1. Application of Post-Processed Navigation, Motion and Tide Data to Multibeam Surveys using Applanix POS/MV Dushan Arumugam Doug Lockhart Carol Lockhart Fugro Pelagos, Inc.

2. Outline Introduction Problem The need for a reference surface to verify LIDAR data Solution Multibeam hydrographic survey based data Details Data Acquisition Data Processing

3. Outline Continued Results Positioning (DGPS vs KGPS) Attitude and Heading (Real-Time vs Post- Processed) Tide / PPK Altitude Conclusion

4. LIDAR

5. Location Map

6. Base Station Configuration Base Station Equipment Novatel Dual Frequency GPS Receiver (Model DL-4) Antenna (Model 503)

7. Vessel Configuration Vessel Equipment Reson Seabat 8101 Dual Frequency POS/MV 320 AML SVP Probes Triton ISIS Data Acquisition software

8. Acquisition Layout

9. Processing Layout

10. Horizontal Datum North American Datum 1983 (NAD83) KGPS based DGPS based

11. Positioning Positioning DGPS vs KGPS

12. Effects of Positioning Error

13. Post-Processed Attitude

14. Post-Processed Heading

15. Vertical Datum International Great Lakes Datum 1985 (IGLD85) Ellipsoid Elevations

16. Tide Multibeam Hydrographic Data (IGLD85) Squat Settlement Vessel Draft Water level Seiche Tide Prof. Robert A. Dalrymple Prof. Robert A. Dalrymple Center for Applied Coastal Research University of Delaware Newark, DE 19716

17. Tide Curve (Toronto)

18. Results Tide (Profile) Profile showing data with Tide correction from the Toronto Tide Gauge

19. Ellipsoid Height Multibeam Hydrographic Data (Ellipsoid) PPK Altitude

21. TrueHeave

22. Residual (Altitude minus TrueHeave)

23. Smoothed Residual

24. Tide Gauge Data

25. Results PPK (Profile) Profile showing data with PPK Altitude correction

26. Results Tide vs PPK (Profile) Profiles showing data with Tide and PPK Altitude correction

27. Sun Illuminated Image

28. Conclusion Post-Processed Kinematic altitude appears to reduce our vertical error Tide file did not provide a good comparison due to the Seiche effect Is currently being used on our NOAA Project where better tide models are available