Fugro Marinestar Improvements - .3 Fugro 42 Laboratories 12,000 Employees 129 100 330 18 6 48 37

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  • Fugro Marinestar Improvements

    Improvements in Marinestar Positioning

    Hydro 2016 Warnemnde, 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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • 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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com6

    Marinestar 8 Geostationary communication satellites

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com7

    Fugro Marinestar G4 GNSS Reference Station Network

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • 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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com9

    GPS Availability Minimum number of satellites

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    21-Aug-2016

  • www.fugro.com10

    GLONASS Availability Minimum number of satellites

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    21-Aug-2016

  • www.fugro.com11

    GNSS Systems - BeiDou

    5 Geostationaire Earth Orbit satellites (GEO)

    5 Inclined Geosynchronous Orbit satellites (IGSO)

    4 Medium Earth Orbit (MEO)

  • www.fugro.com12

    Beidou Availability Minimum number of satellites

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    21-Aug-2016

  • www.fugro.com13

    Beidou Availability Maximum number of satellites

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    21-Aug-2016

  • www.fugro.com14

    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%

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    21-Aug-2016

  • www.fugro.com15

    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

  • www.fugro.com16

    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

  • www.fugro.com17

    Marinestar VBS (L1 GPS Code) Performance

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

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

  • www.fugro.com19

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com20

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com21

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    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

  • www.fugro.com22

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

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

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

  • www.fugro.com23

    Glonass R09 ClockJitter St Johns

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    Improved in HP7.14a

  • www.fugro.com24

    Adding BeiDou helps. (Perth)

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    Improved in HP7.14a

    BeiDou

    GPS+Glonass

  • www.fugro.com25

    Satellite Hardware delay

    Hardware delay = Electronic Distance Signal Generation to Antenna phase centre

    UPD= Uncalibrated Phase Delay= Fractional phase value.

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com26

    Hardware delay estimation

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com27

    PPP-RTK Principle

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    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

  • www.fugro.com28

    Antenna not on monkey deck Antenna in top of the mast

    Limitations for PPP-RTK: `Antenna locations

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com29

    PPP-RTK effect of extreme Weather

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com30

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com31

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    G2+ Improvements

  • www.fugro.com32

    Percentage improvement G2+ versus G2

    0%

    5%

    10%

    15%

    20%

    25%

    30%

    ShastaCalifornia

    BrownsvilleTexas

    CarmenMexico

    WalvisbayNamibia

    ChennaiIndia

    MiriMalaysia

    PerthAustralia

    Average

    East% North% Height%

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

  • www.fugro.com33

    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

    Hydro 2016 Fugro Marinestar Improvements Hans Visser

    Height

    Horizontal

    ?

    8 cm

    5 cm

  • www.fugro.com34

    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 Fu