Marinestar GNSS Augmentation Services - ths.org.uk · Marinestar GNSS Augmentation Services Hydrographic Society South West Plymouth Tuesday 6- Jan-2015 Hans Visser and Robert Buttress

www.fugromarinestar.com

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

2 www.fugromarinestar.com

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!)

www.fugromarinestar.com 3

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.

Fugro’s Mission


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

Fugro Company Profile


Fugro History

Fugro was founded in the Netherlands in 1962 and has been listed on the NYSE Euronext Amsterdam since 1992. It has grown organically and through acquisition, and now employs over 12,500 people in over 60 countries.

1962

Acquisition of McClelland Engineers

Acquisition of John E. Chance & Associates

Flotation on the Amsterdam Stock Exchange

Breakthrough of offshore survey

Introduction of a third core activity: Geoscience

Largest acquisition in the history of Fugro: Thales Geosolutions

Foundation of Fugro

1987 1991

1992 1994

2002

2003 2012

2013 50th anniversary celebration and divestment of Geoscience division

Establish a joint venture with CGG: Seabed Geosolutions

2014 Implementation of “Growth through leadership” strategy


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.

1987 1991

2003 2006 2006 2009

2011 2012 2013 2013 2014

2014 2014 2014


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.

Services - Survey


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.


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 ever-more challenging regions of the globe. 30 jack-up platforms

35 laboratories 9 autonomous underwater vehicles (AUVs) 150 remotely operated vehicles (ROVs) 40 diving systems 2,226 nodes

12,591 employees 61 nearshore craft 53 vessels 26 aircraft 97 CPT trucks 261 onshore and 17 offshore rigs

Presenter

Presentation Notes

November 2014


State of the art’ GNSS augmentation infrastructure

108 HP and 42 G2 reference sites, 10 satellite broadcast channels


A range of GNSS Augmentation services

Service System Freq Mode NSAT 2015

NSAT 2020

Hor. Std

Vert 95%

VBS GPS L1 Ref Site 6-16 7-17 13-30 cm 60 cm-4m HP GPS L1/L2 Ref Site 6-16 7-17 1-3 cm 6-10 cm XP GPS L1/L2 Orbit+Clock 6-16 7-17 3-5 cm 16 cm XP2 GPS

Glonass L1/L2 L1/L2

Orbit+Clock

12-20 7-17 3 cm 12 cm

G2 GPS Glonass

L1/L2 L1/L2

Orbit+Clock

12-20 7-17 3 cm 12 cm

HPG2 GPS Glonass

L1/L2 L1/L2

Ref Site Orbit+Clock

12-20 7-17 1-3 cm 6-12 cm

G4 GPS Glonass BeiDou Galileo

L1/L2 L1/L2 B1,B2 E1,E5

Orbit+Clock 12-30 30-50 2-3 cm 10 cm


VBS Virtual Base Station PRN01 = +1.32 m PRN03= -1.23 m .. PRN32 = -0.23 m

PRN01 = +1.35 m PRN03= -1.33 m .. PRN32 = -0.13 m

PRN01 = +1.25 m PRN03= -1.46 m .. PRN32 = -0.23 m

PRN01 = +1.32 m PRN03= -1.23 m .. PRN32 = -0.13 m

PRN01 = +1.31 m PRN03= -1.26 m .. PRN32 = +0.21m

L1 Code

Presenter

Presentation Notes

Weightt


Typical Quality of L1 VBS Service

– Location of maximum vertical delay at two hour intervals for one day

<60 CM

<60 CM

<60 CM

<2 M


Advantages of VBS

1) Accuracy horizontal : 15-30 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


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 0.5-2 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)


HP = High Performance PRN01 ΦL12= +1.321 m PRN03 ΦL12= -1.232 m .. PRN32 ΦL12= -0.233 m

PRN01 ΦL12 = +1.351 m PRN03 ΦL12= -1.332 m .. PRN32 ΦL12 = -0.133 m

PRN01 = ΦL12 +1.251 m PRN03= ΦL12-1.461 m .. PRN32 = ΦL12-0.239 m

PRN01 ΦL12 = +1.323 m PRN03 ΦL12 = -1.234 m .. PRN32 ΦL12 = -0.134 m

PRN01 = ΦL12 +1.321 m PRN03= ΦL12 -1.232 m .. PRN32 = ΦL12 +0.231 m

Presenter

Presentation Notes

Weightt


Principle of Precise Point Positioning

T0

Tn

Ionosphere 100-1000 KM

Troposphere 0-13 km

Lionofree = ~10 cm

L1 = ~19.6 cm L2 = ~24.6 cm

Broadcast ephemeris

Total change in Orbit/Clock

Local phase multipath


HP 95% Horizontal error 01-Jan-2015

3-5 CM 6 CM

5-10 CM

4-5 CM

4 CM 5-8 CM

4 CM

5 CM

Scintillation


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%)


Example of HP accuracy

00H 02 04 06 08 10 12 14 16 18 20 22 24

60

50

40

30

20

10

0

Shannon HP ESAT Horizontal 01-Jan-2015

Stdev = 1.7 cm Average = 2.9 cm 95% = 5.9 cm Maximum = 12.2 cm


Shannon HP Height

00H 02 04 06 08 10 12 14 16 18 20 22 24

60

40

20

0

20

40

60

Shannon HP ESAT Height 01-Jan-2015

Maximum = 24.1cm 95% value = 10.1 cm Standard Deviation = 4.9 cm Average = +1.5 cm Minimum = -18.9 cm


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


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


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


Fugro’s first decimeter level Galileo fix (made 6 days after ESAs own first Galileo fix) was acknowledged by ESA.

Fugro’s first Galileo Only Positioning, 18 March 2013

/ 25 /


G2 95% Horizontal error 27-Dec-2014

<8 CM <9 CM

<12 CM

<8 CM

<13 CM

<7 CM

<8 CM

<12 CM

<13 CM <7 CM


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


XP Orbit errors

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


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


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.


Movement of the Ionospheric disturbance over the world

Animation for a normal day and for a day with an Ionospheric Storm arriving


100 days/year

Less than 10 days/year

Solution: Multiple GNSS, more robust signals

Challenges for GNSS: Ionospheric scintillations

Presenter

Presentation Notes

I would now like highlight some of the challenges which the professional user of GNSS still faces today. Let’s start with Ionospheric disturbances: Although the current Solar cycle 23 is lower in intensity compared to some previous solar cycles, scintillation effects are still severe enough to reduce the number of available satellites to worrying levels even when one is combining GPS and Glonass. Galileo has great potential to help lessen the impact of Scintillation for the user community. A paper by Fugro’s Dariusz Lapucha at Wednesday’s ‘PPP session' will highlight this.


Results of Scintillations Prediction (Animated)

ESWW11, 18th Nov 2014, Fugro Offshore Positioning: Sailing through the solar maximum


Challenges for GNSS: RF interference

Solution: Multiple GNSS, better antenna filters, more frequencies

Japan 4G China GSM L2 UHF

?? Taxi?

L-Band

SMOS data 2010 showing areas of interference identified by bright colors. Credit: CESBIO

L-Band L1 Jammer

L2- Interference

Taxi

L-Band

Glonass L1 Iridium

Glonass L2 beaacon

Presenter

Presentation Notes

RF interference is yet another challenge facing all GNSS applications. The underlying problem is that RF spectrum is a scarce resource and the L-band is not immune to interference from a variety of sources. The problem can be reduced through stricter regulation of RF licenses but can never be eliminated completely. The answer is to have (and use) multiple GNSS on different frequencies. Better filters on user equipment can also help.

http://i.bnet.com/blogs/smos_rfi_large0.png


Satellite systems available to Marinestar

GPS GLONASS Galileo BeiDou √ √ √ √


GNSS Systems - BeiDou

5 Geostationaire Earth Orbit satellites (GEO) 5 Inclined Geosynchronous Orbit satellites (IGSO) 4 Medium Earth Orbit (MEO)

Presenter

Presentation Notes

Satelliet Constellatie 5 Geostationaire banen (Ook werkend met BeiDou 1) 3 Inclinatie Geosynchrone banen (IGSO) 27 in geMiddelde Aardbanen (MEO) Symetrische t.ov. De evenaar 21,528 km Inclinatie 55 12h53m (-14 Minuten per dag eerder) (GPS 4 minuten per dag eerder)


BeiDou: Coverage final constellation

? ?


IGS Beidou satellite orbit accuracy


BeiDou Satellite orbit and clock errors

Average -3 cm +/-120 cm standard deviation +6 Meter

-6 Meter

Presenter

Presentation Notes

System in Space Range Error BeiDou 120 cm GPS All 80 cm GPS IIR 60 cm GPS IIF 30 cm


Fugro G4 Tracking network (Dec-2014) IOR Broadcast


Number of visible BeiDou Satellites

10-14 2-7

0-5

0-4 1-7

8-13

8-13

8-11

3-9

3-6

3-7

Min - Max >5° elevation 12-Dec-2014


Fugro G4 Oslo GPS, Glonass, BeiDou Horizontal

7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 1 2 3 4 5 6 7 8 Tijd in UTC

10cm

8cm

5cm

3cm

0cm

No BeiDou


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


Convergence time height stdev, Macae Brazil 24 Hour

0 10 20 30 40 50 60 120 Minutes

180

160 140

120

100 80

60 40

20 0

CM

Process restarted every 10 Minutes during 24 hours. From 02-03 UTC with Scintilation present


Tidal height measurements and wave height

Credits: Royal Dutch Navy

Marinestar use for Tide correction accuracy is good. 70 cm geoid dif. (Use accurate Geoid model)

Den Helder Harbour

Survey Area 2

Survey Area 3

Survey Area 3


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


Trimble

SPS461 SPS855 SPS985

BX982

BD-960,920,..

GA830 Antenna

Applanix


Hemisphere


SXLBue III and Earth Observation Systems

Marinestar G2 capable


Fugro Satellite Positioning – Market Activity

FSP provides GNSS augmentation services to marine customers in these market segments:

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

Oil & Gas Non-Oil & Gas

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


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


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


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

Marinestar (non Oil and Gas)

Deep sea international trading vessels Passenger/cruise ships

Deep Sea

Navy and Coast Guard Dredging/marine construction Cable laying Hydrography Oceanographic research Wind farm support Pilotage Fishery

Coastal Marine

c. 49,000 > 300 GRT

c. 3,000 Vessels


Marinestar Manoeuvring System


Deep Sea

Navigation

Trim Optimisation

Berthing Assistance

Alarms




Deep Sea

Provides type approved: Heading

Rate of Turn

Speed over Ground (ahead and athwartships)




Deep Sea

Accurate, real-time measurement and optimisation of trim in all conditions, for: • Reduced bunker cost

• Lower carbon footprint




Deep Sea

Provides: Quay distances

Approach speed




Deep Sea


Marinestar Coastal activity sectors

Navy and Coast Guard Dredging/marine construction Cable laying Hydrography Oceanographic research Wind farm support Pilotage Fishery

Coastal Marine

c. 3,000 Vessels


Marinestar market: Navy Coastguard Hydrographic mapping

AUV's, drones and unmanned helicopters.

Hydrographic survey, minesweeping, security patrol, search and recovery missile retrieval

AUV's, drones and unmanned helicopters.

Presenter

Presentation Notes

BAE type 45 Destroyer (HMS Daring class) has an Astor system. Missile defense system. UK Navy ship


Marinestar market: Dredging and Construction

Dredging in remote areas with no local infrastructure Difficult UHF Radio Licensing

Ploughing

Windfarm projects

Presenter

Presentation Notes

F48 (Plough Dredger) 12.12.09. The Cattewater, Plymouth. Westminster Dredging Co., Working in the Port of Plymouth.


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.


Marinestar market: Hydrographic Surveys

Harbour Surveys, Coastal mapping


Marinestar market: Oceanic Research Vessels

Presenter

Presentation Notes

Ifremer Bathyscaf?


Marinestar market: Fishery

Presenter

Presentation Notes

Olex


Questions?

For commercial contacts UK Raymond Bilkerdijk [email protected] Europe Fugro Satellite Positioning BV [email protected] USA Fugro Satellite Positioning Inc. [email protected] Australia/NZ Fugro Satellite Positioning Pty [email protected] India [email protected] Asia Pacific Fugro Satellite Positioning Pte Ltd [email protected] For any other questions: www.fugromarinestar.com

mailto:[email protected]






http://www.fugromarinestar.com/

Documents

Marinestar GNSS Augmentation Services - ths.org.uk · Marinestar GNSS Augmentation Services Hydrographic Society South West Plymouth Tuesday 6- Jan-2015 Hans Visser and Robert Buttress