Kongsberg Seatex

DPS
Differential Positioning System
System Description

1
 DPS System - Revision History

Revision Date Written by Date Controlled by

A 12-03-01 JAN
B 04-09-02 OEM 04-10-02 AR
C 20-01-03 TMO
D 12-04-06 TMO

History Changes
A First issue
B New layout, changes to several slides
C New layout, changes to several slides
D Add GPS Hd. And Sat. Prediction, changes to several slides

2
 DPS System - Product Characteristics

The DPS has specifically been developed to serve as a position

reference system for DP applications.

Position data output from the system are unfiltered and are referenced
to the GPS antenna position.

The Seatex Differential Positioning Systems (DPS) uses GPS and/or

GLONASS data to compute position data.

DPS systems can also utilize dual frequency GPS data that
compensates for the ionospheric delay errors.

Position accuracy, 1 m, 95% CEP.

3
 DPS System - Product Characteristics

The DPS software is UKOOA/IMCA compliant which means that

computed positions comply with recommendations stated by The
Surveying and Positioning Committee of the UK Offshore Operators
Association.

Multi-reference station DGPS solution

A maximum number of 24 (default 12) reference stations can be used
simultaneously to perform differential correction of user range data.

Multi link functionality

Several links of DGPS data can be input simultaneously (e.g. IALA,
UHF, Inmarsat and Spotbeam corrections) enabling fully advantage of
the multi-reference station DGPS position calculations.

4
 DPS System - Product Characteristics

Navigation mode (option on all DPS products) enables input of routes

with waypoints and legs. When a route is selected, the following is
displayed:

- WPT: Route name and waypoint number.

- ETA: Estimated Time of Arrival to the last waypoint in the route
(hours & minutes).
- XTE: Cross-Track-Error, distance from vessel present position to
closest point on active leg (meters).
- CMG: Course Made Good, heading from vessel present position to
active waypoint (degrees).
- DTG: Distance To Go, remaining distance of the current leg
(nmiles).
- TTG: Time To Go, remaining time of the current leg (minutes &
seconds).

5
DPS System - Iono Disturbance

In periods with ionospheric disturbances it's necessary to

minimize the risk of GPS data being lost.
The DPS products includes a feature that enables track of
satellites even in periods with severe ionospheric disturbances.

6
 DPS System - Iono Disturbance

Since the ionospheric activity varies around the world, a feature called
Advanced options is implemented in order to avoid range data from
being rejected in the final position calculation due to ionospheric
disturbances.

7
 DPS System - Position Accuracy - EPE Number

The EPE Number:

An ellipse describing the 95% confidence level of
the position.
This means that 95% of the position solutions
will have an error inside the boundaries of the
ellipse.

The direction of the ellipse also indicates in

which geographical direction the probability of
the position error is greater and smallest.

Both the EPE number and the DQI figure

indicates position accuracy and reliability.

8
 DPS System - The Normal Distribution

The "Standard deviation" is the most commonly used accuracy measure in positioning.

Relationship between standard deviation

1 and probability (2 dimentional case)

Multiples of Probability
1 63-68%
2 95-98%
3 99%
-4 -3 -2 -1 0 1 2 3 4
Random errors have the property that if enough
observations are made there will be equal probability
of negative and positive errors.

The area under the curve represents all potential

random error outcomes according to the theory of
Normal Distribution.

9
 DPS System - Accuracy & Reliability - DQI Figure

DQI Status of Solution Precision (95%) Comments

0 Failed solution N/A
1 Uncorrected N/A Position solved but no
differential corrections applied.
2 Corrected position but N/A Min. DGPS/DGLONASS
no redundancy solution, unreliable.
3 Corrected position Poor Poor satellite geometry (DOP)
Reduncancy of 1
4 Corrected position < 10 m Adequate DOP/satellite
Redundancy observation >1 geonetry.
5 Corrected position < 10 m Ability to reject outlier.
Redundancy observation >2 Poor DOP.
6 Corrected position < 10 m Ability to reject outlier.
Redundancy observation >2 Gradual improvement in DOP.
7 Corrected position <4m Ability to reject outlier.
Redundancy observation >2 Gradual improvement in DOP.
8 Corrected position <2m Ability to reject outlier.
Redundancy observation >2 Gradual improvement in DOP.
9 Corrected position < 0.5 m Ability to reject outlier.
Redundancy observation >2 Gradual improvement in DOP.

10
 DPS System - Summary - Product Characteristics
Features DPS 116 DPS 132 DPS 200 DPS 700
GPS receiver x x x x
DGPS functionality x x x x
SBAS x x x
GLONASS receiver x x
DGLONASS functionality x x
- Combines DGPS & DGLONASS x x
Dual frequency GPS receiver x x
- Iono delay compensation* x x
Multi-reference station input x x x x
Multi-DGPS link functionality x x x x
Multi-serial lines for output data x x x x
Navigation functionality** x x x x

* Based on reception of ionospheric delay messages from reference stations.

** Option - included on request.

11
 DPS System Description
Display Windows & Menus

12
 DPS System - Main Display Windows

Target Monitoring Display:

Displays position data, reported accuracy and quality numbers as well
as vessel position relative a target.

Satellites in Sight Display:

Displays the satellites position on the sky as well as providing other
space vehicle parameters.

Navigation Display:
Different types of information. Mainly used during en route navigation.

Reference Station List:

Contains information about received and used reference stations.

13
DPS System - Main Display Windows

14
 Heading functionality

GPS based heading computed between

two GPS antennas on a vessel
Based on raw data, pseudorange and
carrier phase.
Two DPS/DARPS systems necessary
GPS data transmitted between the two
systems via serial line
Possible to output GPS heading via
serial line
Used to check and verify gyro heading
Not approved as a heading device
Does not replace a gyro

15
Heading functionality

16
 Satellite prediction

Safety operations - GPS

- Poor satellite coverage during some periods in some areas due to the
nature and design of GPS.
- Shadowed satellites and decreased number of satellites available when
operations is close to large structures.
- Major risk for safety operations.

Satellite prediction
- Helpful tool to plan an operation where good accuracy throughout the
operation is necessary.
- Help the operator to plan when a safety operation could take place and
identify periods of poor satellite geometry.

17
Satellite prediction

18
DPS System - Other Menus for System Setup

19
DPS System Description
Computation of Absolute
Position Data

20
 DPS System -Position Calculation using DGPS

The DPS systems uses all available GPS and/or GLONASS satellites to compute
position data.

With access to more that 5 satellites the system is able to

reject faulty observations from the position calculation.

The DPS systems can utilize correction

data from up to 24 (default 12) DGPS/
DGLONASS reference stations Torshavn (610 km)
simultaneously to compute position
USER
data. Rogaland (230 km)

Most weight is put on corrections from

the nearest reference station (Rogaland) Aberdeen (280 km)
and least weight on the furthest Leidschendam (720 km)
reference station (Leidschendam).

21
 DPS System - Height Aiding Functionality

When only 3 satellites are tracked by the DPS system the height component (height
above the ellipsoid) becomes fixed and from a practical point of view, the fixed height
can be seen as an extra "satellite observation".

When height aiding is active onlylatitude,

longitude and time is solved.

GPS Antenna Height

above sea level

Geoid

Ellipsoidal height
Geoidal Height
measured by GPS
derrived from model
Ellipsoid

22
 DPS System - Elevation Mask and Range Limit

Editing the ELEVATION MASK Parameter

When satellites are arising and - at the same time - descending on the
horizon it may be necessary to lower the elevation mask in order to
ensure sufficient number of satellites and geometry.
This can be done by launching the system set-up file and edit the
Elevation Mask parameter.

Editing the DIFFCORR RANGE LIM Parameter

In order to receive the desired reference stations ensure that the
Diffcorr Range Limit parameter is set such that reference stations to
be used are not further away than the range limit number.
First, launch the Set-up file:

23
 DPS System - Elevation Mask and Range Limit

!---------------------- SATELLITE AND FIX COMPUTATION RELATED -----------------*

! General GPS settings:
!
! ELEVATION MASK [deg] The limit for minimum satellite elevation allowed
! in fix computation

[GPS]
ELEVATION MASK 10
HDOP LIMIT 10
PDOP LIMIT 100
HEIGHT AID 2
AIDED STDV 100.0
AIDED HEIGHT 0.0
DIFFCORR AGE LIM 30
DIFFCORR RANGE LIM 3000

Password is stx

24
DPS System - Updating the DPS Set-up File

In order to confirm the changes, answer

Yes and the parameters are updated in
the system.
25
 DPS System - Data Output to the DP System

Position data to the DP system is output on the National Marine

Electronics Association (NMEA 0183) data format. The data are:

- UTC time of position

- Latitude of GPS antenna position
- Longitude of GPS antenna position
- GPS quality indicator (0=No fix, 1=GPS fix, 2=DGPS fix)
- Number of GPS satellites
- HDOP
- GPS antenna height above Mean Sea Level
- Geoidal height
- Age of differential corrections
- ID of reference station

26
 DPS 700
Product Characteristics

27
 DPS System - DPS 700 Main Characteristics

12 channel dual frequency GPS Z-Eurocard receiver (DPS 132 unit).

24 channel GPS / GLONASS GG24 receiver (DPS 200 unit).

Interface of Inmarsat and Spotbeam / HighPower DGPS input.

SBAS interface to both the DPS 132 and DPS 200

Interface of IALA corrections from the maritime beacons and UHF corrections
from the Petrobras DGPS service (Brazil).

Transmission of DGPS corrections compensated for the ionospheric delay

errors from DPS 132 to DPS 200.

Multiple com ports for output of position data to DP system and other systems
requiring position data.

28
 DPS System - DPS 700 Main Components

Monitors
Displaying DPS 102 and DPS 200 data.
Monitor Monitor

Keyboard & Keyboard Switch

Switch between operation of the DPS 102 and DPS 200.
Keyboard

DPS 102
Seatex DPS 102
Positioning System using dual frequency GPS receiver
technology.
SEATEX DARPS 100

DPS 200
Seatex DPS 200
Positioning system using single frequency GPS &
GLONASS receiver technology.
SEATEX DARPS 100

PWR TXD RXD

UHF Transceiver Module SEATEX
UHF Receiver
For reception of DGPS from the Petrobras UHF service.
Spotbeam & Inmarsat Demodulators
For reception of differential corrections.

29
 DPS System - Iono Compensated Corrections

On the DPS 200 display DGPS data compensated for the ionospheric delay
errors between reference station and user location are received on Link 5.

The corrections are received on the RTCM data format and in the column
Iono you can check whether or not the received corrections have been
compensated for the ionospheric delay errors or not.

30
DPS System - DPS 700_200 TMS Display Window

31
 DPS System - DPS 700 Interfaces
Input Data:
DGPS corrections
DGPS & DGLONASS corrections
DGPS corrections + ionospheric delay message
DGPS corrections
DGPS corrections

SBAS Output Data:

GPS antenna
DPS 132 Position data
IALA beacon Dual frequency compensated for
antenna GPS receiver & IALA ionospheric
beacon receiver decorrelation
Inmarsat
demodulator DGPS Corrections compensated
for ionospheric delay errors
Spotbeam Position data
demodulator
compensated for
DPS 200
GPS/GLONASS single ionospheric
frequency receiver scintillation's and
decorrelation
UHF 465
radio

32