APPLANIX CAPTURE EVERYTHING POSPac MMS HYDRO 08 November 2008
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 Sonar PDS2000 PDS2000 data file PDS2000 EDIT module PDS2000 data file or ASCII XYZ POS MV POS MV data Applanix POSPac MMS SBET Base Stn data
Laser Data Flow Laser POS AV POS AV data Applanix POSPac MMS SBET Base Stn data LAS
Applanix POSPac Mobile Mapping Suite 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.
POSPac MMS Data Flow Base Station data (2) Data Extraction and Quality Control (3) Applanix SmartBase Network check & VRS generation POS MV data (1) Data Extraction and Quality Control (4) Applanix IN-Fusion Processor and Smoother SBET
POSPac MMS Step 1, POS MV Data 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 Data Extract Results
POSPac MMS Step 2, Base Data 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.
What Is It Post-Processed Virtual Reference Station (PPVRS) Trimble VRS technology Step 1: Network Adjustment, Step 2: VRS Generation How it works POSPac MMS Step 3, SmartBase TM 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 SmartBase TM Results SMARTBASE Results
POSPac MMS Step 4, IN-Fusion TM IN-Fusion TM combines GNSS raw observables (pseudorange and phase values) with IMU data. Hence IN-Fusion TM 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: SmartBase TM Single Base Station Differential GNSS Precise Point Positioning Real-time GNSS Auxiliary GNSS
POSPac MMS Applanix IN-Fusion TM Three, automated, processing steps: Forward Backward Combined Generates a Smoothed Best Estimate of Trajectory (SBET) with greater precision and reliability.
POSPac MMS Step 5, Review Results 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 6, Import SBET
POSPac MMS Results
POSPac Different Processing Methods Single base station, 30km VRS, distant. between 100 and Precise 130km Point distant. Positioning.
Multibeam And Laser Results
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