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Development of precise point positioning algorithm to support advanced driver assistant functions for inland vessel navigation

Lass C., Ziebold R.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2021

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Vol. 15 No. 4

781--789

EN

Bridge passing and passing waterway locks are two of the most challenging phases for inland vessel navigation. In order to be able to automate these critical phases very precise and reliable position, navigation and timing (PNT) information are required. Here, the application of code-based positioning using signals of Global Navigation Satellite Systems (GNSS) is not sufficient anymore and phase-based positioning needs to be applied. Due to the larger coverage area and the reduction of the amount of correction data Precise Point Positioning (PPP) has significant advantages compared to the established Real Time Kinematic (RTK) positioning. PPP is seen as the key enabler for highly automatic driving for both road and inland waterway transport. This paper gives an overview of the current status of the developments of the PPP algorithm, which should finally be applied in advanced driver assistant functions. For the final application State Space Representation (SSR) correction data from SAPOS (Satellitenpositionierungsdienst der deutschen Landesvermessung) will be used, which will be transmitted over VDES (VHF Data Exchange System), the next generation AIS.

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Long term validation of high precision RTK positioning onboard a ferry vessel using the MGBAS in the Research Port of Rostock

Ziebold R., Gewies S.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2017

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Vol. 11, no. 3

433--440

EN

In order to enable port operations, which require an accuracy of about 10cm, the German Aerospace Center (DLR) operates the Maritime Ground Based Augmentation Service (MGBAS) in the Research Port of Rostock. The MGBAS reference station provides GPS dual frequency code + phase correction data, which are continuously transmitted via an ultra-high frequency (UHF) modem. Up to now the validation of the MGBAS was rather limited. Either a second shore based station was used as an artificial user, or measurement campaigns on a vessel with duration of a few hours have been conducted. In order to overcome this, we have installed three separate dual frequency antennas and receivers and a UHF modem on the Stena Line ferry vessel Mecklenburg-Vorpommern which is plying between Rostock and Trelleborg. This paper concentrates on the analysis of the highly accurate phase based positioning with a Real Time Kinematic (RTK) algorithm, using correction data received by the UHF modem onboard the vessel. We analyzed the availability and accuracy of RTK fix solutions for several days, whenever the ferry vessel was inside the service area of the MGBAS.

3

Initial Realization of a Sensor Fusion Based Onboard Maritime Integrated PNT Unit

Ziebold R., Dai Z., Lanca L., Noack T.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2013

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Vol. 7, no. 1

127--134

EN

This paper introduces the basic concept of the Position Navigation and Timing (PNT) Module as future part of a ship side Integrated Navigation System (INS). Core of the PNT Module is a sensor fusion based processing system (PNT Unit). The paper will focus on important aspects and first results of the initial practical realization of such a PNT Unit, including a realization of a Consistent Common Reference System (CCRS), GNSS/IMU tightly coupled positioning results as well as contingency performance of the inertial sensors.

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Concept for an Onboard Integrated PNT Unit

Ziebold R., Dai Z., Noack T., Engler E.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2011

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Vol. 5, no. 2

149--156

EN

A robust electronic position, navigation and timing system (PNT) is considered as one of the core elements for the realization of IMO-s (International Maritime Organization) e-Navigation strategy. Ro-bustness can be interpreted as the capability of an integrated PNT system to provide PNT relevant data with the desired accuracy, integrity, continuity and availability under consideration of changing application condi-tions and requirements. Generally an integrated PNT system is a composite of service components – like GNSS, Augmentation Systems and terrestrial Navigation Systems – and an on-board integrated PNT Unit, which uses the available navigation and augmentation signals in combination with additional data of sensors aboard to provide accurate and robust PNT information of the ship. In this paper a concept of such an on-board integrated PNT Unit will be presented, which is designed to fulfill the specific user requirements for civil waterway applications. At first, the user requirements for an integrated PNT Unit will be overviewed. After that, existing integrity monitoring approaches will be analyzed. Finally, a first integration scheme for an integrated PNT Unit will be presented with a special focus on the internal integrity monitoring concept.