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Surveying in Challenging GNSS Environments with Inertial Navigation Systems
Daniel Woodhouse BSc, P. Eng Geomatics Development Manager
Presentation Design: Royal Bissell
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Clean Harbors
Provider of Environmental, Energy and Industrial Services
NYSE:CLH
$3.4B Market Cap
10,000 employees North America Wide
HQ: Norwell, MA
Exploration Division
Provides frontend services to the Seismic Industry
Survey and Mapping
Line Clearing
Drilling
Locating
NavTech Group
Provides custom, high-precision navigation
and survey solutions for seismic vehicles
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SESIMIC EXPLORATION
What is it?
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CLEAN HARBORS EXPLORATION
What We Do
Line Clearing Survey and Mapping
Seismic Drilling Buried Utility Locating
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NAVIGATION TECHNOLOGIES
Addressing the Challenge
Survey Drilling
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STAKELESS DRILLING
Let’s simplify the process!
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STAKELESS DRILLING
Land: AccuStacker Challenges
• High attenuation of GNSS signals. Positions require long observations
• GNSS only navigation is impossible
Dense Canopy
• Survey location needs to be at drill bit, within 0.50 m 3D
• Vehicle has non-zero pitch and roll
Drill Stem Location
• Sense the state of the vehicle
• Safely disable RF transmission
Vehicle Functions
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STAKELESS DRILLING
Air: AccuDrill Challenges
• 60 cm wide metal blades “chop up” GNSS signal.
• Moved antenna to tail, but now 8m offset from hook
GNSS Blockage
• Aircraft pitch and rolls SIGNIFICANTLY during landing of equipment
• Banking during flight loses tracking on SVs
High Dynamics
• Must not distract pilot from his job: Flying, not surveying
• Position must be within 0.50 m vertically and 2.0 m horizontally
Automatic Surveying
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INERTIAL NAVIGATION SYSTEMS
True Synergy
Weak Signals from SVs
No Heading
Subject to Drift and
Sensor Noise
Relative position only
Completely self contained
3-Axis Attitude
Absolute Position (X,Y,Z)
Very Accurate (cm level)
Global Navigation Satellite System
• GPS
• GLONASS
• Etc...
Inertial Measurement Unit
• Fiber Optic Gyro (FOG)
• Ring Laser Gyro (RLG)
• Microelectromechanical (MEMS) Tightly
Coupled
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NEXTGEN ACCUSTACKER
Features
Inertial Navigation
• Full GNSS constellations (GPS and GLONASS)
• Tightly coupled inertial navigation system (INS)
• Dual antenna heading (NovAtel Align™)
• Wide range of supported IMUs
Hardware
• Robust Hardware Design
• Improved RF Network (Pseudo Cell Network)
• API runs NavTech’s own proprietary CANBus interface
• Multiple voltage sensor inputs
• NMEA output, 1 PPS, 7A switched relay
• Hardware Independence
Software
• Full-feature moving map and navigation
• Carmenta mapping engine with OpenGL hardware rendering
• QT API for rapid development turnaround
• Hazard avoidance
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STAKELESS DRILLING
Advantages
Safety
• Reduced risk exposure for crews
• Accurate position on shot holes requiring reclamation
• Known distance to water wells and structures
• Hazard avoidance
Environment
• Significantly reduces the use of flagging and lath
• Avoid Pipelines, unpermitted land, water wells, wildlife habitats, etc.
• One pass over agricultural land
Quality
• Increased accuracy
• As-Drilled survey
• Eliminates “missing” shot points
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Thank You
Questions?
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