Satellite Cns Civil Engineering and Construction Applications

SATELLITE CNS
Civil engineering and construction

applications
François PEYRET
Senior Researcher
Head of “site robotics and positioning” unit
LABORATOIRE CENTRAL DES PONTS ET
CHAUSSEES - Nantes
FRENCH MINISTRY OF RESEARCH
Module 12 civil engineering applications 1

Post-graduate course in satellite CNS F. Peyret (LCPC) ENAC March 2003
TABLE OF CONTENTS (1)
1 INTRODUCTION
1.1 CIVIL ENGINEERING AND CONSTRUCTION WORK SITES
1.2 THE INTEREST OF GLOBAL POSITIONING
1.3 THE PARADIGM OF COMPUTER INTEGRATED CONSTRUCTION
1.4 SPECIFIC CONSTRAINTS OF THE APPLICATION DOMAIN
2 GPS FOR CIVIL-ENGINEERING SITES

2.1 RTK GPS
2.2 PHASE OBSERVABLE MODEL
2.3 SYNCHRONISATION
2.4 DOUBLE-DIFFERENCES
2.5 AMBIGUITY RESOLUTION
2.6 INFLUENCE OF L2
2.7 WIRELESS DATALINK
2.8 SUMMARY : RTK SOURCES OF ERROR
2.9 TESTING RTK GPS : THE LCPC FACILITY “ SESSYL ”
TABLE OF CONTENTS (2)
3 EXAMPLES
3.1 GPS FOR A MAJOR PROJECT
3.2 MINING
3.3 EARTHWORKS
3.4 PILE POSITIONING
3.5 BRIDGE CONSTRUCTION
3.6 AUTONOMOUS TRUCK DRIVING
3.7 CONSTRUCTION VEHICLE TRACKING
4 ON-GOING PROJECTS
4.1 EUROPEAN PROJECTS
4.2 FRENCH PROJECTS
5. VARIOUS PRESENTATIONS AND DEMONSTRATIONS

THE CNS PARADIGM IN CIVIL
ENGINEERING
The only developed item is the positioning one, since civil
engineering is not a transportation system.
However, communication and surveillance could be of high
interest, especially in the equipment fleet management,
when it will be more developed.
The presentation will mainly deal with the application of
global positioning systems, such as GPS, to the civil
engineering and construction domain.

THE INTEREST OF GLOBAL
POSITIONING
Civil engineering structure : 3 D object, which must be:
• correctly positioned in space, with reference to the
project,
• correctly built, in terms of dimensions.
A global positioning technology provides a common spatial
frame to all the tasks concerned with geometry and makes
possible any numerical link between design and
construction.
Î better reliability and door to automation

EXAMPLE OF A TRADITIONAL METHOD
surveyor
DESIGN OFFICE SITE
Setting-out tables
Photos piquets
Preparation Setting-out stakes
Execution
CAD system
Man-Machine interface
Mechanical
Automatic control system sensor
Actuators
String line
Tool Temporary materialisation
Current link between design and work for a paving process,

based upon manual set up of physical stakes
EXAMPLE OF A TRADITIONAL METHOD
surveyor
DESIGN OFFICE SITE
Setting-out tables
Photos piquets
Preparation Setting-out stakes
Execution
CAD system
Man-Machine interface
Mechanical
Automatic control system sensor
Actuators
String line
Tool Temporary materialisation
Current link between design and work for a paving process,

based upon manual set up of physical stakes
EXAMPLE OF A MODERN METHOD
CONTROL OFFICE Control data WORKSITE
Ground data processing unit
PREPARATION Ground module

On-board module of the localisation
Execution Reference and of the localisation system
maps Initialisation data system
DESIGN OFFICE
Man-Machine
interface
EXECUTION
On-board data processing unit
Automatic control system
CAD system
Actuators Tool
New link between design and work for a paving process,

based upon numerical data and global positioning system
EXAMPLE OF A MODERN METHOD
CONTROL OFFICE Control data WORKSITE
Ground data processing unit
PREPARATION Ground module

On-board module of the localisation
Execution Reference and of the localisation system
maps Initialisation data system
DESIGN OFFICE
Man-Machine
interface
EXECUTION
On-board data processing unit
Automatic control system
CAD system
Actuators Tool
New link between design and work for a paving process,

based upon numerical data and global positioning system
GPS ON CONSTRUCTION WORK SITES
SPECIFIC CONSTRAINTS OF THE

APPLICATION DOMAIN
• Physical environment : «hard times...»
• Time constraints : «time is money...»
• Educational constraints : a bulldozer is not
an aircraft...
• Cost constraints : cost as low as possible
(low margins)
• Accuracy : as good as possible !...

RTK GPS
RTK GPS SPECIFIC

CHARACTERISTICS
Differential GPS
Phase measurements
Synchronisation
Double differences
Ambiguities resolution
Wireless data link

RTK GPS
THE CONFIGURATION OF RTK GPS

Mobile GPS receiver
Radio receiver
Radio emitter
GPS base station

RTK GPS
STRUCTURE OF GPS SIGNAL (recall)
Two carriers : L1 et L2
Two pseudo-random codes

Æ C/A code, civil (L1 only)
Æ P code, military (L1 et L2)
C/A code P code
Navigation message (containing in

particular the satellites positions)

PHASE OBSERVABLE MODEL
PHASE MEASUREMENT
tti j
∆ϕ
R i
j
i
j
j i
Emission Transfer Transfer Reception
To run along the distance Rij, the signal needs ttij

To this transfer time ttij corresponds a certain number of
c j
cycles of the carrier: ∆ϕ = tti
i
j
λ
INTEGER AMBIGUITY DEFINITION

∆ϕij (t0 )
First measurt
time: t0
At t0, the receiver measures the

∆ d ϕij (t0 )
decimal part of the phase
∆ϕij (t1 )
Second
measurt
time: t1
Ni j n(t1 ) ∆ d ϕij (t1 )

At t0, the receiver measures the decimal part of the phase
As well as the number of full cycles since the previous measurement


∆ϕij (t0 )
First measurt
time: t0
Ni j ∆ d ϕij (t0 )
∆ϕij (t1 )
Second
measurt
time: t1

The unknown integer part is called integer ambigity
The integer ambiguity doesn’t change and remains unknown


∆ϕij (t0 )
First measurt
time: t0
Ni j ∆ d ϕij (t0 )
∆ϕij (t1 )
Second
measurt
time: t1
This quantity is called phase measurement Φ ij (t1 )

PHASE OBSERVABLE
Phase measurement model, at instant k, for satellite i:
φij = - Rij / λ + f (dti - dtj) + f (dij - δij) - εSA - Nij + εijmult + bi

iono delay
phase frequency noise
0.15 - 100 m tropo delay
in cycles wavelength offset satel. σ < 3 mm
1 - 50 m
distance λ1 = 19 cm clock ~ 1 m SA
ambiguity
20 000 km 2 λ = 24.4 cm 25 m (random) multipaths
(~ 1to 3 m) offset receiver (no more) (integer) 0.5 - 1 m
clock ~ 300 m
Æ several km


λΦ ij = Ri j + Ai j + cdti − cdt j − λN i j
Geometrical distance
Contains:
receiver position (unknown);
known position of the satellite


Propagation terms
Due to the propagation through the atmosphere

Maximum error of the order of 100 m
Strongly spatially correlated


Clocks terms
From the non-synchronicity between satellite

or receiver clock and GPS time
Can cause huge errors up to 1000 km
Considered as unknowns because hard to
model


Integer ambiguity
Its determination is the key of accurate

positioning

PHASE OBSERVABLES MATRICIAL MODEL

Several epochs
Several carriers A possible expression under
Several receivers matrix form, after linearisation:
Several satellites
Y = CX + T + BN
X: vector containing all the unknown parameters
C: matrix of partial derivatives


Several epochs
Several satellites
Y = CX + T + BN
T: terms dependant exclusively from the receivers

or from the satellites (clock offsets)
T represents an important bias into the raw
observable, inseparable from integer ambiguity

Several epochs
Several satellites
Y = CX + T + BN
N: the vector of the unknown integer ambiguities
B: matrix of the coefficients associated to N

GENERAL MATHEMATICAL
RESOLUTION PRINCIPLE
To solve: Y = CX + BN + T
One uses the discrete least mean square method:
1 Æ Real least mean square resolution with X et N real
2 Æ Search of the best probable value of N by

discrete methods

GENERAL PRACTICAL
RESOLUTION PRINCIPLE FOR RTK
acquisition
pre-processing (synchronisation, double differences)
AROF
procedure
no
Ambiguities solved ?
yes
accurate position computation

PRE-PROCESSING OF RTK GPS

1. Synchronisation between base and rover measurements
2. Simple difference, between the 2 receivers Î elimination
of errors common to the receivers (D < 20 km)
• satellite clock delay
• ionosphere delays (residuals of a few cm at 10 km)
• troposphere delays (important residuals when ∆H is big)
2. Double difference, between simple differences for all the
satellites relatively to one selected one Î elimination of
errors common to the satellites
• receivers clocks delays
• multi-path differences for both receivers

SYNCHRONISATION
THE FULL SYHNCHRONISED MODE

n a t
i o
t orm
i
u is d f
q r
ac nda
a ta ta
D S BASE
W
0
tio ti on
ire 0.5
ut
les
si osi ati
tp
n on
st
Po p is
ou
ran Time (sec)
K on
sm
RT h r
iss
nc
ion
Sy
0 MOBILE 0.5
Latency # 200 ms

SYNCHRONISATION
THE EXTRAPOLATED MODE

o n at
i ti orm
is d f
n
u 1s
io
q r
at
ac nda
is
ta ta
on
a
D S BASE
hr
nc
n
sy
i o
it
n n d
W
0 s
tio tio an
ire i
ut
les u Time (sec)
tp
si si n
st q
Po po atio
c
ou
ran a
sm a
K l
at
RT po
iss
MOBILE
tra
ion D
Ex
0
Latency # 20 ms
SYNCHRONISATION
ERROR vs EXTRAPOLATION TIME
The bigger the extrapolation time

the lower the accuracy
AMBIGUITY RESOLUTION
DOUBLE DIFFERENCES
Double differencing is a linear combination of
observables allowing the suppression of T bias term
Yi s1 
Choice of a pivot satellite ∆∇ Yik 

  s1 s 2
Receiver i  M 
Yi sn  Double
  pivot
   M 
Yks1  differences
 ∆∇Yiks1 sn 
Receiver k    
 M 
Yksn  ∆∇Yikjl = Ykl − Yi l − Yk j + Yi j
 
Model associated to double differences :
∆∇Y = ∆∇C. X + ∆∇B.N + ∆∇T
DOUBLE DIFFERENCES MODEL

Complete model:
∆∇Y = ∆∇C. X + ∆∇B.N + ∆∇T + ∆∇noise
Or:
∆∇Y = ∆∇C. X + B.∆∇N + ∆∇T + ∆∇noise
Vector of unknown parameters, dependent from time
Integer vector independent from time

Real vector noise dependent from time

AMBIGUITY RESOLUTION PRINCIPLE

Initial
estimated real Search
solution (float) ambiguities domain
Identification
process of the
best integer set
Optimisation no
criteria
integer
yes
ambiguities
Fixed
no Confidence yes
integer
criteria ambiguities

SEARCH DOMAIN
primary
satellites
candidates initial
point
actual
point
secondary
satellites

L2
THE INFLUENCE OF L2
L2 is very useful to the AROF techniques for :

• estimating the ionosphere delay
• accelerating the process (more measurements)
• improving the accuracy of the estimates (Y code)
• reducing the numb. of ambiguities
“Wide-lane” (L1 - L2, l = 86.2 cm)

RTK SOURCES OF ERROR
RTK MAIN SOURCES OF PROBLEMS
• Residuals from the double differences

• Eccentricity of the phase centre of the antenna
• Cycle slips
• Failure of the wireless data link
• AROF algorithms

RESIDUALS
Essentially:
• multi-path effects residuals
cure: - geodetic or choque-ring antennas
- choice of the environment
- specific electronics or algorithms
• iono and tropo delays residuals
cure: - short base line (< 15 km for ambiguities)
- use of a good tropo model (difficult for RTK)
• receiver’s noise
cure: - choice of a good electronics...

MULTI-PATHS RESIDUALS

PHASE CENTRE ECCENTRICITY

CYCLE
SLIPS

RADIO WIRELESS DATALINK

• Failure of the wireless data link create «holes» in
the measurements.
• Current UHF links may have transmission
problems at some kilometre ranges, depending on
the power and on the environment :
100 mW < 1 km
1W < 3 km
10 W < 5 km
• Not too serious for ambiguity resolution as long as
receivers continue to track the satellites, but
degrades accuracy and continuity.
OTHER KIND OF DATA LINKS

Cellular telephone
• point-to-point link
• quite expansive for long lasting communications
• already used in static mode by some surveyors
• latency performances have to be evaluated in RTK mode
Internet + cellular phone

• Interesting for big-scale networks, due to the Internet
• Addressed by some Japanese projects (InternetCar)

OTHER KIND OF DATA LINKS

New wireless technologies
• 2,4 GHz or 5 GHz (later)
• Bluetooth, 802-11 standard, Wi-Fi…
• Several architectures possible: peer-to-peer, client-
server, point-to-point, etc.
• huge development in several European countries
• strongly regulated by ART in France
• range up to 20 km with big antennas

AROF TECHNIQUES PERFORMANCES

AROF algorithms performances are of high importance for
accurate civil engineering applications:
• RAPIDITY
• ROBUSTNESS (cycle slips, interferences...)
• RELIABILITY
• RANGE
The main issue: what is the best compromise ?

TESTING RTK GPS
TESTING RTK GPS : SESSYL (1)

TESTING RTK GPS

1991 : the LCPC decides to set up an accurate positioning
systems test facility
1995 : SESSYL is operational, ready for the new RTK GPS
Principle:
• mobile carriage with 3-axis motorised platform
equipped with accurate sensors (s, ∆Z, ∆R, ∆T)
• metal track fixed on a concrete wall
• reference trajectory perfectly known in space and time
• comparison between the actual and the measured path

TESTING RTK GPS

Performances :
D° of freedom X Y Z Heading Roll Pitch
Amplitude of the 81 m 16 m 300 mm 360° ± 6° ± 6°
movements
Accuracy of the
reference < ± 5 mm < ± 5 mm < ± 2 mm < ± 0.1° < ± 0.05° < ± 0.05°
trajectory
(below 0.1 m/s)
Accuracy of the
reference < ± 1 cm < ± 1 cm < ± 2 mm < ± 0.1° < ± 0.1° < ± 0.05°
trajectory
(between 0.1 and
1 m/s)
Accuracy of the
reference < ± 3 cm < ± 3 cm < ± 4 mm < ± 0.1° < ± 0. 5° < ± 0.1°
trajectory
(above 1 m/s)

TESTING RTK GPS
Film

GPS FOR A MAJOR PROJECT
GPS FOR A MAJOR PROJECT (1)

Applications:
• establishment of new control points and setting out
• cross-sections, profiles, digital-terrain model
• building dykes, breakwaters, artificial island
• moving tunnel sections into position
• setting caissons for bridges
• navigation and positioning of dredges and pilling barges


Network of real-time GPS reference stations (LEICA)
• 5 fixed
• 1 mobile
• RTCM v.2.1
• radios for rover
470 MHz,
9600 bauds
• full integrity
monitoring
• real-time rover
accuracy : 3 cm


Integrity monitoring:
• 2 receivers, 2 radio-modems, 2 PC
• multi-station software installed on the 2 PC
• automatic switching from 1 to 2 if problem
• integrity-monitoring sequence :
zero baseline
neighbouring station 1
zero baseline
neighbouring station 2, etc.
• full back-up system (RINEX)


Real-time rovers:
• project area : 20 km x 6 km
• rover always within 10 km of
3 reference stations
• rover always within 5 km of
1 reference stations
• short distances facilitate
rapid AROF and required
real-time accuracy

GPS FOR MINING
GPS FOR MINING

GPS FOR MINING
THE MINING SITE OF THE FUTURE
Wheel Loader Surveying & GIS Truck VIMS

Ore Control Shovel Ore Control
Reference Station Radio Drill systems
CAT
Planning S/W METS Manager CAES Office
CD
GPS FOR MINING
GPS FOR AUTONOMOUS TRUCK DRIVING

CATERPILLAR
TRIMBLE
• AMT
Autonomous
Mining Truck
• From a
learned
trajectory
• With an anti-
collision radar
The two 777C trucks of 100 tons each in Arizona

GPS FOR EARTHWORKS
GPS FOR EARTHWORKS
Earthmoving machines
• bull-dozers
• excavators
• loaders
) real-time visualisation
of «cut and fill» surfaces
in relation with the
project design
) complete digital link
from design to layout
CAT CD
GPS FOR EARTHWORKS
GPS FOR EARTHWORKS: TRIMBLE (1)

TRIMBLE’S developments
First version, with 1 GPS antenna

GPS FOR EARTHWORKS

TRIMBLE’S developments
Second version, with 2 antennas: SiteVision

GPS FOR EARTHWORKS

Trimble
• Dual antennas mounted on the blade SiteVision
CD
• Rugged GPS receiver
–20 Hz Positioning • Rugged Display
–Heading –Daylight readable
color screen
–Cross-slope
–Removable data
SiteVision
• 7 channel light
display bars
• Ruggerised radio
• Installation kit

GPS FOR EARTHWORKS
GPS FOR EARTHWORKS: LEICA

DOZER 2000
Leica CD

GPS FOR EARTHWORKS
GPS FOR EARTHWORKS: MGS (1)

• MGS : Machine
Guidance Systems
• Product developed by
the French Earthmoving
company : GTM
Terrassements through
a co-operation with the
French GPS
manufacturer Thalès
Navigation
The « Rotograde 6000 » : precise
milling of the capping layer : ± 1 cm

GPS FOR EARTHWORKS
GPS FOR EARTHWORKS: MGS (2)

DRIVER :
automatic guiding
module for
equipment
(Rotograde,
grader, etc)
The same
product exists for
the surveyors:
WALKER
Man-machine interface of DRIVER
GPS FOR BRIDGE CONSTRUCTION
GPS FOR BRIDGE CONSTRUCTION (1)


• On-board
guidance
computers and
interfaces to
navigate the
operator to the
selected pile
• Production
reports and as-
built drawings


TRIMBLE
HYUNDAI
ENGINEERING and
CONSTRUCTION
SEO-KANG
GRAND BRIDGE in
SEOUL
• Accurate placement
of the desk using
Target-Structure
Software from
Trimble
EQUIPEMENT FLEET MANAGEMENT
CONSTRUCTION VEHICLE TRACKING (1)

• Market
– Major Rail and Road construction projects
– With a high number of construction machines spread
over a large area
• Objectives
– Reduce and improve vehicle movements
– Optimise hauling routes
– Improve forward planning & estimates
– Rapid earthworks bulk volumes calculation
– Better equipment utilization
– Low cost system


• FleetVision Road is a trial project
• Requires FleetVision for communication
to XCheck GPS units
• Works with design data
• Specific vehicle events
• Load/mass haul attributes
• Reporting via MS Access databases


• Position
Monitoring
• Event Monitoring Scrapers
via switches
– Blade up/down
movement
– Pusher up/down
– Cushion ride

• Dump cycle
monitored
• Load Sensors Dumper trucks
supply mass haul
information.
• Traffic Congestion
clearly identified

FleetVision & Inverse

FleetVision Differential
Road Engine
RTCM input
Reports and Survey Base
Graphs 4000ssi system
ISDN line
GSM
Schematic of the NOKKIA 9000 Placer 450

Trimble system


Main features:
• Graphical display of
design and analysed
geometry data,
• Set-up vehicle event
properties
• Vehicles can be alarmed
and change colour
depending on an event


Examples of reports
Scrapers
Dumpers

EUROPEAN PROJECTS
EUROPEAN PROJECTS: CIRC (1)

Computer Integrated Road Construction
Brite-Euram project funded by the European Community. Partners are:
Division ITMI
CIRC products are marketed by:
Two products: CIRCOM and CIRPAV

EUROPEAN PROJECTS
EUROPEAN PROJECTS: CIRC (2)
CIRCOM CIRPAV

EUROPEAN PROJECTS
EUROPEAN PROJECTS: OSYRIS (1)

10101110111
01000101101
01110001000
Geodesy
Design Production
10010101001010100011
10101011101 01110110110001010100 01001001001
10101010101 10010110111011111011 01010011011
01000101111 01101111001101001010 01010010010
Maintenance Administration
10101010100 Solution: 01010010001
00101110110 Problem:
Lifecycle
Data in of
different
a road formats 10101010100
10111010001
One data format for all processes 10111011101

EUROPEAN PROJECTS

Basic components:
• standards
• simple positioning
On-board components
• core temperature Configuration: 1 paver + 2 rollers
• communication
X=
• OB computers with cooling model Y=
Paver =
• basic configuration and documentation software N=
Roller =
T=
Options:
C=
• thickness
• evenness
• width
• volume
• weather parameters
• 3D levelling
• precise positioning
• rolling resistance
CANopen CANopen

EUROPEAN PROJECTS
One of the
configurable
OSYRIS
MMI for roller

EUROPEAN PROJECTS
One of the
configurable
OSYRIS MMI
for paver


Satellite Cns Civil Engineering and Construction Applications

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SATELLITE CNS

Civil engineering and construction

Module 12 civil engineering applications 1

2 GPS FOR CIVIL-ENGINEERING SITES

5. VARIOUS PRESENTATIONS AND DEMONSTRATIONS

Module 12 civil engineering applications 3

Module 12 civil engineering applications 4

Module 12 civil engineering applications 5

Preparation Setting-out stakes

Current link between design and work for a paving process,

Preparation Setting-out stakes

Current link between design and work for a paving process,

Ground data processing unit

PREPARATION Ground module

On-board data processing unit

Automatic control system

New link between design and work for a paving process,

Ground data processing unit

PREPARATION Ground module

On-board data processing unit

Automatic control system

New link between design and work for a paving process,

SPECIFIC CONSTRAINTS OF THE

Module 12 civil engineering applications 10

RTK GPS SPECIFIC

Module 12 civil engineering applications 11

THE CONFIGURATION OF RTK GPS

GPS base station

Module 12 civil engineering applications 12

STRUCTURE OF GPS SIGNAL (recall)

 Two pseudo-random codes

 Navigation message (containing in

Module 12 civil engineering applications 13

Emission Transfer Transfer Reception

To run along the distance Rij, the signal needs ttij

INTEGER AMBIGUITY DEFINITION

At t0, the receiver measures the

Ni j n(t1 ) ∆ d ϕij (t1 )

Module 12 civil engineering applications 15

INTEGER AMBIGUITY DEFINITION

Ni j n(t1 ) ∆ d ϕij (t1 )

Module 12 civil engineering applications 16

INTEGER AMBIGUITY DEFINITION

Ni j n(t1 ) ∆ d ϕij (t1 )

This quantity is called phase measurement Φ ij (t1 )

Module 12 civil engineering applications 17

Phase measurement model, at instant k, for satellite i:

φij = - Rij / λ + f (dti - dtj) + f (dij - δij) - εSA - Nij + εijmult + bi

Module 12 civil engineering applications 18

PHASE OBSERVABLE MODEL

Module 12 civil engineering applications 19

PHASE OBSERVABLE MODEL

Due to the propagation through the atmosphere

Module 12 civil engineering applications 20

PHASE OBSERVABLE MODEL

 From the non-synchronicity between satellite

Module 12 civil engineering applications 21

PHASE OBSERVABLE MODEL

 Its determination is the key of accurate

Module 12 civil engineering applications 22

PHASE OBSERVABLES MATRICIAL MODEL

X: vector containing all the unknown parameters

Two pseudo-random codes

Navigation message (containing in

From the non-synchronicity between satellite

Its determination is the key of accurate