OOT200301 PRS Handling

13/03/2019
PRS Handling
13/03/2019
KONGSBERG PROPRIETARY: This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or
use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing. Any authorised reproduction in whole or in part, must include this legend.
© 2018 KONGSBERG – All rights reserved.
PRS Handling
 For all reference systems the accuracy of heading, pitch and roll measurements will
affect the accuracy in the calculation of position measurements from the measuring
point ( antenna, transducer..) back to the centre of the vessel.
 The position, heading, speed and rate of turn displayed on the system are the models
position, heading , speed and rate of turn.
 When the system is set up correctly no single point failure in the position
measurements shall cause the vessel to run off. Even a total loss of position
measurements will not start an immediate drift off.
WORLD CLASS – Through people, technology and dedication KONGSBERG PROPRIETARY - See Statement of Proprietary information Page 2
1
13/03/2019
PRS Handling
 Use only PRSs which are reliable
 The more PRS used the less impact each of them will have on the positioning
 Make sure that the calibration is good for all systems
 Using GNSS whit GPS/GLONASS is far better the using two GPS or two GLONASS
 If two HRP/HiPAP systems are used, make sure they are using different gyro’s and
different MRU’s
 Never mix fixed PRS with moving PRS
Reference Origin
 The first PRS accepted, by he controller, becomes the Reference Origin (R-O) and is
setting the origin of the coordinate system internally in the DP system
 The DP operator should decide where the internal coordinate system shall be placed
by selecting first the system giving this coordinate system and then wait until this
system is accepted by all computers before selecting more PRSs
 The Internal coordinate system can be
global or local
 When you select PRS the DP will verify
that this system is suitable as a PRS, This
process is called calibration
2
13/03/2019
How to check the R-O
 The DP system is using a geographic

Lat/Lon coordinate system based on
WGS84 internally. The reference point
for any GNSS is the crossing between
equator and Greenwich
 For any GNSS the calibrated System

Origin Fix position shall be N0000.000
and E000 00.000 in WGS datum
 For other system they will be given a

geographic position as you see for the
HPR1
Datum Settings
•Make sure to set the correct datum for the different global/geographic
PRS.
•You find the dialog box under; Sensors->Reference System Properties
•The K-Pos internal coordinate system is WGS84
3
13/03/2019
Datum
 In the View – position presentation

dialog box, you deicide in what
format you want position
coordinates presented n the screen
in display views and dialog boxes
Calibrating the other PRS
 The DP system calculates the variation in

the received measurements for the
reference system being calibrated over
maximum 20 measurements.
 The calibration limit for particular PRS is

based on the expected accuracy set for
that PRS .
4
13/03/2019
 A PRS should never be used if it is not working

correctly or if it is not reliable
 When the PRS are set up they should be

checked and monitored to verify that hey are
reliable before they are taken into use in the DP
system
 If you are not sure, put the PRS in Monitoring
 You do this in :Sensors- Reference system

Settings
Reference system Properties box
 Expected Values , allows you as a

operator to specify an Update Period
and Accuracy for the selected position
reference system,
 The Update period is mostly used for

HRP systems
 The Accuracy value is used for calibration

purposes and when testing the accuracy
of the PRS. The higher the value is the
wider the limits for the test.
5
13/03/2019
GNSS Quality Filter Actions

The Dp system has extra test for GNSS specific issues
 No differential corrections
- Allows you to select a filter action if no differential data is available received. This
is a important parameter, and a warring or alarm must always be given . You can
not select none.
 Min number of satellites

- Allows you to type inn number of satellites. The number must be lager or equal
than 4
GNSS Quality Filter Actions

The Dp system has extra test for GNSS specific issues
 Max HDOP
- Horizontal dilution of precision
- The HODP figure is a\based on the geometry of the satellite constellation. The
more spread out the satellite pos are, the lover the HDOP becomes. Low figures
result in low position and clock errors.
 Time freeze detection

- Filter action for UTC, freeze detect function. This quality filter function only
applies when receiving telegrams containing clock data.
6
13/03/2019
 No differential corrections
 Min number of satellites
 Max HDOP
 Time freeze detection
Test on position measurements
 Prediction test
 Standard deviation
 Variance test
 Divergence test
 Median Test
 Freeze Test
7
13/03/2019
Prediction test
 A prediction test detects sudden jumps or large systematic deviations in the

measured position. The limit for the prediction test is a function of the estimated
position in the vessel model and the actual measurement accuracy .
 Acceptant limits
- Narrow
- Normal
- Wide
8
13/03/2019
Prediction Test: Narrow (5-11m) Normal ( 5m-11m + deviation form model)
Wide (8m-25m + deviation from model)
Reference Prediction Error
 Variance test
- A variance test monitors the measurement variance and compares the variance
value with calculated limit.
- The variance test assigns different weightings to each PRS, based on its
calculated variance
- The variance is changed into Standard Deviation before it is displayed to the
operator
9
13/03/2019
 Variance test
- The Calculated noise is directly affecting how the DP system utilizes the
measurement form that system
- The Standard deviation is shown in the graph area of the RefSys view and as
dotted circles around the “filtered data “ on the plot
The value given ( on the Y –axis of the

graph is the radius of the circle covering
68,27% of the measurements
Standar deviation ( NOISE) 68,27 % sets limit of measurement
Prediction Test: Narrow (5-11m ) Normal ( 5m-11m + deviation form model)

Variance Test : Expected accuracy

(2.45) X (1,52m GPS) or ( 2,24m HiPAP) = <3,7 m Reference High Noise
3 x (1,52m GPS) = <4,5m Reference high Variance
10
13/03/2019
 Divergence Test
- When two or more position-reference systems are in use, this slow drift test
detects when measurements form one position reference system differ from
the model. The limit is 70 % of the prediction error limit
Standar deviation ( NOISE9) 68,27 % sets limit of measurement


(2,45) X (1,52m GPS) or ( 2,24m HiPAP) = <3,7 m Reference High Noise
Divergence Test : 70% of Prediction test Reference High Offset
11
13/03/2019
 Median Test
- Median test detects position measurements that differ from the median position
value with more than a predefined limit. The test is mainly designed to detect slowly
drifting PRS systems
- The median test can be performed when three or more position reference systems
are in use.
- Unlike the prediction test, the median test is independent of the K-Pos DP Model
- When median test is active, a blue circle with radius equal to the median test limit
 Median Test
- The median test is 80 % of the minimum prediction error
- If you are using two or more GNSS you should consider changing the median settings
form, warning and reject to Warning
12
13/03/2019
 Freeze Test
- A freeze test rejects repeated measurements. If the variation in the
measured position is less than a system set limit over a given period of time,
the PRS is rejected.
Standar deviation ( NOISE) 68,27 % sets limit of measurement
(2.45) X (1,52m GPS) or ( 2,24m HiPAP) = <3,7 m Reference High Noise
Divergence Test : 70% of Prediction test Reference High Offset
Median Test: Independent of Model, 80 % of Prediction test
13
13/03/2019
WORLD CLASS – Through people, technology and dedication KONGSBERG PROPRIETARY - See Statement of Proprietary information
14

OOT200301 PRS Handling

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

OOT200301 PRS Handling

Uploaded by

Copyright:

Available Formats

13/03/2019

 Use only PRSs which are reliable

 Make sure that the calibration is good for all systems

 Never mix fixed PRS with moving PRS

How to check the R-O

 The DP system is using a geographic

 For any GNSS the calibrated System

 For other system they will be given a

 In the View – position presentation

Calibrating the other PRS

 The DP system calculates the variation in

 The calibration limit for particular PRS is

 A PRS should never be used if it is not working

 When the PRS are set up they should be

 If you are not sure, put the PRS in Monitoring

 You do this in :Sensors- Reference system

Reference system Properties box

 Expected Values , allows you as a

 The Update period is mostly used for

 The Accuracy value is used for calibration

GNSS Quality Filter Actions

 Min number of satellites

GNSS Quality Filter Actions

 Time freeze detection

 Min number of satellites

 Time freeze detection

Test on position measurements

 A prediction test detects sudden jumps or large systematic deviations in the

Prediction Test: Narrow (5-11m) Normal ( 5m-11m + deviation form model)

Wide (8m-25m + deviation from model)

Reference Prediction Error

The value given ( on the Y –axis of the

Standar deviation ( NOISE) 68,27 % sets limit of measurement

Prediction Test: Narrow (5-11m ) Normal ( 5m-11m + deviation form model)

Variance Test : Expected accuracy

Standar deviation ( NOISE9) 68,27 % sets limit of measurement

Prediction Test: Narrow (5-11m) Normal ( 5m-11m + deviation form model)

Variance Test : Expected accuracy

Divergence Test : 70% of Prediction test Reference High Offset

Standar deviation ( NOISE) 68,27 % sets limit of measurement

Prediction Test: Narrow (5-11m) Normal ( 5m-11m + deviation form model)

Wide (8m-25m + deviation from model)

Reference Prediction Error

Variance Test : Expected accuracy

(2.45) X (1,52m GPS) or ( 2,24m HiPAP) = <3,7 m Reference High Noise

3 x (1,52m GPS) = <4,5m Reference high Variance

Divergence Test : 70% of Prediction test Reference High Offset

Median Test: Independent of Model, 80 % of Prediction test

You might also like