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

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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

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

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

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

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

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 ?

2 Applanix SmartBase TM

RAW DATA POTENTIAL PPVRS NETWORK

STATION SELECTION INFO STATION COORDINATE INFO Control Station Verification

SmartBase TM Network Adjustment

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

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

ITERATIVE FILTER

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

A B TIME GPS INERTIAL LONG TERM

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

PPVRS & INERTIAL PROCESSING GNSS & INERTIAL, FWD & BACKWARD

EXPORT FILE

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

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!!!

TYPICAL PROJECT COMPARISON TEST

QUESTIONS?