2. INERTIAL AIDED POST PROCESSED KINEMATIC GPS FOR MARINE POSITIONING An Overview of POSPac MMS Lou Nash, Measutronics Corporation www.Measutronics.com

3. 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, 1 ST 2012 Presidential Debate 10/3/12

4. 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

5. In a nutshell… GPS PHASE DATA INERTIAL DATA TIME TAGGED VESSEL ORIENTATION FILE Inertial Aided Post Processed Kinematic (IAPPK) GPS Navigation Solution

6. POST PROCESSED VIRTUAL REFERENCE STATION (PPVRS) SOLUTION BASED ON TRIMBLE’S VRS TM TECHNOLOGY SmartBase TM QUALITY CHECK INERTIALLY- AIDED KINEMATIC AMBIGUITY RESOLUTION (IAKAR) IN-Fusion TM : TIGHTLY COUPLED GNSS / INS SOLUTION Summarized as a Four Step Process 1 2 3 4

7. POST PROCESSED VIRTUAL REFERENCE STATION (PPVRS) BASED ON TRIMBLE’S VRS TM TECHNOLOGY 1 PPVRS

8. GPS: Relative Positioning Troposphere Ionosphere < 30 km* > 30 km * SEE SPECS PER RECEIVER TYPE

9. 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 VRS TM ?

10. 2 Applanix SmartBase TM

11. RAW DATA POTENTIAL PPVRS NETWORK

12. STATION SELECTION INFO STATION COORDINATE INFO Control Station Verification

13. SmartBase TM Network Adjustment

14. PPVRS READY! MINIMALLY / FULLY CONSTRAINED NETWORK ADJUSTMENT VRS SOLUTION “THROUGHOUT SURVEY TIMELINE” QA / QC & PPVRS READY

15. 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

16. ITERATIVE FILTER

17. GPS – vs - INERTIAL AB TIME SHORT TERM HUGE OVER-SIMPLICATION!!!

18. A B TIME GPS INERTIAL LONG TERM

19. IN-Fusion TM TIGHTLY COUPLED GNSS / INS PROCESSOR OPTIMIZED BY USING SmartBase TM SOLUTION

20. PPVRS & INERTIAL PROCESSING GNSS & INERTIAL, FWD & BACKWARD

21. EXPORT FILE

22. 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

23. 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’ NOT JUST A MULTIBEAM TOOL!!!

24. TYPICAL PROJECT COMPARISON TEST

25. QUESTIONS?