1. 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

2. 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

3. 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 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.

4. 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

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

6. 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.

7. 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

8. 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.

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

10. 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

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

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

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

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

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

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

17. 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

18. 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

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