inertial aided post processed kinematic … aided post processed kinematic gps for marine...
TRANSCRIPT
![Page 1: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/1.jpg)
INERTIAL AIDED POST PROCESSED KINEMATIC GPS FOR MARINE
POSITIONING
An Overview of POSPac MMS
Lou Nash, Measutronics Corporation www.Measutronics.com
![Page 2: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/2.jpg)
We too have a lot to cover in a minimal amount of time…
Please hold questions & comments until the end
CURRENT & “TIMELY”
"I had 5 seconds before you interrupted me." -- Barack Obama, 1ST 2012 Presidential Debate 10/3/12
![Page 3: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/3.jpg)
This presentation provides an overview of how GNSS phase observations and
inertial data are used to provide a highly accurate post processed navigation
solution
OVERVIEW: Hardware & Software
![Page 4: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/4.jpg)
In a nutshell… GPS PHASE DATA
INERTIAL DATA
TIME TAGGED VESSEL
ORIENTATION FILE
Inertial Aided Post Processed Kinematic (IAPPK) GPS
Navigation Solution
![Page 5: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/5.jpg)
• POST PROCESSED VIRTUAL REFERENCE STATION (PPVRS) SOLUTION
BASED ON TRIMBLE’S VRSTM TECHNOLOGY
• SmartBaseTM QUALITY CHECK
• INERTIALLY- AIDED KINEMATIC AMBIGUITY RESOLUTION (IAKAR)
• IN-FusionTM: TIGHTLY COUPLED GNSS / INS SOLUTION
Summarized as a Four Step Process
1
2
3
4
![Page 6: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/6.jpg)
POST PROCESSED VIRTUAL REFERENCE STATION (PPVRS)
BASED ON TRIMBLE’S VRSTM TECHNOLOGY
1 PPVRS
![Page 7: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/7.jpg)
GPS: Relative Positioning
< 30 km* > 30 km * SEE SPECS PER RECEIVER TYPE
![Page 8: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/8.jpg)
VRS Solutions Reduce Relative Positioning Errors
NMEA OUT
GGA
CMR IN
• A linked network of reference stations • Performs quality control / integrity monitoring of networked stations & their data streams • Models systematic errors within the network • Provides real time broadcast of true network RTK solution – ZERO BASELINE SOLUTION • Logs files for post processing • ESTABLISHES A COMMON REFERENCE DATUM
What is a VRSTM?
![Page 9: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/9.jpg)
2 Applanix SmartBaseTM
![Page 10: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/10.jpg)
RAW DATA
POTENTIAL PPVRS NETWORK
![Page 11: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/11.jpg)
STATION SELECTION
INFO
STATION COORDINATE
INFO
Control Station Verification
![Page 12: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/12.jpg)
SmartBaseTM Network Adjustment
![Page 13: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/13.jpg)
PPVRS READY!
MINIMALLY / FULLY CONSTRAINED NETWORK
ADJUSTMENT
VRS SOLUTION “THROUGHOUT SURVEY
TIMELINE”
QA / QC & PPVRS READY
![Page 14: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/14.jpg)
3 IAKAR
INERTIALLY- AIDED KINEMATIC AMBIGUITY RESOLUTION
• SINGLE KALMAN FILTER* ESTIMATES BOTH INERTIAL & GNSS ERRORS
• RAPID AMBIGUITY RESOLUTION: OUTAGES, MULTIPATH, ETC.
• AMBIGUITY “MEMORY”
* A KALMAN FILTER IS AN EFFICIENT RECURSIVE FILTER THAT ESTIMATES THE STATE OF A LINEAR DYNAMIC SYSTEM FROM A
SERIES OF NOISY MEASUREMENTS
![Page 15: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/15.jpg)
ITERATIVE FILTER
![Page 16: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/16.jpg)
GPS – vs - INERTIAL
A B
TIME
SHORT TERM
HUGE OVER-SIMPLICATION!!!
![Page 17: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/17.jpg)
HUGE OVER-SIMPLICATION!!!
A B
TIME
GPS
LONG TERM
![Page 18: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/18.jpg)
IN-FusionTM
• TIGHTLY COUPLED GNSS / INS PROCESSOR
• OPTIMIZED BY USING SmartBaseTM SOLUTION
![Page 19: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/19.jpg)
PPVRS & INERTIAL
PROCESSING GNSS & INERTIAL, FWD & BACKWARD
![Page 20: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/20.jpg)
EXPORT FILE
![Page 21: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/21.jpg)
TYPICAL PROJECT
-Manual tide reading are only accurate within close proximity of gauge.
-Incapable of accounting for phase lag resulting from extrapolated tide gauges.
-Offshore borrow site
-Phase lag errors introduced into survey data
12 miles Phase difference 12 miles from tide gauge
ERROR IN TIDE READING
Offshore Borrow Site Surveys
![Page 22: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/22.jpg)
OFFSHORE BORROW SITE
Offshore borrow site with NOAA tidal reductions 12 miles away
Offshore borrow site with post-processed tidal reductions using SBET for RTK Tides in HYPACK
125’ single beam cross sections gridded at 25’
125’ single beam cross sections gridded at 25’
NOT JUST A MULTIBEAM TOOL!!!
![Page 23: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/23.jpg)
TYPICAL PROJECT
COMPARISON TEST
![Page 24: INERTIAL AIDED POST PROCESSED KINEMATIC … AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation ... This presentation](https://reader031.vdocument.in/reader031/viewer/2022030510/5aba8b757f8b9ab1118bfe87/html5/thumbnails/24.jpg)
QUESTIONS?