POSPac MMS – HYDRO 08 November · PDF filePOSPac MMS – HYDRO 08 November 2008 ....

APPLANIX PRODUCTS AND SOLUTIONS FOR MOBILE MAPPING AND POSITIONING CAPTURE EVERYTHING

POSPac MMS – HYDRO 08 November 2008

PRODUCTS AND SOLUTIONS FOR MOBILE MAPPING AND POSITIONING

Accurate Post Processed Position & Orientation For Modern Port Survey Operations.

• Increasing use of sonar & laser survey equipment with sub-centimetre accuracies. • Focussed attention on the georeferencing and motion compensation. • Robust marine mobile mapping requires tightly integrated Global Positioning System (GPS) and Inertial Navigation System (INS) sensors. Inertial data aids in reducing GPS noise as well as providing high bandwidth, un-interrupted position and orientation in spite of GPS outages. •This presentation describes the Post Processed Virtual Reference Station (PPVRS) for aided Inertial Navigation which makes use of a network of GPS reference stations to determine atmospheric biases and other errors at the rover position. • The result is a continuous, high-precision position and orientation solution despite distant reference stations.


Survey Vessel and Equipment


Equipment Details RESON SeaBat 8125 Ultra-high resolution, focussed, multibeam echosounder. Delivering 240 depths/ping, 05. x 1.0 degree beamwidth up to 50Hz, 120 degree opening angle, time synchronised. Riegl Q240i Pulsed time-of-flight range measurement principle and beam scanning by means of an opto-mechanical scan mechanism, providing fully linear, unidirectional and parallel scan lines. Delivering 20mm ranging accuracy, 10,000 samples/sec, 80 degree opening angle, time synchronised.


Ordnance Survey Network Within 200km


Survey Location, north docks Liverpool, UK


Bathymetry Data Flow

PDS2000 data file

PDS2000 data file

or ASCII XYZ

POS MV data

POS MV

PDS2000 Sonar

SBET

PDS2000 EDIT module

Applanix POSPac MMS

Base Stn data


Laser Data Flow

POS AV Laser POS AV data SBET

LAS

Applanix POSPac MMS

Base Stn data


• POSPac MMS is a user-friendly suite of tools used to create an accurate solution of position, orientation, and dynamics from the GNSS and INS data collected.

• POSPac MMS provides and displays all the information necessary to analyse the navigation solution, ensuring its quality.

Applanix POSPac Mobile Mapping Suite


POSPac MMS Data Flow

Base Station

data

SBET POS MV data

(2) Data

Extraction and

Quality Control

(3) Applanix

SmartBase™

Network check & VRS generation

(4) Applanix

IN-Fusion™

Processor and

Smoother

(1) Data

Extraction and

Quality Control


• Drag and drop raw POS MV files into the Plan View, or use the “Import” function and select the first POS file to start data import.

• Review the real time solution by viewing: – Message Logs

• POS data import • IMU data continuity checking • GNSS continuity checking

– Real Time plots

• Or, batch process

POSPac MMS – Step 1, POS MV Data


POSPac MMS – Data Extract Results


• Automatically search for, download, and import base station data publicly available on the internet.

• Or load data from your own base stations.

• Base station data automatically interpolated to 1 second interval.

• Automatically download precise and broadcast ephemeris data.

POSPac MMS – Step 2, Base Data


• What Is It – Post-Processed Virtual Reference Station (PPVRS) – Trimble VRS technology – Step 1: Network Adjustment, Step 2: VRS Generation

• How it works – Uses a network of reference stations, at least 4 required – At least 18hrs of continuous data required – Performs ambiguity fixed solution – Spatially models ionospheric and geometric errors at base and rover locations – Generates an optimal observation set

for a VRS near the rover location

POSPac MMS – Step 3, SmartBaseTM


SMARTBASE Results

POSPac MMS – SmartBaseTM Results


• IN-FusionTM combines GNSS raw observables (pseudorange and phase values) with IMU data. Hence IN-FusionTM continues to access aiding information even in the event of tracking only 1 or 2 satellites. Conversely, IMU data are continuously used to help resolve the initial ambiguities and minimise time to resolve integer ambiguities.

• GNSS Mode is automatically selected, based on the projects imports. Processing modes are: – SmartBaseTM

– Single Base Station – Differential GNSS – Precise Point Positioning – Real-time GNSS – Auxiliary GNSS

POSPac MMS – Step 4, IN-FusionTM


• Three, automated, processing steps: – Forward – Backward – Combined

• Generates a Smoothed Best Estimate of

Trajectory (SBET) with greater precision and reliability.

POSPac MMS Applanix IN-FusionTM


• To ensure a quality solution, review: – Message Logs

• GNSS-Inertial Forward Processing • GNSS-Inertial Backward Processing • GNSS-Inertial Combined Processing

– Plots • Smoothed Performance Metrics • Calibrated Installation Parameters • Solution Status • Forward Processed Estimated Errors

– Pass SBET file to post processing suite..

• Replace realtime position and orientation solution with SBET data

POSPac MMS – Step 5, Review Results


POSPac MMS – Step 6, Import SBET


POSPac MMS Results


POSPac Different Processing Methods

Single base station, 30km distant. VRS, between 100 and 130km distant. Precise Point Positioning.


Multibeam And Laser Results

APPLANIX PRODUCTS AND SOLUTIONS FOR MOBILE MAPPING AND POSITIONING CAPTURE EVERYTHING

THANK YOU

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POSPac MMS – HYDRO 08 November · PDF filePOSPac MMS – HYDRO 08 November 2008 ....

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