ILA 32: Boulder, Colorado November 3 - 7, 2003 Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment GLEE - Demonstrator - by Carsten Collrep, Michael Haberland, Bernd Hagemann, Andree Opt’Hof, ATLAS Elektronik and Linn Roth, Locus Inc. PR-Standard_e 2003_07_001 / 1 / 11/13/2018 1:37 AM

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE GLEE’s Project Background: A cooperative investment by ATLAS ELEKTRONIK and Locus, Inc. Locus: - provided SatMate receiver and antenna technology ATLAS: - major service/system provider to German Navy - integrated GPS and SatMate systems - developed improved Kalman-filter - performed sea trials Both companies contributed to system optimization and data analysis

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE History of Sea Trials: Primary objective to evaluate performance of Kalman-filtered Loran in area of GPS denial German Bight, Helgoland - September and October, 2001 Tested navigation filter and control system in a variety of maneuvers Results reported at 3rd International Symposium on Integration of Loran-C/Eurofix and EGNOS/Galileo, Munich 11.-12. June 2002 Baltic Sea and Kiel Canal – April and August 27, 2001 Results reported at ILA meeting in Paris, 2001 Baltic Sea Trials - September 25, 2003 Important Qualification to Results of All These Trials: The European Loran infrastructure is incomplete, so capabilities demonstrated here will improve when the system is completed.

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Overview of Helgoland Project Main vessel remotely controls 4 drone vessels System must function independently if GPS denied

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Helgoland Sea Trials Overview Drone Vessels

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Overview of Helgoland Project Three types of trials: 1. Single Track Steering - one drone, commanded to go between 2 waypoints at set speed, then into a waiting circle. 2. Transit Steering - system automatically controls speed, course, and specified separation of 4 drones along a single track either in front of or behind the main vessel. 3. Multi-track Steering - system automatically controls speed, course, and specified separation of 4 drones and main vessel along parallel tracks. Multi-track steering performance is the critical system test. Drones run in “waiting” circles prior to test for system calibration and drone positioning.

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE System Overview of GLEE GLEE is intended to operate as an independent DGPS/Loran-C Navigation Sensor The main task of its real-time software is to avoid position jumps by issuing a system position to an external interface, derived from DGPS-position data and raw Loran-C-position data Its first mode of operation is DGPS (GPS data + corrections via Eurofix) Its backup mode of operation is Loran-C (in optimized Loran-C data) After DGPS is switched of by a software switch, raw Loran becomes the only sensor to provide input to the real-time software and external interface System functions automatically, i.e. without human intervention

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE System Block Diagram of GLEE: This system uses H-field antenna in contrast with earlier prototype that utilized e-field antenna.

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Current GLEE Demonstrator

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE GLEE Demonstrator ECDIS Display with Overlay - Combined GPS/Loran Mode: Example display showing transit from Bremen to Vegesack on Weser River

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE GLEE Demonstrator Software Switch - Loran Only Mode (GPS disabled):

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Baltic Sea test area and location of Loran-C transmitters:

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Next steps of GLEE Additional sea trials taking place November 4-6, 2003 Demonstrate GLEE capabilities are independent of vessel class Develop a single unit GLEE system (i.e. encorporate display and sensors into single enclosure) Expect prototype within 2 months

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE Preliminary GLEE Demonstrator Conclusions: a Kalman-filtered DGPS/Loran-C system meets necessary performance requirements for automated operation former sea trials demonstrated the capabilities of the system, and optimization of the navigation filter will improve the performance further the system can operate independent of GPS if that system is denied ASF corrections and a complete Loran infrastructure would generate even better results

Contemporary Enhanced Loran Technology: GPS/Loran-C/Eurofix Environment - GLEE And this concludes the presentation of GLEE. Thank you for your attention! Questions?