DGPS Work Instruction

Survey Operations
DGPS Work Instruction
GR-SRV-404
Prepared by: Approved by:

1.0
Ver.
P.M. Evans P.J. Jansen

Issue for Use
Reason for Issue
Senior Surveyor Chief Surveyor

Jan.16.02
Issue Date Prepared by Approved by
Acergy
Survey Operations
Jan.16.02
GR-SRV-404 Ver. 1.0
Page 2 of 12
This is an electronically generated document, which has been reviewed and approved in accordance with the Acergy Management System. An audit trail of review and approval is available within the electronic system. The screen version of this document is the CONTROLLED COPY at all times. When printed it is considered a FOR INFORMATION ONLY copy, and it is the holders responsibility that he / she holds the latest valid version. , Acergy or a subsidiary thereof, Copyright 2006 and design right reserved. Copying and/or disclosure of the confidential information contained herein is prohibited without written permission of the proprietor.
TABLE OF CONTENTS
1. SCOPE.................................................................................................................3 2. OBJECTIVE..........................................................................................................3 3. REFERENCES.......................................................................................................3 4. DEFINITIONS......................................................................................................3 5. RESPONSIBILITIES.............................................................................................4 6. PROCEDURES......................................................................................................5 6.1 SYSTEM OBJECTIVES....................................................................................5 6.2 SYSTEM DESCRIPTION..................................................................................5 6.2.1 GPS RECEIVER .................................................................................5 6.2.2 DGPS CORRECTIONS RECEIVER .........................................................6 6.2.3 DGPS DEMODULATOR .......................................................................6 6.2.4 DGPS PROCESSOR ............................................................................6 6.3 DGPS NETWORK SERVICES...........................................................................7 6.4 SATELLITE COMMUNICATIONS BASED DGPS SERVICES....................................7 6.5 RADIO BASED DGPS SERVICES......................................................................7 6.6 SYSTEM INSTALLATION.................................................................................9 6.6.1 ANTENNA INSTALLATION....................................................................9 6.6.2 SYSTEM OFFSETS............................................................................10 6.6.3 GPS RECEIVER SETUP......................................................................10 6.6.4 INMARSAT DGPS CORRECTIONS RECEIVER........................................11 6.7 SYSTEM CALIBRATION AND VERIFICATION...................................................11 6.7.1 CALIBRATION/ VERIFICATION...........................................................11 6.8 SYSTEM OPERATION...................................................................................12
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Acergy
Survey Operations
Jan.16.02
GR-SRV-404 Ver. 1.0
Page 3 of 12
1.
SCOPE This Work Instruction covers the operation of DGPS Navigation systems.
2.
OBJECTIVE The objective of this work instruction is to enable suitably qualified personnel to calibrate and operate DGPS Navigation systems.
3.
REFERENCES GR-SRV-301 GR-SRV-406 Surface Navigation Practice DGPS QC Monitoring Work Instruction
4.
DEFINITIONS AMSL Above Mean Sea Level. DGPS - Differential Global Positioning System: method of improving the accuracy of GPS positioning. The system uses a fixed reference station to compute errors in the GPS system and transmit them to a vessel based mobile receiver enabling an improvement in accuracy to +/- 3m. Frequency is the number of cycles of a sound wave per unit time. The unit is measured in Hertz (1Hz = 1cycle per second). The frequencies used in GPS/DGPS systems range between 1-1.5GHz. GPS is a satellite based navigation system operated by the US Department of Defence. It consists of a constellation of 27+ polar orbiting satellites HDOP is Horizontal Dilution of Precision and is a measure of the reliability/confidence in the 2D (Lat/Lon) accuracy of a GPS position fix using the current visible constellation of satellites. HF High Frequency IALA International Association Lighthouse Authorities IMCA International Marine Contractors Association MES Mobile Earth Station
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PDOP is Position Dilution of Precision and is a measure of the reliability/confidence in the 3D (Lat/Lon/Height) accuracy of a GPS position fix using the current visible constellation of satellites. PRC Pseudo Range Correction QC Quality Control SD Standard Deviation UHF Ultra High Frequency UKOOA United Kingdom Offshore Operators Association.
5.
RESPONSIBILITIES The Project Surveyor has the overall responsibility for the successful completion of the Survey Project including direct liaison with the Client. The Party Chief/Senior Surveyor has the responsibility for the survey operations on board the ship, including communications with the Offshore Clients Representative and acting as an interface between Client and Office. He will report to the Project Surveyor on the status and progress of the offshore operation. All survey and personnel are responsible for complying with this procedure.
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6.
6.1
PROCEDURES
SYSTEM OBJECTIVES
Surface navigation systems provide the means for determining the position and movement/track of survey vessels. Traditionally this was achieved using either short range line-of-sight relative vector positioning systems or medium-to-long range radio navigation systems. In recent years many of the traditional positioning systems have been replaced by GPS/DGPS satellite positioning systems which are capable of highly accurate vessel positioning over both short and long ranges. The successful operation of DGPS systems relies on the careful choice and installation of the equipment with special emphasis on the placement of the antenna.
6.2 SYSTEM DESCRIPTION
The Navstar GPS satellite navigation system provides worldwide three-dimensional positioning capability using a constellation of 28 satellites. Civilian GPS receivers are capable of computing an unaided position fix in latitude, longitude, and height with an accuracy of +/- 10 to 15 m. DGPS services are a method of improving the accuracy of GPS positioning. The system uses a fixed reference station to compute the errors in the GPS satellite observations and transmits them to a vessel based mobile receiver enabling an improvement in accuracy to better than +/- 3m. This is achieved by measuring the satellite ranges at an onshore reference Station GPS receiver whose co-ordinates are already known with a high degree of accuracy. The DGPS reference Station is able to calculate the true range to each satellite and compares this with the observed range to determine a pseudo-range range correction (PRC) for each satellite. These DGPS PRCs are transmitted to the vessel via Inmarsat, HF or UHF communications links and applied to the satellite measurements made by the onboard GPS receiver. The basic system consists of a GPS receiver, Inmarsat/radio DGPS corrections receiver, demodulator and DGPS processor.
6.2.1 GPS Receiver
The GPS receiver tracks all satellites above the horizon and decodes the navigation messages from each satellite in view. The ranges to all in view satellites are measured and the latitude, longitude and height of the receiver are computed from a minimum of 4 satellite measurements. Most GPS receivers are capable of accepting an input from a DGPS corrections receiver and computing a differentially corrected position.
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Most GPS receivers have a keypad/control pad for input of configurations parameters and a small LCD display for viewing system operation. Some other GPS receivers are simply a 'black-box' unit with no control pad or graphical user interface: these systems can only be configured using an external PC.
6.2.2 DGPS Corrections Receiver
The DGPS corrections receiver receives the signals transmitted by the differential GPS network and will vary depending on the type of communication system used for transmitting/receiving DGPS corrections. Inmarsat MES Terminal SPOT Beam Satellite Receive Terminal HF Receiver MF Receiver UHF Receiver
The DGPS corrections receiver will be connected either directly to a GPS receiver or via a DGPS demodulator to the GPS receiver to which it transmits DGPS corrections in the correct format. In some instances the GPS receiver will incorporate the DGPS corrections receiver integrated within the same unit.
6.2.3 DGPS Demodulator
The DGPS demodulator is required to decode the encrypted DGPS correction messages transmitted over the Inmarsat/SPOT satellite communication networks used by the commercial DGPS service providers e.g. Thales, Fugro, Veripos and C & C. Technology. The DGPS demodulator will be connected either directly to the GPS receiver to which it transmits DGPS corrections in the correct format or to a separate DGPS processor.
6.2.4 DGPS Processor
In some systems the DGPS processor function is performed within the GPS receiver itself. Depending on the GPS receiver type this may provide the capability to provide a DGPS position solution from either a single DGPS reference Station or from a network DGPS solution. The alternative is to input data from an external GPS receiver and DGPS receiver/demodulator to a PC running DGPS processor software. Configurations and display of all the GPS and DGPS functions including QC and system performance monitoring will be performed via the PC graphical user display. Typical systems that perform this function are: Thales Multifix
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Fugro MR DGPS
6.3 DGPS NETWORK SERVICES
There are a wide variety of DGPS correction services ranging from commercial service providers to free of charge public services. The services available are distinguished by the method of transmission and the capability to provide single or dual frequency DGPS corrections.
6.4 SATELLITE COMMUNICATIONS BASED DGPS SERVICES
These DGPS correction services utilise either the Inmarsat network or SPOT Beam satellite transmissions to deliver the DGPS corrections from the reference Station network to the vessel. Examples of this type of service are: Fugro Starfix - Single Frequency DGPS Network Solution Fugro Starfix HP -Dual Frequency DGPS Network Solution Thales Skyfix - Single Frequency DGPS Network Solution Thales Skyfix Gemini -Dual Frequency DGPS Network Solution Veripos-i - Single Frequency DGPS Network Solution Veripos-i2 -Dual Frequency DGPS Network Solution C&C Technology CNAV Dual Frequency DGPS Network Solution Inmarsat based DGPS correction services transmit their corrections via a network of Geo-stationary equatorial satellites. The corrections are received over a very wide coverage area extending from N75 to S75 using a vessel mounted mobile earth Station (MES). Within these limits DGPS corrections can be received anywhere on the earth's surface. SPOT Beam DGPS correction services transmit their corrections either from the Inmarsat satellites or from regional communication satellites. The coverage of these services is limited to a defined regional area, for instance NW Europe, since the satellite transponder transmits a high power signal over a limited geographical area.
6.5 RADIO BASED DGPS SERVICES
These DGPS correction services utilise radio frequency transmissions to deliver the DGPS corrections from the reference Stations to the vessel. Examples of this type of service are:-
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Thales Deltafix - Single Frequency HF Radio DGPS Solution Veripos-HF/R - Single Frequency HF Radio DGPS Solution IALA Beacon Network - Single Frequency MF Radio DGPS Solution UHF Radio DGPS Stations HF radio DGPS correction services operate from a series of individual DGPS reference stations. Each reference Station computes its own DGPS corrections and transmits them directly to the user via a local HF radio transmitter. Some systems operate on a single HF frequency whilst others use dual HF channels to mitigate against signal loss during periods of high atmospheric interference. HF systems have a maximum range capability of approximately 700 km. The IALA DGPS Beacon network is a change of coastal DGPS reference stations using MF radio frequencies to transmit the correction messages. These are operated by governmental Lighthouse authorities/coastguard organisations as public free of charge services in a number of countries and are designed to provide DGPS coverage to aid navigation in coastal areas and in the approach to ports and harbours. These MF systems have a nominal range capability of approximately 200 to 250 km but in certain areas may be capable of ranges as great as 400 km although this will be subject to local atmospheric interference which may limit their range. UHF radio DGPS stations may sometimes be installed to provide local DGPS coverage out to 50 km from the reference Station. They may well be temporary portable installations to provide additional DGPS coverage in a local project work area.
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Survey Operations
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GR-SRV-404 Ver. 1.0
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6.6
6.6.1
SYSTEM INSTALLATION
Antenna Installation
Reliable GPS performance depends significantly on the antenna installation being in a suitable location. GPS signals arriving at the antenna are quite weak and can be subject to significant interference as a result of reflection from nearby metal surfaces and/or other sources of local radio transmission in the 1 to1.5 GHz frequency band. Ideally the GPS antenna will be located at the highest point on the vessel main mast with an uninterrupted view to the horizon. If this is not possible then the location should be as high as possible clear of any adjacent masts, cranes, superstructure etc. This will avoid/minimise the effects of GPS of signal Multipath: an effect where GPS signals are reflected/balanced off local metal surfaces. When planning GPS antenna installation it is essential to know the length of the cable run from the antenna to the GPS receiver location. For short cable runs of less than 30 m standards RG 59/RG 214 cable can be used but for significantly longer cable runs it will be necessary to use a low loss cable type such as Andrews FSJ 4-50B. In summary the simple rules for GPS antenna installation are:DO: Mount antenna at or close to the highest point on the vessel Mount individual antennae separated by at least 1 m and preferably as far apart as possible Be aware that transmissions from radar systems, Inmarsat domes and Artemis can seriously interfere with GPS signals. Note that since Inmarsat transmits with a very narrow beamwidth interference may only occur on certain vessel headings. Uniquely label each GPS antenna cable at the top and bottom ends of the cable run. DONT: Mount antennae close to masts, cranes or superstructure. Mount antennae at deck level. Mount antennae close to other transmitting radio antennae. Mount antennae close to/in front of/at the same height as radar antennae. Mount antennae close to Inmarsat transmitting domes. Mount antennae close to cell-phone transmitters/boosters.
Acergy
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GR-SRV-404 Ver. 1.0
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6.6.2
System Offsets
During installation of the system onboard the vessel careful measurements of all offsets between the GPS antenna locations and the vessel reference point shall be carried out prior to any other testing. The location of the vessel reference point shall be obtained from the ships plans. Care shall be taken with manufacturers sign convention for x and y co-ordinate system. A check should be made of the offset parameters that are entered into the online navigation software and a printout of the offsets shall be printed stalled. These checks shall be carried out prior to the sea trials.
6.6.3 GPS Receiver Setup
When installing a new DGPS system on board a vessel it is highly recommended that the set-up parameters are correctly input and checked. If these values are incorrect then the receiver may not operate as well as it should and may become unpredictable under certain operating conditions. Suggested values, which should be checked are given in Table 1 below:
Table 1: GPS Receiver Settings
Parameter Initial Position Datum/Projection Elevation Mask HDOP Mask Age Of Corrections Mask Fix Mode Height Aiding Mode Height of GPS Antenna DGPS Stations Selection
GPS Receiver Setting Realistic estimate of expected work area position Default = WGS 84 Default = 7 Default = 5 Default = 20 seconds Default = Auto Default = Off1 Default = Height of Antenna AMSL/above vessel draught mark Suitable stations should be selected for the work area, ideally within 1500 km and surrounding the work area.
Note that even though Height Aiding may not be enabled if the Fix Mode is set to Automatic then if the number of satellites falls to 3 then Flat will be automatically enabled. If the correct GPS antenna height has not been entered into the system then position errors are likely to occur.
1
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6.6.4
Inmarsat DGPS Corrections Receiver
Note that on some vessels the position of the Inmarsat receiver dome may be masked by superstructure on certain headings. This will sometimes result in loss of DGPS corrections reception. It is recommended that with a new DGPS installation that a test is performed to check the operation of DGPS reception on different vessel headings by rotating the vessel through 360 whilst on DP. It is also preferable to have 2 or more sources of DGPS corrections receiver onboard e.g. Inmarsat/HF, Inmarsat/SPOT etc.
6.7
6.7.1
SYSTEM CALIBRATION AND VERIFICATION

Calibration/ Verification
Typically DGPS systems are not calibrated in the traditional sense. Instead it is standard practice to perform a system verification to ensure the system is working within the expected performance specifications. Verification is normally performed whilst the vessel is stationary alongside a quayside in Port. This is achieved by installing a prism reflector alongside the GPS antenna on the masts and making distance and angle observations to it from a known onshore control Station using a Total Station at one minute intervals for a period of at least one hour whilst simultaneously logging DGPS position fixes. An accurate position for the GPS antenna is derived from the Total Station observations and this is compared with the positions calculated by the DGPS positioning system. An analysis of the comparative data will indicate both the accuracy of the DGPS system and the stability of the positioning solution. Note that whilst the vessel is in Port there may be local sources of multipath reflections which may cause the system to appear 'noisy' compared to the system performance which can be expected in a typical offshore environment. In normal DGPS operation the difference in position between the Computed GPS antenna location and the Observed DGPS position solution should be <3m and the SD of the Observed DGPS position solution should be <3m.
Acergy
Survey Operations
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GR-SRV-404 Ver. 1.0
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6.8
SYSTEM OPERATION
The DGPS display and control unit shall only be operated by trained personnel when online to prevent the possible loss of positioning during survey operations: this is particularly important where the DGPS system is providing a navigation input to the DP system. In this latter case note changes should be made to the DGPS system unless the bridge DP operators have been informed and have authorised any changes to the system. THE GPS/DGPS settings should be checked periodically and prior to commencement of a new project to ensure that the system configuration is correct see Table 1 above. The on-line surveyor will monitor the DGPS system performance: full details are given in GR-SRV-406 - DGPS QC Monitoring Work Instructions. Should there be any obvious problems i.e. erratic returns or variation in the computed vessel position checks will be made in the problems rectified before recommencing survey operations. It should be noted that DGPS system performance is likely to be significantly affected by the presence of large structures adjacent to the vessel such as fixed platforms, drilling rigs, pipelay barges or crane barges. This is due to the effect of multipath reflections on the GPS satellites signals which will be particularly significant when the vessel is close alongside (within 50 to 100 m) of large metallic structures. This effect can also be seen if large cranes operating on board the vessel are operated above or close to the GPS antenna locations. Under these conditions particular care must be exercised with the use of DGPS and system accuracy/stability should be assessed closely at all times. Note also that if the vessel is alongside a large structure that it is likely that fewer GPS satellites will be in view due to masking behind the obstruction: it is wise to use GPS planning software (incorporating variable elevation mask angles) to see the effect of obstruction masking will have on satellite availability and the satellite geometry (HDOP). In addition to masking of GPS satellites large structure can obstruct reception of satellite based DGPS corrections services Inmarsat/SPOT for instance in the N Sea Inmarsat signals will probably be blocked when working to the north of platforms/rigs since the \ Inmarsat satellites are located over the equator to the south at an elevation of approximately 20. If any particular part of the system is found to be at fault, remedial action will be taken.

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