Transcript Master slide - Fugro Pelagos

Application of Post-Processed Navigation,
Motion and Tide Data to Multibeam
Surveys using Applanix POS/MV
Dushan Arumugam
Doug Lockhart
Carol Lockhart
Fugro Pelagos, Inc.
Outline
•
Introduction
• Problem
•
•
Solution
•
•
The need for a reference surface to verify
LIDAR data
Multibeam hydrographic survey based data
Details
•
•
Data Acquisition
Data Processing
Outline Continued
• Results
• Positioning (DGPS vs KGPS)
• Attitude and Heading (Real-Time vs PostProcessed)
• Tide / PPK Altitude
• Conclusion
LIDAR
Location Map
Base Station Configuration
Base Station Equipment
• Novatel Dual Frequency GPS
• Receiver (Model DL-4)
• Antenna (Model 503)
Vessel Configuration
Vessel Equipment
• Reson Seabat 8101
• Dual Frequency POS/MV 320
• AML SVP Probes
• Triton ISIS Data Acquisition software
Acquisition Layout
COMPUTER
(TRITON ISIS)
REAL-TIME
ATTITUDE AND
HEADING
RESON 8101
DUAL FREQUENCY
POS/MV
RAW POS/MV DATA.
LOGGED VIA POS/MV
CONTROLLER FOR
POST-PROCESSING
UTC TIMESTAMP
COMPUTER
(WINFROG
NAVIGATION
SOFTWARE)
Processing Layout
RAW XTF DATA
RAW POS/MV DATA
RAW GPS BASE
STATION DATA
CARIS HIPS
APPLANIX POSPac
DRAFT
SQUAT SETTLEMENT
SVP
TIDES
POST-PROCESSED
POS/MV DATA
SVP
TIDE
CORRECTED
DATA
PPK ALTITUDE
CORRECTED
DATA
NAVIGATION AND
PPK ALTITUDE
via
GENERIC DATA
PARSER
Horizontal Datum
Horizontal Datum
• North American Datum 1983 (NAD83)
• KGPS based
• DGPS based
Positioning
Positioning
• DGPS vs KGPS
Effects of Positioning Error
NAVIGATION ERROR WITH RESPECT TO SLOPE
3.50
3.00
VERTICAL ERROR
2.50
2.00
1.50
1.00
0.50
0.00
0
0.5
1
1.5
NAVIGATION ERROR
2
2.5
3
Post-Processed Attitude
Post-Processed Heading
Post Processed Heading minus Real Time Heading
0.4
Degrees
0.3
0.2
0.1
0
-0.1
0
100
200
300
Seconds
400
500
600
400
500
600
Heading
50
Degrees
45
40
35
30
25
0
100
200
300
Seconds
Vertical Datum
Vertical Datum
• International Great Lakes Datum 1985
(IGLD85)
• Ellipsoid Elevations
Tide
Multibeam Hydrographic Data (IGLD85)
• Squat Settlement
• Vessel Draft
• Water level
• Seiche
• Tide
Prof. Robert A. Dalrymple
Center for Applied Coastal
Research
University of Delaware
Newark, DE 19716
Tide Curve (Toronto)
Results Tide (Profile)
Profile showing data with Tide correction
from the Toronto Tide Gauge
Ellipsoid Height
Multibeam Hydrographic Data (Ellipsoid)
• PPK Altitude
PPK Altitude
TrueHeave
Residual (Altitude minus TrueHeave)
Smoothed Residual
Tide Gauge Data
Results PPK (Profile)
Profile showing data with PPK Altitude
correction
Results Tide vs PPK (Profile)
Profiles showing data with Tide and PPK
Altitude correction
Sun Illuminated Image
Conclusion
Post-Processed Kinematic altitude appears
to reduce our vertical error
Tide file did not provide a good comparison
due to the Seiche effect
Is currently being used on our NOAA Project
where better tide models are available