A direct comparison of orientation systems used in hydrography Anand Hiroji Anand.Hiroji@usm.edu

Previous studies Past studies This study 2005 Parker and Mallace What has changed? Pos-Processing algorithms Hardware quality improved This study Used the best possible means of post processing 8 different models 3 different manufacturers

GNSS attitude experiment View from stbd side Kongsberg Seatex Seapath 380 Applanix POS MV SBG Systems GNSS attitude experiment GNSS antenna splitters were used for Applanix and SBG Systems so one pair of antenna can be used with multiple Processing unit

Location of IMU box

The IMUs Applanix POS MV Kongsberg Seatex SBG System Elite OceanMaster WaveMaster SurfMaster Seapath 380 with MRU5+ Seapath 130 with MRU5 Equinox Apogee

Experiment setup Different environment Open sky Restricted sky Raw data collection at 200Hz IMU and GNSS Compare reported estimated accuracies to relative accuracies Restricted environment Open sky 2.5 hours Heading change Rolling

Post-processing the data Applanix POS MV systems processed with POSPack_MMS (Infusion Smart solution SM) SBG systems Processed with Qinertia (Tightly coupled solutions TC) Kongsberg Seatex systems processed with TerraPos (Network solutions NW) Real time motion Vs Post processed Under bridge. mPOS MV Show the picture of tracks Under the bridge.. Give idea of time duration, number of samples, Bin size for the histo

Comparing reported estimated accuracies Estimated accuracies from manufacturer suggested IMU performance profile +Kalman filter Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best

Comparing reported estimated accuracies Estimated accuracies from manufacturer suggested IMU performance profile +Kalman filter Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best

Comparing reported estimated accuracies Estimated accuracies from manufacturer suggested IMU performance profile +Kalman filter Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best

Comparing reported estimated accuracies Estimated accuracies from manufacturer suggested IMU performance profile +Kalman filter Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Add BAR CHART OF ESTIMATED STDVS

Comparing relative accuracies Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B Readoo

Comparing relative accuracies Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing Reported estimated accuracies Open sky 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing Reported estimated accuracies Open sky 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing Reported estimated accuracies Open sky 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Computing relative accuracies Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Computing relative accuracies :Static Angular Offsets Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Showing an offset

Comparing relative accuracies Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, Site AUG10 ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies from different sites Site AUG15B : Bridge underpass , 0.5 hours of observations with GNSS outages on AUG 15th 2018 Site AUG10 : Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies from different Maneuver Site AUG10 : Open sky, Constant change of heading (Figure of 8 maneuvers) on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies from different Maneuver Site AUG10 : Open sky, Constant change of heading (Figure of 8 maneuvers) on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies from different Maneuver Site AUG10 : Open sky, Constant change of heading (Figure of 8 maneuvers) on August 10th 2018, Site AUG10 : Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW The system with shorter baseline vector suffered in heading accuracy. System with 4m baseline showed no degradation.

Comparing relative accuracies from different Maneuver Site AUG10 : Open sky, Constant change of Roll (Induced Roll Maneuver) on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies from different Maneuver Site AUG10 : Open sky, Constant change of Roll (Induced Roll Maneuver) on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW Data from Aug 15B all best Relative to POS ELITE system Restricted environment: Under bridge passes on August 15th , Site AUG15B

Comparing relative accuracies from different Maneuver Site AUG10 : Open sky, Constant change of Roll (Induced Roll Maneuver) on August 10th 2018, Site AUG10 : Open sky, 2.5 hours of observations, mixed maneuvers on August 10th 2018, ROLL PITCH HEADING POS_EL_SM POS_OM_SM POS_WM_SM POS_SM_SM SBG_EK_TC SBG_AP_TC SP_130_NW SP_380_NW All system suffered degradation in roll The system with shorter baseline vector suffered in heading accuracy. System with 4m baseline showed no degradation.

Summary of preliminary findings Roll, Pitch and Heading did not show any comparable degradation in restricted environment. The Heading solutions are substantially better for 4m baseline over a 1m baseline In some cases the reported accuracies may be worse then actual! The location of base station is important if using TC solutions Limitations of this study Different post processing software for different IMUS Possible IMU heading misalignment with vessel reference system

Acknowledgements Questions? USM startup funds USM Hydrographic science masters students USM Hydro Tech Applanix technical and sales support SBG Technical and Sales support Seapath Technical and Sales support TerraPos Technical and Sales support Questions?