GSS614 - Chapter 1A - Hydrographic Positioning

GLS614 / GSS614 CHAPTER 1A – HYDROGRAPHIC POSITIONING
The pessimist complains about the

CHAPTER 1: wind; the optimist expects it to
HYDROGRAPHIC change; the realist adjusts the
POSITIONING sails.
GSS614 | GLS 614
DR MOHD SHAHMY BIN MOHD SAID - WILLIAM ARTHUR WARD
GLS614 HYDROGRAPHIC SURVEYING CHAPTER 1: HYDROGRAPHIC POSITIONING MOHD SHAHMY MOHD SAID GLS614 HYDROGRAPHIC SURVEYING CHAPTER 1: HYDROGRAPHIC POSITIONING MOHD SHAHMY MOHD SAID
TEACHING CONTENTS
1. HYDROGRAPHY POSITIONING
READY TO LEARN? 2. POSITIONING METHODS

a. OPTICAL
b. ELECTRONIC POSITIONING FIXING
c. DIFFERENTIAL GPS
What is
Positioning? x, y in geodetic reference system
Positioning:
surface, water column, seabed and below seabed
HYDROGRAPHIC Why positioning?

• No reference object or land marks,
POSITIONING •
•
•
need redundancy (statistical analysis),
no ground truth (over the same point as land survey),
need to go over the same place many times,
• to locate the area,
GLS 614 – HYDROGRAPHIC SURVEYING • to positioning marine structure,
• to locate the data being collected.
Significant differences from land

positioning Fix
• far from land • A measured point is called a fix.
• line of sight? • The fix is made of intersection two
or more position lines.
• 24 hour operation • Two position lines is minimum as Fix – intersection
• No land mark? only one formation of intersection of LOS
and has no check.
Fix
• Three position lines will create
redundancy and ability to have Fix – intersections of
a check on error but cannot LOS
decide which line position is
wrong in a bad fix. Fix –
intersections
• Four or more position lines of LOS
form a solid fix.
• The best intersection angle
required is not less than 30
degrees.
A straightforward coordinate
Basic Principle of Positioning system
To be able to pinpoint a position somewhere A vessel is in point P and this unknown
on earth, a grid with x and y coordinates is coordinate need to be calculated.
defined on the earth. As a minimum two reference points are
The positive y or northing- axis points to the required to start any method of positioning.
north of the chart The coordinates for these point should be
known accurately.
The positive x or easting – axis points to the
east. Point B is located on Masjid, C is on
Beacon and D is on Lighthouse
We call this type of grid, coordinate systems.
Methodologies - Position determination

Coordinate Landmark
Beacon
Lighthouse
Methodologies - Position Determination Principle of Positioning

Positioning – intersection between 2
LOP (line of Position)
There are 3 main method of determining the position in point P:
LOP – LOP Azimuth, Range, Angle &
Hyperbolic
Range-Range - Measure the range pb’ and pc’
Bearing-Bearing – Measure angle α and ɗ Method of determine positioning
– Range Range
Range – Bearing – Measure angle α and range pb’ or pc’ – Bearing Bearing
– Range Bearing
– Hyperbolic System (~range range)
– Field Astronomy
Bearing Bearing Range

(Resection) Bearing
Range Range
Normally the method Combination of the methods
Principles used for this concept based on distance and angle.
When the distance is measured is called resection. In land surveying – total station
between the unknown location
and any reference point,
This is used when
the unknown will be located on a
In Hydrography – main method
angles are measured
circle with a radius equal to the of any subsurface or echo-
range measurement centered on for example with sounding positioning
the point referenced.
theodolite or sextant. application (USBL &
Multibeam)
Hyperbolic
System Field Astronomy
Time in astronomy
Spherical Trigonometry
Azimuth by hour angle of the sun
Azimuth by altitude of the sun
Azimuth by hour angle of the star
Azimuth by altitude of the star
Azimuth by direct observation to polaris
Important Issues On Positioning Example Of Hydrographic Positioning Works:

Repeatability data; important
Redundancy data for analysis
Dual comparison positioning system
Errors increase as distance offshore
Integrity and calibration are regularly
checked ENGINEERING HYDROGRAPHIC PREPARATION OF OFFSHORE ENGINEERING
WORKS AT LAKE, SURVEY AT PORT – NAUTICAL CHARTS – WORKS
Transformation of coordinate and its RIVER AND NEAR WHARF SURVEY, DONE BY OIL AND GAS EXPLORATIONS,
parameter must be understood SHORE – PRE AND POST AUTHORITIES PLATFORM POSITIONING, PIPE
CONTRACTIONS DREDGING DEPARTMENT – LINE AND CABLE POSITIONING,
Dynamic environment does not permit PORT, MARINA, JETTY ROYAL MALAYSIAN
NAVY DETERMINATION OF SEA
accurate height and horizontal as land AND BRIDGE, BOUNDARIES
survey DREDGING PROJECT.
All the equipments in the market,

are based on this LOP
The Equipments, however can be classified

according to their principle of measurements as
below;
POSITIONING
◦ Optical Method
METHODS
◦ Electronic Method
GLS 614 – HYDROGRAPHIC SURVEYING
◦ Satellite Method
◦ Acoustic Method
Optical
Optical Method
Method
There are 3 methods of optical positioning:
Electronic  Sextant
Acoustic POSITIONING METHOD Positioning
Method
Method (EPS)  Theodolite
 Total Station
DGPS
Optical Method - SEXTANT

 Sextant is a lightweight instrument that can be used to measure
horizontal and vertical angles to the nearest minute.
 Can measure horizontal and vertical angle between two objects up to
140
 In hydrographic surveying it is used most often to fix an observer’s
position.
 Usually two observers measure horizontal angle simultaneous to get two
horizontal angles.
 The horizontal angles between marks ashore are measured and plotted
using station pointers to fix the position of the observer.
 Sextant angle fixing is most commonly used in:
• coastlining,
• buoy fixing. Sextant
Observer
Positioning using sextant
Station pointers
Optical Method - THEODOLITE

TR
CP 3 CP 2
Theodolite 1 CP 1
α1 α2 Theodolite 2
β2 β1
Target
Optical Method – TOTAL STATION

Reference B
A marks
C EC
NCTotal Station
d2
b2
d1
b1
Multi
prism
Total Station
Reference marks
E1 E2 E3 E4 E5 E6
Total
N1 N2 Station
N3 N4 N5 N6
b2/d2
b1/d1
Multi prism
Positioning using Total station (TRIMBLE)
Intersection Resection
• From known point to unknown point • To figure up where you are?
• Intersection is a method of locating a • From unknown point to known point
point without actually occupying it • Resection is a method of locating a
point by taking angle observations from
it to at least three known stations in a
network.
Electronic
Positioning Fixing
HYDROGRAPHIC POS ITIONIONG METHODS
Concept of EPS system

Electronic Positioning System (EPS) Method
Use certain radio wave frequency for measure distance between two point.
Distance measured are depend on the frequency used by the instruments.
Basically EPS system have master onboard.
Master function as transmitter and receiver for radio wave.
There are several slave placed at land control stations.
Positioning process start with master onboard transmit radio wave and than
receive by the slave.
Then, slave will transmit back the radio wave with difference frequency to the
master.
Master will receive and identify the radio wave from which control station and
distance will determine.
Electromagnetic Positioning Fixing (EPF)

Trisponder
Shore stations are established. Signal is transmitted in Omni
Each station will be equipped direction from master with
with trisponder/slave 1, 2 and 3 Frequency Master
Slave 3
Slave 1 Slave 2
Master
Each Shore station will transmit different frequency. Meant to

identify which signal from which station. The time taken to
and from master and slave is recorded and converted into
Slave is passive. Once received the master range. Solution : Resection method.
signal, the trisponder will be activated and will Freq S2
Freq S1
transmit frequency S1 in sectional direction. Freq S3
EPS system equipments
DIFFERENTIAL
GPS
HYDROGRAPHIC POS ITIONIONG METHODS
RECAP : WHAT IS GPS? VIDEO LINK:
https://www.youtube.com/watch?v=FU_pY2sTwTA
DGPS
Concept of DGPS
DGPS? VIDEO LINK:

https://www.youtube.com/watch?v=Xj3LBNBecnM
Need at least 2 receivers of GPS.
Basic Principle
of DGPS Observe at least 4 satellites at the same
time.
To know DGPS, we must well verse
with GPS!
One of the receiver placed at known

station (reference or base station).
Other receiver placed at the point where

the position want to determine (mobile
or rover station).
DGPS METHOD
 TRIANGULATION
TRIANGULATION  Work with angles.
OR
 The positions of the points
of interest are computed
based on measured angles
and two known points.
TRILATERATION  From those angles, the

distances are computed
which are in turn used to
calculate coordinates for
the target points.
DGPS METHOD ?
 TRILATERATION
 Work with distances. DGPS

 From those distances, you
compute the angles.
VS
 Once computed, you can
use them in conjunction
with the distances to get
the position of the target
RTK
points.
 It is quite similar to how

GPS works.
• Correction using radio or sim

card (internet/data)
• RTCM = Radio Technical
Commission for Maritime Services
HOW DGPS WORKS ?

Two or more receivers observe the same set of satellites,
HOW DGPS WORKS ?
taking similar measurements that produce similar errors when
positioned closely together. Ø Differential GPS (DGPS) relies on the concept that
the errors in the position at one location are similar
A reference receiver, placed at a known location, calculates to those for all locations within a given area.
its theoretical position and compares it to the measurements
Ø By GPS observations at a point with known
provided by the navigation satellite signals. coordinates, these errors can be quantified and
corrections can be applied to the other locations.
The difference between the two values reveals the
measurement error. Ø By applying these corrections in real-time, the
accuracy of GPS for instantaneous positioning is
The reference receiver then transmits a corrected signal to typically 1-2m (95%).
any number of receivers at unknown positions within the area
covered by the DGPS.
DGPS EQUIPMENTS
DGPS requires a base

station and radio link
PR = distance between
a satellite and a navigation
satellite receiver
Coordinates of base station from GPS is

obtained and compared with the
established coordinates. Pseudo Range
Correction (PRC) is determined dx and dy.
PRC is sent to positioning system onboard
survey vessel via radio link
The DGPS infrastructure

consists of three main components:
1. Reference station,
2. Mobile station
3. Data link.
System onboard is
being corrected
and updated
1. Reference Station 1. Reference Station

The processor converts the corrections into a
The pseudorange corrections are generated at the standard binary format (RTCM SC-104)
reference station which usually adopts an all-in-view
policy. Then sent to the data link equipment and modulated
onto a carrier frequency
By transmitting individual corrections for all satellites, the
mobile station uses the corrections for the satellites subsequently transmitted to the mobile station.
observed at that station thus avoiding any errors that may
be introduced.
As well as a pseudorange correction for each satellite, its
rate of change is also computed and transmitted to the
mobile station.
2. Mobile Station 2. Mobile Station

The mobile station consists of
The corrections are then translated and applied to the
• a GPS receiver and antenna, individual pseudorange corrections observed by the
• a data link receiver mobile station's GPS receiver which is also connected
to the PC.
• a PC acting as a central
processor. The final correction is added to the observed
pseudoranges.
The pseudorange and range rate

corrections are received via the
data link equipment, demodulated,
and the binary message is then
sent to the PC.
2. Data Link TYPE OF DGPS

The data link provides the connection
between the reference and mobile station, LOCAL AREA DIFFERENTIAL GPS
Medium used must be such that it can
transmit over the required reference-mobile
separation
The binary data can be modulated fast GPS
enough to provide a certain age of satellites
correction,
Must be reliable in terms of probability of
good reception. Reference DGPS Rover
Station corrections
 Local Area Differential GPS (LADGPS) – Positioning systems obtained using DGPS
corrections to a few hundred miles by using the correction of a reference station.  DGNSS radio beacons - LADGPS systems that are usually controlled by a maritime
nation.
 Example: Differential Global Navigation Satellite System (DGNSS) radio beacon, FM
DAta Radio Channel (DARC), internet, paging and selular telefon.  Purpose - provides positioning for the safety of navigation in the waters of a country.
 Advantage - DGPS corrections can be obtained using LADGPS usually 24 hours,
and users do not need to set up the receiver as a reference station.  All radio beacons DGNSS stations must follow certain specifications set by
international organizations, the International of Marine Aids to Navigation and
 Providing the accuracy of 1 meter depending on the type of GPS receiver used and Lighthouse Authorities (IALA)
the distance from the reference stations.
 Reference station can use the GPS satellites or (Glonass) to calculate the corrections
and sent to the user through a specific format based on the system used LADGPS.  All stations have DGNSS radio beacons and operates according to certain
specifications will be listed by IALA.
 Users must have a GPS receiver that has the ability to receive signals from the
system used LADGPS.  This station will use radio frequency to send corrections to the user.
The format is the format used correction Radio Technical Commission for Maritime
 LADGPS system commonly used in the hydrographic work is DGNSS radio beacon
system
Services Special Committee 104 (RTCM SC-104).
GPS
User
Transmitter Reference Station
Control Station
Integrity Monitor
Control Monitor
CONCEPT of DGNSS radio beacon

DGNSS Radio Beacon System
DGNSS Radio Beacon

 IALA (International Authority of Lighthouse) has set the frequency
to be used for signal transmission by radio beacons DGNSS stations,
from 283.5 kHz to 325 kHz.
 Among the main components of the system of radio beacons DGNSS
are:
 Reference station – equipped with a GPS receiver to calculate the

DGPS corrections.
 Control station – serves to detect any damage or errors occurred
and correct it.
 Transmitter– to transmit DGPS corrections using radio frequency
set.
 Control Monitor – to monitor the whole system works DGNSS
radio beacon.
 Integrity Monitor – ensuring the correction signal is transmitted is
correct
WIDE AREA DIFFERENTIAL GPS

Instead of having correction from only one reference station, hydrographic
positioning can also be carried out with differential correction from few
reference stations.
This type of DGPS system is known as Wide Area DGPS (WADGPS).
The major motivation for the growth of this system is because most of the
hydrographic surveying jobs need to be carried out far away from the
reference station.
Therefore, the WADGPS correction must be transmitted in a global way.
Most of WADGPS systems are broadcasting DGPS correction through

geostationary satellites such as International Maritime Satellite
(INMARSAT).
WADGPS System
WIDE AREA DIFFERENTIAL GPS WIDE AREA DIFFERENTIAL GPS

Basically, a WADGPS system will include the following:  For real time hydrographic positioning using
WADGPS, Thales Geosolutions and Fugro
 Control Station - Observed the GPS signal and compute the
DGPS correction. are two examples of offshore companies
that offer these services.
 Master Control Station - Received the correction from all
reference stations, checked and packed the data to send it to
uplink station.  OmniSTAR and Landstar are mostly for land
application but can still be use for coastal
 Uplink Station - Transmit the DGPS correction that has been area positioning.
packed to geostationary satellite.
 Geostationary satellite - Received the data from uplink station  Skyfix and Starfix are generally intended for
and transmit to users. offshore positioning.
Veripos Reference Stations

Network Distributions
Bathymetric survey Dredging
Seismic survey
Oil and gas exploration
DO YOU UNDERSTAND? ANY QUESTION?

READY TO WORK NOW?
THANK YOU

GSS614 - Chapter 1A - Hydrographic Positioning

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GLS614 / GSS614 CHAPTER 1A – HYDROGRAPHIC POSITIONING

The pessimist complains about the

READY TO LEARN? 2. POSITIONING METHODS

HYDROGRAPHIC Why positioning?

Significant differences from land

and has no check.

Methodologies - Position determination

Methodologies - Position Determination Principle of Positioning

Bearing Bearing Range

Azimuth by hour angle of the sun

Azimuth by altitude of the sun

Azimuth by hour angle of the star

Azimuth by altitude of the star

Azimuth by direct observation to polaris

Important Issues On Positioning Example Of Hydrographic Positioning Works:

All the equipments in the market,

The Equipments, however can be classified

Optical Method - SEXTANT

Positioning using sextant

Optical Method - THEODOLITE

Optical Method – TOTAL STATION

Positioning using Total station (TRIMBLE)

Concept of EPS system

Electromagnetic Positioning Fixing (EPF)

Each Shore station will transmit different frequency. Meant to

EPS system equipments

RECAP : WHAT IS GPS? VIDEO LINK:

DGPS? VIDEO LINK:

One of the receiver placed at known

Other receiver placed at the point where

TRIANGULATION  Work with angles.

TRILATERATION  From those angles, the

 Work with distances. DGPS

 It is quite similar to how

• Correction using radio or sim

HOW DGPS WORKS ?

DGPS requires a base

Coordinates of base station from GPS is

The DGPS infrastructure

1. Reference Station 1. Reference Station

2. Mobile Station 2. Mobile Station

The pseudorange and range rate

2. Data Link TYPE OF DGPS

CONCEPT of DGNSS radio beacon

DGNSS Radio Beacon

 Reference station – equipped with a GPS receiver to calculate the

WIDE AREA DIFFERENTIAL GPS

This type of DGPS system is known as Wide Area DGPS (WADGPS).

Therefore, the WADGPS correction must be transmitted in a global way.

Most of WADGPS systems are broadcasting DGPS correction through

WIDE AREA DIFFERENTIAL GPS WIDE AREA DIFFERENTIAL GPS

Veripos Reference Stations

DO YOU UNDERSTAND? ANY QUESTION?

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