ESTB in Maritime, Air and Land applications

Jarosław Cydejko, Marek Grzegorzewski, Stanisław Oszczak, Adam Ciećko

EGNOS WORKSHOPEGNOS WORKSHOP, , 24 24 SeptemberSeptember 2004 2004, , KrakówKraków

The maritime experiments verifying the The maritime experiments verifying the ESTB performance in Poland:ESTB performance in Poland:

• Maritime Academy in GdyniaMaritime Academy in Gdynia• Maritime Office in GdyniaMaritime Office in Gdynia

July 2001 – first tests in Gdynia - focused on the comparision of July 2001 – first tests in Gdynia - focused on the comparision of ESTB performance with other GPS-based methods of satellite ESTB performance with other GPS-based methods of satellite positioning, such as positioning, such as maritime maritime DGPS and standalone GPS;DGPS and standalone GPS;

April 2002 – tests in Gdynia (East Coast) and Dziwnów (West Coast) –April 2002 – tests in Gdynia (East Coast) and Dziwnów (West Coast) –focused on focused on the comparison of ESTB performances the comparison of ESTB performances observed in different locations on the edge of system observed in different locations on the edge of system nominalnominal coverage. coverage.

NB:NB: Tests in static conditions; The receivers’ antennas located in known positions; Simultaneous observations for different systems, modes and locations;

August 2003 – maritime tests conducted at sea, in the area of Gdańsk August 2003 – maritime tests conducted at sea, in the area of Gdańsk Bay within traffic separation scheme established on the approach waters Bay within traffic separation scheme established on the approach waters to Gdynia and Gdańsk Harbours.to Gdynia and Gdańsk Harbours.

NB:NB: Tests in dynamic conditions, on vessel navigating at sea;

The ESTB position estimations refered to simultaneous RTK GPS observations;

Simultaneous observations for different systems and modes;

Equipment – TOPCON Legacy- E Equipment – TOPCON Legacy- E with WAAS/EGNOS optionwith WAAS/EGNOS option

 

Position scatter plots – „all day” measurements, Position scatter plots – „all day” measurements, ESTB „mode 0” – ionocorrections includedESTB „mode 0” – ionocorrections included

FIRST PHASE:FIRST PHASE:• July 2001 July 2001 • all data collected in all data collected in Gdynia;Gdynia;• 10 RIMS;10 RIMS;• EGNOS, GPSEGNOS, GPS DGPS (Rozewie);DGPS (Rozewie);

 

Horizontal Standard Deviation: EGNOS, GPS, DGPSHorizontal Standard Deviation: EGNOS, GPS, DGPSFirst Phase: GDYNIA, July 2001First Phase: GDYNIA, July 2001

 

Position scatter plots – „all day” measurements, Position scatter plots – „all day” measurements, ESTB „mode 0” – ionocorrections includedESTB „mode 0” – ionocorrections included

SECOND PHASE:SECOND PHASE:• April 200April 20022 • data collected in data collected in Gdynia &DziwnówGdynia &Dziwnów• 1010 RIMS; RIMS;• EGNOS, GPS;EGNOS, GPS;

 

Horizontal Standard Deviation:Horizontal Standard Deviation: EGNOS (two different locations), GPSEGNOS (two different locations), GPS

Second Phase: GDYNIA, DZIWNÓW - April 2002Second Phase: GDYNIA, DZIWNÓW - April 2002

 

Average positions EGNOS, GPS, DGPS vs. reference pointAverage positions EGNOS, GPS, DGPS vs. reference point

July 2001July 2001

April 2002April 2002

 

Maritime Tests (August 2003)Maritime Tests (August 2003) The Survey Vessel „TUCANA”The Survey Vessel „TUCANA”

Equipment Setup:Equipment Setup:          TOPCON “Legacy-E” (1) GPS L1 – TOPCON “Legacy-E” (1) GPS L1 – differential GPS using the differential GPS using the ESTB ESTB

signal;signal;               TOPCON “Legacy-E” (2) GPS L1 - non-differential GPS standalone;TOPCON “Legacy-E” (2) GPS L1 - non-differential GPS standalone;           Leica MX 9212 GPS L1 – Leica MX 9212 GPS L1 – maritime DGPS (Rozewie)maritime DGPS (Rozewie),,       Trimble 4700 Total Station – L1/L2 GPS RTK receiver. Trimble 4700 Total Station – L1/L2 GPS RTK receiver.

 

Maritime Tests (August 2003)Maritime Tests (August 2003) Test area in Gdańsk BayTest area in Gdańsk Bay

 

Results (1) Results (1)

 

Results (2) Results (2)

• Air Force Academy in Deblin

TS 11 Iskra jet plane: June 2003 – BRDA experimet November 2003 – ODRA experimet

Equipment used in the experimental flights:Ashtech Z-Surveyor (on-board) Garmin GPS Map 76S with EGNOS option, Javad Legacy with EGNOS option,Ashtech Z-Surveyor and Ashtech Z-XII (5 reference stations)

Recording interval 1 sec – Ashtech 2 sec – Garmin 1 sec – Javad

 

Air navigation experiments

Example of jet plane trajectory

Antennae mounting

TS 11 Iskra

GPS antennae

Difference between OTF and EGNOS (ESTB) positioning - Garmin

LOT 1 Pozycjonowanie GPS + EGNOS

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Difference between OTF and EGNOS (ESTB) positioning - Garmin

LOT 2 Pozycjonowanie GPS + EGNOS

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Difference between OTF and EGNOS (ESTB) positioning – Javad Legacy E

Javad Legacy(in red - epochs without EGNOS corrections)

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Comparison of flight tests results

Comparison of results

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Land navigation tests performed in in Central European Countries in 2002Central European Countries in 2002

The main goal of performed trials was the use ESTB signal in satellite based navigation. The authors of the report carried out three experiments across the Central European Countries aiming at data collection during car navigation. The tests were performed in August – September 2002. North-East Poland, East Slovakia and North-East Italy were chosen as test areas. With current allocation of RIMS, the area of Poland and Slovakia is on the eastern edge of the predicted ESTB coverage (Figure 1).

Olsztyn

Kosice

Trieste

Location of the test area and predicted Horizontal Navigation System Error - HNSE(95%) of EGNOS System Test Bed (for 10 reference stations network).

GNSS receivers used in the experiments

2 Ashtech Z-XII geodetic receivers (used for calculation of the OTF car trajectory with one second interval)

2 NovAtel geodetic receivers with EGNOS option of University of Trieste

Magellan Meridian Platinum handheld - the top model of popular Meridian Series, equipped with EGNOS option.

Experiment in Olsztyn.

Experiment in Trieste.

Olsztyn. Coordinates differences between OTF phase positioning and ESTB Magellan positioning

OTF - ESTB

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OTF - ESTB (Magellan)

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Kosice. Coordinates differences between OTF phase positioning and ESTB Magellan positioning

Trieste. Coordinates differences between OTF phase positioning and ESTB Magellan positioning

OTF - ESTB (Magelan)

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Trieste. Coordinates differences between OTF phase positioning and ESTB NovAtel positioning

OTF - ESTB (Novatel)

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GPS/EGNOS POSITIONING OF ARCHEOLOGICAL SITE IN POMPEII – July 2003

GPS/EGNOS POSITIONING OF ARCHEOLOGICAL SITE IN POMPEII – July 2003

Difference between RTK/OTF positioning and GPS EGNOS positioning using Magellan

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Difference between RTK/OTF positioning and GPS EGNOS positioning using Garmin

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GPS/EGNOS POSITIONING OF ARCHEOLOGICAL SITE IN POMPEII – July 2003

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Forum Romano - RTK OTF Positioning versus GPS/EGNOS positioning

RTK OTF

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EGNOS – ESTB positioning used for parcel measuremets – On the Spot checks – Equipment Testing Phase

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GPS receivers subject to on-the-spot tests

EGNOS – ESTB positioning used for parcel measuremets – 2004 campaign (July-August 2004) – SATCON

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EGNOS correction availability disruption

EGNOS – ESTB positioning used for parcel measuremets – 2004 campaign (22 July 2004) – THALES Mobile Mapper

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Conclusions

The performed tests show that GPS positioning with the use of ESTB correction gives very promising results. Even better than expected.

The horizontal positioning of moving vehicles with errors around 1-2 meters would be satisfactory for the majority of users of the satellite navigation systems.

Conclusions

Slightly lower accuracy was achieved for vertical coordinate. However the average error of around 3-4 meters without fully operating EGNOS system gives good prognoses for the future.

Some disruptions of ESTB performance were observed giving false results of positioning, therfore Full Operational Capability (FOC) status of the EGNOS system is essential for user. Untill this time ESTB should be used with care.

Thank you for your attention