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Implementation of WGS84 and GPSfor Marine Navigation
Dr Terry MooreInstitute of Engineering Surveying and Space Geodesy
The University of Nottingham
Implementation of WGS84 and GPSfor Marine Navigation
Dr Terry MooreInstitute of Engineering Surveying and Space Geodesy
The University of Nottingham
The Project ConsortiumThe Project Consortium
• IESSG, The University of Nottingham
• General Lighthouse Authorities– Trinity House Lighthouse Service
– Northern Lighthouse Board
– Commissioners of Irish Lights
• Port of London Authority
• United Kingdom Hydrographic Office
• IESSG, The University of Nottingham
• General Lighthouse Authorities– Trinity House Lighthouse Service
– Northern Lighthouse Board
– Commissioners of Irish Lights
• Port of London Authority
• United Kingdom Hydrographic Office
Project OverviewImplementation of WGS 84Project OverviewImplementation of WGS 84
• WGS 84 for Navigation Charts– UK Hydrographic Office
• Coordination of Port Facilities– Port of London Authority
• Coordination of Aids to Navigation– General Lighthouse Authorities
• WGS 84 as a Vertical Datum– Port of London Authority
• WGS 84 for Navigation Charts– UK Hydrographic Office
• Coordination of Port Facilities– Port of London Authority
• Coordination of Aids to Navigation– General Lighthouse Authorities
• WGS 84 as a Vertical Datum– Port of London Authority
• Precision Navigation– Port of London Authority
• GNSS Systems Integration– Port of London Authority (VTS)
– General Lighthouse Authorities (Loran-C)
• GNSS Integrity Assessment– All Partners
• Precision Navigation– Port of London Authority
• GNSS Systems Integration– Port of London Authority (VTS)
– General Lighthouse Authorities (Loran-C)
• GNSS Integrity Assessment– All Partners
Project OverviewImplementation of GPSProject OverviewImplementation of GPS
Chart Datum TransformationsChart Datum Transformations
• Test areas in UK and Ireland
• Current chart shift parameters show good agreementon average with transformed coordinates
• Variations (up to 20m at long range)
• Agreement between OSTN97and UKHO method better than 2m
• UK and Ireland OK - but what about other regions?
• What if no published datum, or known parameters?
• Test areas in UK and Ireland
• Current chart shift parameters show good agreementon average with transformed coordinates
• Variations (up to 20m at long range)
• Agreement between OSTN97and UKHO method better than 2m
• UK and Ireland OK - but what about other regions?
• What if no published datum, or known parameters?
WGS 84 as Vertical Reference DatumWGS 84 as Vertical Reference Datum
WGS84 ReferencedWGS84 ReferencedSeabedSeabed
WGS84 PositionWGS84 Positionof Vesselof Vessel
UnderkeelUnderkeelClearanceClearance
Ignores Sea, Tides etc..Ignores Sea, Tides etc..
Port of London TrialsPort of London Trials
GPS Antennas
River Thames Trial TrajectoryRiver Thames Trial Trajectory
174000
175000
176000
177000
178000
179000
180000
181000
182000
564000 566000 568000 570000 572000 574000 576000 578000
Easting (m)
Nor
thin
g (m
)
GPS Accuracy EvaluationGPS Accuracy Evaluation
Mean = 3.589 m RMS =5 mm
Height of VesselHeight of Vessel
49.5
50
50.5
51
51.5
52
52.5
53
53.5
222000 222500 223000 223500 224000 224500 225000
Time (s)
Hei
ght (
m)
GPS Heights of Survey BoatGPS Heights of Survey Boat
GPS River LevelGPS River Level
1.2
1.6
2.0
2.4
2.8
3.2
3.6
4.0
4.4
4.8
5.2
5.6
324000 329000 334000 339000 344000 349000 354000 359000 364000 369000
GPS time (second)
Height(m)
RTK GPS
Tide G auge at T ilbury
Pilot Survey of a Typical European PortPilot Survey of a Typical European Port
Aims
• Assess Quality of Existing Coordinates
• Identify Potential Problems
• Define Survey Procedure(s)
• Estimate Effort Required
• Estimate Scale and Cost of WGS84
Implementation
Aims
• Assess Quality of Existing Coordinates
• Identify Potential Problems
• Define Survey Procedure(s)
• Estimate Effort Required
• Estimate Scale and Cost of WGS84
Implementation
Port of London AuthorityPort of London Authority
River Thames
UK National GPS Network COGRUK National GPS Network COGR
Port of London VTS RadarPort of London VTS Radar
Pilot SurveyPilot Survey
SurveyedWGS84
Coordinates
SurveyedWGS84
Coordinates
TransformedNew CoordsTransformedNew Coords
PublishedVTS Radar
Coordinates
PublishedVTS Radar
Coordinates
OSGBTransformation
Parameters
OSGBOSGBTransformationTransformation
ParametersParameters
CompareCompareCompare
Quality of Existing CoordinatesQuality of Existing Coordinates
00
5050
100100
150150
200200
250250
11 22 33 44 55 66 77 88 99
Radar Site NumberRadar Site Number
Co
ord
. Dif
fere
nce
(m
)C
oo
rd. D
iffe
ren
ce (
m)
Why then no Incidents ?Why then no Incidents ?
80m, 200m, ?
Coordination of Navaids to WGS 84Coordination of Navaids to WGS 84
LighthousesLighthousesLighthousesLighthousesRadionavigationRadionavigationRadionavigationRadionavigation
BuoysBuoysBuoysBuoys
From the Air or at SeaFrom the Air or at SeaFrom the Air or at SeaFrom the Air or at Sea
Implementation of WGS84Coastal Aids to NavigationImplementation of WGS84Coastal Aids to Navigation
Thames EstuaryThames Estuary
Shannon EstuaryShannon Estuary
Sound of MullSound of Mull
1
2
3
Aids to NavigationShannon EstuaryAids to NavigationShannon Estuary
Shannon Estuary Survey ShipShannon Estuary Survey Ship
Classification of Surveyed PointsClassification of Surveyed Points
TypeType NumberNumberLighthouseLighthouse 66
Leading LightLeading Light 44Navigational LightNavigational Light 22
Radar SiteRadar Site 11Tide GaugeTide Gauge 11OSI MarkOSI Mark 77
BuoyBuoy 33OthersOthers 44TotalTotal 2828
ApproachApproach
SurveyedWGS84
Cooridnates
SurveyedWGS84
CooridnatesTransformed
to Chart CoordsTransformed
to Chart CoordsChart
CoordinatesChart
Coordinates
7 parameter OSITransformation(0.5m Accuracy)
7 parameter OSI7 parameter OSITransformationTransformation(0.5m Accuracy)(0.5m Accuracy)
CompareCompareCompare
Lights and LighthousesLights and Lighthouses
00
2020
4040
6060
8080
11 22 33 44 55 66 77 88 99 1010 1111 1212
Co
ord
inat
e E
rro
r (m
)C
oo
rdin
ate
Err
or
(m)
Reference NumberReference Number
BuoysBuoys
-50-50
00
5050
100100
150150
200200
Letter PointLetter Point Beal BarBeal Bar DoonahaDoonaha
Co
ord
inat
e E
rro
r (m
)C
oo
rdin
ate
Err
or
(m)
VTS RadarVTS Radar
945m !945m !
Brown’s Castle B’Bunnion LandmarkBrown’s Castle B’Bunnion Landmark
6534m !6534m !
However,However,
Inp
ut
Rubbish InRubbish In
Ou
tpu
t
Rubbish OutRubbish Out
Transformation
?
?
Size of the TaskSize of the Task
• Lighthouses
– THLS 67
– NLB 196
– CIL 80
• Buoys
– THLS 413
– NLB 185
– CIL 147
• Lighthouses
– THLS 67
– NLB 196
– CIL 80
• Buoys
– THLS 413
– NLB 185
– CIL 147
343
743
The Broad Financial ImplicationsThe Broad Financial Implications
Fixed Aids to NavigationRequirement 10cm AccuracyApproach Static GPS positioningProduction 5 points per day (average)Resources 2+1 staff, plus equip & mobility
Floating Aids to NavigationRequirement 10m AccuracyApproach DGPS positioningProduction 10 points per day (average)Resources 2+1 staff, plus equip & mobility
Fixed Aids to Navigation Fixed Aids to NavigationRequirementRequirement 10cm10cm Accuracy AccuracyApproachApproach Static GPS positioningStatic GPS positioningProductionProduction 5 points5 points per day (average) per day (average)ResourcesResources 2+12+1 staff, plus equip & staff, plus equip & mobilitymobility
Floating Aids to NavigationFloating Aids to NavigationRequirementRequirement 10m10m Accuracy AccuracyApproachApproach DGPS positioningDGPS positioningProductionProduction 10 points10 points per day (average) per day (average)ResourcesResources 2+1 staff, plus equip & 2+1 staff, plus equip & mobilitymobility
A Recommended Approach : NavaidsA Recommended Approach : Navaids
1) Re-Position All Fixed Facilities
2) Re-Position all Critical Floating Aids to Navigation
3) Transform Coordinates of Non-Critical AtoN
Provided the transformation is extensible
4) Verify Coordinates of Non-Critical AtoN
Preferably during routine operations
1) Re-Position All Fixed Facilities
2) Re-Position all Critical Floating Aids to Navigation
3) Transform Coordinates of Non-Critical AtoN
Provided the transformation is extensible
4) Verify Coordinates of Non-Critical AtoN
Preferably during routine operations