Long Range Kinematic for Marine Surveying – Latest State of the Art Olivier Casabianca Benelux Hydrographic Society Workshop 7 May 2008

LRK® Long Range Kinematic: Where? Hydrography & Bathymetry Dredging & Coastal Works Offshore Production (Oil & Gas, Drill Positioning, Laying Cable) Seismic & Offshore Surveys Coastal Reference Station

LRK® Long Range Kinematic: Field Definition The distance between the base and the rover Fixed or moving base (so called relative positioning) The means of communication The disparity between receiver brands Accurate Baseline Determination whatever…

The distance between the base and the rover

Fixed or moving base (so called relative positioning)

The means of communication

The disparity between receiver brands

LRK® Long Range Kinematic: Engineering Definition LRK® is a type of cooking: Try a little bit of salt, then a little bit of pepper… Test the result… Add or remove extra salt or pepper (not so easy  )… Add something else… Validate each ingredient with a HUGE amount of data… Always make statistical validation… Move step by step to achieve the performance…

LRK® is a type of cooking:

Try a little bit of salt, then a little bit of pepper…

Test the result…

Add or remove extra salt or pepper (not so easy  )…

Add something else…

Validate each ingredient with a HUGE amount of data…

Always make statistical validation…

Move step by step to achieve the performance…

LRK® Long Range Kinematic: The Ingredients? LRK® is the application used when you must account for each available piece of information and cook it properly… Typical ingredients can be: Proper usage of antenna phase variation corrections Proper usage and tuning of troposphere models Proper usage and tuning of ionosphere models These parameters do not bring much to short range RTK, but each of them is key when looking at LRK® performance.

Typical ingredients can be:

Proper usage of antenna phase variation corrections

Proper usage and tuning of troposphere models

Proper usage and tuning of ionosphere models

LRK® Long Range Kinematic: the Key Components… A Rover with a powerful PVT engine A Base: single Base or Network A data exchange between Base and Rover A means of communication between Base and Rover Radio Cellular Modem (GSM / GPRS / Edge / UMTS / CDMA…) Cable  (tail buoy positioning along a seismic streamer, why not !) The 4 main components that are part of Long Range Kinematic are:

A Rover with a powerful PVT engine

A Base: single Base or Network

A data exchange between Base and Rover

A means of communication between Base and Rover

Radio

Cellular Modem (GSM / GPRS / Edge / UMTS / CDMA…)

Cable  (tail buoy positioning along a seismic streamer, why not !)

Trends and Customer Needs Customers are looking for: Accuracy Availability Reliability/Quality Benefits from Network development Benefits from new GNSS signals (GLONASS, L2C…) Cross compatibility between GNSS product from different manufacturers  RTK cm accuracy Reliability/Quality Network Future ready Availability

Customers are looking for:

Accuracy

Availability

Reliability/Quality

Benefits from Network development

Benefits from new GNSS signals (GLONASS, L2C…)

Cross compatibility between GNSS product from different manufacturers 

It is the Right Time for GLONASS When number of GLONASS satellites < 10, there is little improvement from GLONASS Each satellite after 10 provides clear improvement When number of GLONASS satellites > 15, GLONASS provides strong improvement worldwide Ashtech Launches 1 st GPS+GLONASS Receiver, GG Surveyor Magellan Launches New GPS+GLONASS

When number of GLONASS satellites < 10, there is little improvement from GLONASS

Each satellite after 10 provides clear improvement

When number of GLONASS satellites > 15, GLONASS provides strong improvement worldwide

Magellan Professional’s answer: New Core Technology GPS/GLONASS L1/L2, up to 75 channels New High-End Land Survey product: ProMark 500 Coming soon - Marine Sensor …

The PVT Engine: Introducing BLADE  BLADE™ is a universal and powerful GNSS RTK engine, which equally well supports: Conventional RTK mode, i.e. against a single static base. Advanced RTK modes: Heading function, Against moving base, Advanced solutions using SBAS and GLONASS, Using third party Net corrections: BLADE™ provides extensive compatibility with other manufacturer's GNSS products.

BLADE™ is a universal and powerful GNSS RTK engine, which equally well supports:

Conventional RTK mode, i.e. against a single static base.

Advanced RTK modes:

Heading function,

Against moving base,

Advanced solutions using SBAS and GLONASS,

Using third party Net corrections: BLADE™ provides extensive compatibility with other manufacturer's GNSS products.

Network Benefits? “ MASTER”: RTCM-3 Messages 1004,1006,1008 “ MASTER+Network”: Additional RTCM-3 Messages 1014-1016 (Master-Auxiliary corrections)

LRK® Long Range Kinematic & BLADE  BLADE  insures good performances for long baselines ( single base solution) BLADE  insures also noticeable TTFF performance improvement thanks to Network corrections compared to single base solution for baselines up to 100 km. BLADE 100 Km

BLADE  insures good performances for long baselines ( single base solution)

BLADE  insures also noticeable TTFF performance improvement thanks to Network corrections compared to single base solution for baselines up to 100 km.

LRK® with Moving Base… Performance? Performance is potentially the same with either static or moving base However, a moving base usually experiences worse GNSS tracking, more frequent carrier cycle slips and loss of lock compared to a static base. As a result, actual performance of an RTK rover working with a moving base may degrade because of poorer data quality coming from this moving base. ΔX, ΔY, ΔZ

The Base and the Means of Communication Single Base with point-to-point or point-to-multipoint capabilities UHF radio… point to multipoint Cellular Modem… point to point (GSM/CSD) Cellular Modem… point to multipoint (GPRS…): can be part of a local or global Network Network: Accessible via Internet (modem) Gives access to multiple single base stations Provides complementary information depending of the network type (VRS, FKP, MAC…) Simplification of the set-up… no need to manage Base installation and maintenance for the customer

Single Base with point-to-point or point-to-multipoint capabilities

UHF radio… point to multipoint

Cellular Modem… point to point (GSM/CSD)

Cellular Modem… point to multipoint (GPRS…): can be part of a local or global Network

Network:

Accessible via Internet (modem)

Gives access to multiple single base stations

Provides complementary information depending of the network type (VRS, FKP, MAC…)

Simplification of the set-up… no need to manage Base installation and maintenance for the customer

Radio vs. Modem UHF radio: Needs frequency allocation. No user fee. Point to Multipoint. Baseline limitations due to the technology… Magellan UHF technology is one of the most powerful in the market place. Modem: Where a “communication network” is available (coastal works / inshore navigation). Has user fees. Potentially “no” Baseline limitations  depending on the PVT engine capabilities…

UHF radio:

Needs frequency allocation.

No user fee.

Point to Multipoint.

Baseline limitations due to the technology… Magellan UHF technology is one of the most powerful in the market place.

Modem:

Where a “communication network” is available

(coastal works / inshore navigation).

Has user fees.

Potentially “no” Baseline limitations  depending on the PVT engine capabilities…

Use Cases and References… Use Cases and References…

Salvage of MV Tricolor Using LRK® GPS 190m long – 32 m wide Vehicle carrier Sank in middle of Channel Danger to shipping & environment Very accurate positioning Drilling position & orientation Lifting equipment 9 pieces of 2000-3000 tonnes LRK station at 42km

190m long – 32 m wide Vehicle carrier

Sank in middle of Channel

Danger to shipping & environment

Very accurate positioning

Drilling position & orientation

Lifting equipment

9 pieces of 2000-3000 tonnes

LRK station at 42km

LRK Hydrographic Survey in Canada 300 km 6 LRK Stations Longueuil Verchères Sorel Grondine Portneuf Neuville St-François Montmagny Pointe du Lac Sainte-Marthe Montréal Québec Répétitrice Station OTF Chenal Dragué

LRK Dredging & Coastal works in China What? $1 Billion project - 8 years Channel deepening 8.5 to 12.5 m 100 km dykes construction 80 km dredged channels How? 5 reference stations 50 RTK mobile units Not only GPS 

What?

$1 Billion project - 8 years

Channel deepening 8.5 to 12.5 m

100 km dykes construction

80 km dredged channels

How?

5 reference stations

50 RTK mobile units

Not only GPS 

References Survey / Bathymetry Numerous Port Authorities, Dutch Ministry of Transport, SHOM, Canadian Coast Guards, ... Dredging / Coastal works Boskalis, Jan De Nul, Dredging International, Van Oord, Great Lakes, ... Offshore Works Veripos, Subsea7, Fugro-Topnav, Technip / Coflexip, Stolt, ... Seismic / Offshore surveys CGG, Subsea7, ... Coastal Reference Stations US Coast Guard, Canadian Coast Guard, Phares & Balises Rijkswaterstaat , Korean Maritime Affairs & Fisheries, ... Others Various national civilian / military authorities: India, China, Chile, ...

Survey / Bathymetry

Numerous Port Authorities, Dutch Ministry of Transport, SHOM, Canadian Coast Guards, ...

Dredging / Coastal works

Boskalis, Jan De Nul, Dredging International, Van Oord, Great Lakes, ...

Offshore Works

Veripos, Subsea7, Fugro-Topnav, Technip / Coflexip, Stolt, ...

Seismic / Offshore surveys

CGG, Subsea7, ...

Coastal Reference Stations

US Coast Guard, Canadian Coast Guard, Phares & Balises

Rijkswaterstaat , Korean Maritime Affairs & Fisheries, ...

Others

Various national civilian / military authorities: India, China, Chile, ...