GPS KINEMATIC APPLICATIONS & HYDROGRAPHY

Transcription

1 GPS KINEMATIC APPLICATIONS & HYDROGRAPHY ROCK SANTERRE, Ph.D., QLS, P.Eng. DÉPARTEMENT DES SCIENCES GÉOMATIQUES UNIVERSITÉ LAVAL

2 HYDROGRAPHY = MARINE GEOMATICS 2 Design Planning Acquisition Processing Modelling Visualization Analysis Updating Fusion Quality control Dissemination Surveying Geodesy GPS Photogrammetry Remote Sensing Digital Mapping GIS Spatial DB Cadastre Economics Environment Management Health & Safety Santerre, Département des sciences géomatiques

3 GPS SHIP BERTHING 3 Adapt the GPS-OTF algorithms for precise ship berthing Determine ship s position, velocity and attitude Provide suitable information to an electronic map during ship s docking operations Ueno et Santerre, Département des sciences géomatiques

4 RESEARCH PROJECT: GPS SHIP BERTHING N Berthing loops at Trois-Rivières harbour 100 m Ueno et Santerre Ueno et Santerre, Département des sciences géomatiques

5 COMPARISON OF POSITIONS (GPS vs Total station) 5 (m) 3.05 Altitude GPS Squat Squat Time (min) (m) Position Height Distance (m) (m) Ueno et Santerre, Département des sciences géomatiques

6 GPS SHIP BERTHING ATTITUDE DETERMINATION 6 Yaw ( ) Yaw Differences (GPS-TSS or Gyro) Mean RMS Roll ±0.44 Pitch ±0.34 Yaw 0.01 ±0.60 Yaw difference Yaw diff. ( ) Elapsed time (min) Ueno and Santerre

7 7 UNDERKEEL CLEARANCE Information about underkeel clearance is required in order to : Insure ship s driveability Protect the ship s keel and the seaway Protect the environment Morse, Michaud, Santerre et al., Université Laval

8 SQUAT AND UNDERKEEL CLEARANCE 8 WATER LEVEL DRAUGHT TIDE WATER LEVEL CHART DATUM UNDERKEEL CLEARANCE Illustration: Garde côtière canadienne Morse, Michaud, Santerre et al., Université Laval

9 MEASURED SQUAT IN THE WATERWAY 9 Near Montréal s harbour Morse, Michaud, Santerre et al., Université Laval

10 WATER LEVEL DETERMINATION WITH GPS 10 Comparison of GPS (ellipsoidal) heights and interpolated water levels from SINECO (COWLIS) tide gauges 11,27 m Michaud, Santerre et Condal Michaud, et Santerre, Département des sciences géomatiques

11 WATER LEVEL WITH GPS 11 Difference of GPS (ellipsoidal) heights and interpolated water levels from SINECO (COWLIS) tide gauges Not corrected for squat (cm) Total Ebb Flood Mean RMS ±7.1 ±8.5 ±4.5 RSS ±9.1 ±12.5 ±5.5 Corrected for squat (cm) Total Ebb Flood Mean RMS ±7.3 ±9.2 ±5.2 RSS ±7.4 ±9.5 ±5.3 Michaud, Santerre et Condal

12 OTHER HYDROGRAPHY PROJECTS 12 Processing and filtering of bathymetric data Kriging and Voronoi interpolation of bathymetric data Kalman filtering of tidal data Analysis of SINECO tidal data Determination of river high water line Precise GPS navigation (GEOIDE NCE project) Ship squat determination using RTK-GPS Multi-antenna GPS attitude determination GPS-PPP (Precise Point Positioning) Autre photo N.B.: M.Sc. and Ph.D. theses can be written in French or English Santerre, Département des sciences géomatiques

13 GEOMATICS (HYDROGRAPHY) MUSEUM 13 Located at Pavillon Casault, Laval University or Santerre, Département des sciences géomatiques

14 ATHLETE S PERFORMANCE MONITORING 14 Adapt GPS-RTK system (in inverse mode) for high accuracy monitoring Determinate the (3D) position, velocity and acceleration Visualize GPS results along with video camera, heart beat and wind speed measurements Lambert et Santerre, Département des sciences géomatiques

15 CANOE-KAYAK GPS TEST 15 Speed Coefficient de corrélation: T = 1.25 s T = 0.63 s Altitude T = 1.25 s Hertz Speed Hertz Lambert et Santerre, Département des sciences géomatiques

16 BICYCLE TRACK (VELODROME) GPS TEST 16 Speed Heart beat Lambert et Santerre, Département des sciences géomatiques

17 FURTHER INFORMATION 17 Visit our Web sites: Laval University: Geomatics Department: GPS group: CRG: GEOIDE NCE: R. Santerre, CHC 2010 Québec City, June 21 juin, 2010