSpatial Dual

Norbit Iwbms Teledyne ResonTS20, TS80

Z-Boat

and more...Hydro 2016 Fugro Marinestar Improvements Hans Visser

Ellpisoid reference system

Tidal model

Sea bottomITRF

GNSS Antenna height in ITRF2008


Geoid model

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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?


Hans Visser

Fugro Intersite B.V.

Dillenburgsingel 69

Leidschendam 2263 HW

The Netherlands

[email protected]

Thanks for your attention

You can meet us at Booth 20

www.fugro.com38

Tropospheric Zenith Wet Delays: Climate statistics

European Centre Meteo Weather Forecast (ECMWF)Period 2002-2013. 3 Hour interval80 x 80 km Global coverageCalculate ZWD effects. (next slides)

Graphs made bySam Storm van LeeuwenNLR


www.fugro.com39

Troposphere Wet Zenith Delay (Max value over 12 Year)

European Centre Meteo Weather Forecast (ECMWF)Period 2002-2013. 3 Hour interval80 x 80 km Global coverageCalculate ZWD effects. (next slides)



www.fugro.com40

Troposphere: Wet Zenith delay: Average over 12 Year

European Centre Meteo Weather Forecast (ECMWF)Period 2002-2013. 6 Hour interval80 x 80 km grid Global coverageCalculate ZWD effects. (next slides)


35 cm

PPP Can model and scale the Wet delay well

80°N

60°N

40°N

20°N

Equator

20°S

40°S

60°S

80°S

30 cm

25 cm

20 cm

15 cm

10 cm

5 cm

0 cm


Documents

Fugro Marinestar Improvements - hydroconferences.org · 3 Fugro 42 Laboratories 12,000 Employees 129 100 330 18 6 48 37 Consultancy centres Hydro 2016 Fugro Marinestar Improvements