Intro to GNSS

DPS range (132/232/4D/5D)

GNSS+INS (4D/5D Performance)
Recommendations
DPO DGNSS Check List
WORLD CLA SS – through people, technology and dedication
 GNSS INTRODUCTION
GPS – GLONASS

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 GPS principles
Position determination by triangulation

/ 3/ 30-May-12
 Effect of satellite availability: DOP (Dilution of Precision)

No of satellites
12
11
10
9
8
7
6
5
4
3
2
1

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Time
Increasing DOP number Decreasing DOP number In general - position
accuracy degrades with
Decreasing Increasing position
loss of satellites!
position accuracy! accuracy!

/ 4/ 30-May-12
 Satellite reference systems

GNSS CHALLENGES

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 GNSS challenges
GPS – GLONASS

 Ionospheric disturbance (present/upcoming solar activity)

 Satellite outages

 Interference/Installation

/ 6/ 30-May-12
 GNSS Range Error sources

/ 7/ 30-May-12
 Ionospheric disturbance SPOTBEAM
(Sun Spot Cycle 24)
Disturbance to GNSS signals
due to rapid variations
(scintillation) in the earths
ionosphere

Scintillation might degrade

position solution due to loss
of GNSS signals and unstable
GNSS geometry

Affects areas close to

geomagnetic equator and
polar regions

Spring and fall are periods

with highest intensity
(March/April –
October/November)

During the day, sundown and sunrise are normally the

periods with most scintillation. Duration varies from
minutes to hours.

/ 8/ 30-May-12
 Sunspot cycle 24

100 days/year

10 days/year

/ 9/ 30-May-12
 Sunspot cycle 24

 Plasma Bubbles:

– Plasma density depletion

region which appears in
the equatorial ionosphere.

– Generated after sunset

and may last for a few
hours

– Extends 5000 km N/S and

100 km wide E/W

/ 10 / 30-May-12
 Sunspot cycle 24 - status

/ 11 / 30-May-12
 GPS - evaluation of the future situation

Significant challenges in sustaining and upgrading GPS

Currently 31 healthy satellites - DoD is only committed to a 24-

satellite constellation

A number of satellites are well-beyond their design life

Delays in new satellite development

A drop of 2-3 satellites will affect performance (HDOP holes)

/ 12 / 30-May-12
 HDOP – ’Holes’

2 February 2010 North Sea

31 March 2010 Canada

27 April 2010 GoM

29 April 2010 Canada

HDOP

/ 13 / 30-May-12
 GLONASS - evaluation of the future situation

23 operational Glonass satellites + 1 in commissioning

3 in maintenance (total 27)

Full constellation of 24+ satellites by 2011

GLONASS will be even more important in order to maintain

an acceptable GNSS availability

The importance of available GLONASS corrections is

higher due to the increased dependency of GLONASS

/ 14 / 30-May-12
 Northern Lights (Aurora Borealis) – GPS+GLONASS

/ 15 / 30-May-12
 Interference – increasing problem

Radio frequency interference and GPS is a growing concern

• Sat C
• Sat V
Accidental
• Iridium

• Jamming might be considered a

Intentional threat in the future

GNSS is sensitive to interference and jamming due to low signal level

/ 16 / 30-May-12
 Kongsberg Seatex High Precision GNSS systems

DPS 132 / 232 / 4D /5D

/ 17 / 30-May-12
 Kongsberg Seatex High Precision systems:

Common features:
• True Multi-Reference NAV Engine software which utilize dual-
frequency GNSS signals and all available DGNSS correction signals
simoultanesly, seamless and automatically without user interactions.
• Tailor made and safe user interface for advanced DP operations
• High integrity and robustness built-into hardware and software
• Flexible hardware configuration
• Extended interface options
• Upgradeable
• World wide support

• SKETCH PRINCIPLES ON WHITEBOARD

/ 18 / 30-May-12
 Kongsberg Seatex High Precision systems:

DPS 132:
• DUAL frequency GPS reduces effect of ionosphere activity

GPS
L1/L2

Gyro interface Position output

Nav Engine
(core navigation software)

SBAS High
WAAS/EGNOS/ Precision
MSAS XP/HP/G2
Standard
IALA
RTCM
Petrobras
UHF

True Multi-Reference NAV Engine software which utilize GPS L1/L2

signals and all available DGNSS correction signals simultaneusly

/ 19 / 30-May-12
 Kongsberg Seatex High Precision systems:

DPS 232:
Additional capabilities to the DPS 132:

GPS+Glonass advantages L1/L2:

• Addition of dual-frequency GLONASS increases availability under
difficult GNSS conditions (reduced GNSS satellite coverage)
GPS/GLONASS
L1/L2

Gyro interface Position output

Nav Engine
(core navigation software)

SBAS High
WAAS/EGNOS/ Precision
MSAS XP/HP/G2
Standard
IALA
RTCM
Petrobras
UHF

True Multi-Reference NAV Engine software which utilize GPS + Glonass L1/L2 signals
and all available DGNSS correction signals simultaneusly

Application: Installations requiring high uptime during diffecult GNSS conditions

/ 20 / 30-May-12
 Kongsberg Seatex High Precision systems:

DPS 4D:
Integrated GNSS+IMU advantages:

• IMU integration allows for position calculation in periods with

reduced GNSS availability (less GNSS satellites, reduced
geometry, rapid changes in availability/geometry)

• Back-up Position and Velocity for a limited period of time

during periods with no GNSS signals available

• Integrity Check of GNSS data

• GNSS Tracking loop aiding and reduced re-acquisition time enhances position
availability and stability
• Enhanced RAIM capabilities (reduces the effect of multipath)
• Reduced risk of re-initialization for High Precision solutions (JPL-
XP/HP/G2)
• More reliable and accurate lever arm compensation of Position and Velocity

/ 21 / 30-May-12
 Kongsberg Seatex High Precision systems:

DPS 4D signal processing:

True Multi-Reference NAV Engine software combines INS and GPS + Glonass L1/L2
signals and all available DGNSS correction signals simultaneusly

Application: Installations that requires high uptime under diffecult GNSS conditions,
(areas with high ionospheric activity, interference, signal disturbance, etc.)

/ 22 / 30-May-12
 Kongsberg Seatex High Precision systems:
DPS ‘5D’ signal processing:

True Multi-Reference NAV Engine software combines INS and dual GPS + Glonass L1/L2
signals and all available DGNSS correction signals simultaneusly

Application: Installations that requirers high uptime under diffecult GNSS conditions,
(areas with high ionospheric activity, interference, shading/signal disturbance, periodic
signal blocking of one of the GNSS antennas (crane operations, etc.)

/ 23 / 30-May-12
 Kongsberg Seatex High Precision systems:

DPS ‘5D’:
Additional capabilities to the DPS 4D:

Integrated Dual GNSS+IMU advantages:

• Additional built-in GNSS sensor further improves

• redundancy
• availability
• integrity
by utilizing 2 independent sets of GNSS measurements from
independent GNSS sensors with separate antenna locations
• GNSS sensors are of different type for enhanced robustness
• DPS ‘5D’ provides GNSS based heading

/ 24 / 30-May-12
 Kongsberg Seatex High Precision GNSS systems

DPS 4D/5D PERFORMANCE

/ 30 / 30-May-12
 DPS 4D/5D performance:
Satellite signal blocking
• Large shadow sector
• Standard DGPS corrections
• No HDOP mask
• Spikes in DGPS positions
• DPS 4D variations follow
vessel movement

/ 31 / 30-May-12
 DPS 4D/5D performance:
Measurement noise
• Noise simulation on GPS
measurements
• Position errors in DGPS
solution
• DPS 4D variations follow
vessel movements

/ 32 / 30-May-12
 Standard GNSS: Re-aqusition of satellite signal

Normal situation, Loss og signal, re- Loss of signal during re-aqusition,

stable signal aqusition time until
extended time until stable
reception stable reception
reception

GNSS position
Loss of position

/ 33 / 30-May-12
 Re-aqusition – Improved GNSS

Normal situation,
stable signal
reception Improved signal tracking
loops reduces re-acqusition
time
Standard GNSS
Improved GNSS receiver

/ 34 / 30-May-12
 Re-aqusition– Improved GNSS and IMU

IMU bridges
gaps in satellite
signal reception

Normal situation, Loss og signal, re-aqusition

stable signal time until stable reception
reception

Improved signal tracking

loops reduces re-acqusition Standard GNSS
time Improved GNSS receiver
Improved GNSS + INS

/ 35 / 30-May-12
 Position comparison DPS 132/232/4D

/ 36 / 30-May-12
 DGPS configuration and installation
• GPS antenna location
Ensure proper GNSS signal tracking:
• Avoid shading
• Avoid risk of interference (Sat C, Sat V,
TV, Iridium, etc).
• Installation quality (cables, connectors,
etc.)

• GNSS system configuration

Configure for diversity and redundancy
• GPS
• GPS/Glonass
• GPS/Glonass + INS

• Correction services
Configure for diversity and redundancy
• Free services (IALA, SBAS, UHF)
• Standard RTCM
• High Precision, (JPL/HP/G2)

/ 38 / 30-May-12
 Rig designs

/ 39 / 30-May-12
 Drill ship 3 system setup

/ 40 / 30-May-12
 Semi 3 system setup

/ 41 / 30-May-12
 Semi 3 system setup (2 antenna loc.)

/ 42 / 30-May-12
 Semi 3 system setup (3 antenna loc.)

/ 43 / 30-May-12
 Recommendations 3 system setup

• GNSS system configuration for drilling

• System diversity (different types of GPS systems)

1) DPS 4D/5D - GPS+GLONASS L1/L2 +INS

2) DPS 232 - GPS+GLONASS L1/L2
3) DPS 132 - GPS L1/L2

• Differential correction configuration

DPS 4D/5D/232: SeaSTAR G2 (GPS+Glonass L1/L2)
SBAS, IALA, Petrobras UHF (Brazil)
DPS 132: SeaSTAR XP
SBAS, IALA, Petrobras UHF (Brazil)

/ 44 / 30-May-12
 Semi 3 system setup – correction distribution bridge

/ 45 / 30-May-12
 Semi 3 system setup – correction distribution backup

/ 46 / 30-May-12
 Correction distribution ‘signal backup’

/ 47 / 30-May-12
 DPO check list

• Antenna locations GPS, Inmarsat and Spotbeam

• Shading sectors/blind spots
• Consequence of heading change
• Elevation and azimut to correction satellites

• Check for navigational warnings rgds. GPS

• USCG www.navcen.uscg.gov
• Fugro website www.starfix.com, www.seastar.co.uk

• Check for Sun Spot Activity reports/predictions

• SWP: www.swpc.noaa.gov/SolarCycle/

/ 49 / 30-May-12
 DPO check list

• Start of watch/before critical operation

• Satellite availability and geometry using Satellite Prediction
Tool on the DPS systems

/ 50 / 30-May-12
 DPO check list

• Status on all systems (alarms/warnings, etc.) once pr.

watch

• DPS performance
• Error ellipse (size and color)
• DQI bar (min 7)
• Age of corrections

• Check signal level on

demodulators
• min 4 bars are required

• Trim/roll/pitch:
• Check tolerance for trim/roll/pitch on optimal and non-
optimal heading
• Check impact of heading change (local shading in derrick)
/ 51 / 30-May-12
 Questions/comments ?

• Check ……….
• ….and ….
• ………and…..

/ 52 / 30-May-12
 DPS 4D vs. HAIN

If conditions are:
• Deepwater operations……
• Acoustic noise
• high thruster usage,
• weather………….
• Difficult GNSS conditions
• sun spot activity……(Brazil, Africa, equatorial areas)
• satellite availability)…………

• Combination of DPS 4D and HAIN provide robust,

reliable, complementary position reference
solution

• DPS 4D/5D + HAIN = EXTENDED OPERATION

/ 53 / 30-May-12
 Thank you Obrigado Takk (Tusen takk)

/ 54 / 30-May-12