Maritime test campaign methodology
Contents
1. Settings RINEX Version 2 1 RINEX Version 3 0 W Add sequence number in IGS output file name i Add comments in the RINEX file from the Comment SBF blocks Insert a start moving event after header S Figure 23 RINEX conversion options To summarize the GPS raw data is provided through Rinex and the EGNOS messages through an ASCII text file in the format as stated 6 1 Settings This section details the configuration dialog of the software package used to log the raw data on RX4 or RX6 The software package comes with the receiver and is named RXLogger The first tab to be configured is called Global Company Confidential DKE Aerospace 26 of 32 File Naming Post Processing Log Directory Path Message Types To Log SBF Messages E NMEA Messages Log Schedule GNSS time startat 07 03 2012 09 10 00 H E Stopat 07 03 2012 10 10 00 G From manual start until manual stop Startup Script Send Script At Startup Figure 24 RX4 RX6 Settings Global In the global tab see Figure 24 the path were the raw data file and or the NMEA data file shall be stored can be defined as well as the messages to be logged Both message types SBF and NMEA are going to be used in order to get the data required for the analysis described in section 5 This will create xy_ file containing the raw data as well as the xy1 file containing the NMEA data The other se2. Maximum age of RTK data 20 0 sec Datum Maximum age of dock and orbit corrections 300 0 sec Maximum age of iono corrections 300 0 sec Static Position Cartesian PVT Mode SBAS Corrections Cartesian Cartesian2 Network RTK Configuration SBAS Corrections Usage 0 0000 m gt aA 0 0000 m ae Ecnos RTK network type auto VRS 0 0000 m 0 0000 m 0 0000 m fe 0 0000 m SIS Mode Test Operational Navigation Mode EnRoute PrecApp LBAS1 PPP Configuration DO229 Version auto DO229C PPP correction type ULTRA APEX Figure 16 RX4 settings Positioning Mode The explanations given subsequently are mostly from the Septentrio user manual or help pages The references to those are not provided each time for readability reasons It is not intended to copy information or violate copy rights Therefore this notice is provided Further the Navigation menu provides access to Company Confidential DKE Aerospace 17 of 32 gt Receiver Operation gt Tracking gt gt gt Masks Position gt Vv Vv VW gt Multipath Mitigation kept off Smoothing kept off Elevation Mask PVT 10 Tracking 0 Satellites under the PVT mask are not included in the PVT solution though they still provide measurements and their navigation data is still decoded and used The PVT elevation mask do apply to the SBAS satellites the ranges to SBAS satellites under the elevation mask are not use
3. SBF tab of the settings of the software RXLogger the L band related data see Table 11 is recorded through enabling the respective check marks Name LBandTrackerStatus LBAS1DecoderStatus LBAS1Messages Content description Status of the L band signal tracking Status of the LBAS1 L band service LBAS1over the air message Table 11 L band data recording Note It is important to store the log files of RX4 and RX6 in different folders to avoid the files being overwritten Company Confidential DKE Aerospace 22 of 32 5 Data analysis The data analysis is to be separated dependent on the output of the receiver The minimum information that can be expected to be output by each of the used receivers is the NMEA0183 RMC sentence In this sentence the position is included and therefore a comparison of the different receivers is possible The raw data recording is not included in this section please refer to section 6 instead An example for the content of a NMEA0182 RMC sentence is shown in Figure 20 SGPRMC 135849 A 4740 32106 N 923 10369 E 0 023 210212 D 70 Figure 20 Sample NMEA0183 RMC sentence After the sentence identifier the GPS time of week is shown The important information is in fields four to seven since it contains the position This position is converted into the UTC format Northing and Easting and from there the error of the respective receiver is calculated against the reference receiver RX6 for those rece
4. Kinematic test end 13 30 14 00 00 h 30 min Equipment packing 14 15 a ee Departure Return boat Static test duration Kinematic test duration Table 2 Test day timing half day morning Company Confidential DKE Aerospace 6 of 32 Time end 13 00 Duration Activity aa Arrival Boat pick up 13 15 13 45 00 h 30 min Equipment set up on the boat 14 00 14 45 00 h 45 min Warm up Phase Veripos service 30min 15 30 Departure harbor Kinematicteststart Po 98 30 O38 HOO Min Arrival harbor Kinematic test end asas eeparture Return boat Static test duration Kinematic test duration Table 3 Test day timing half day afternoon The timing is put with some room in order to allow for a certain probability that the tests can be executed according to the schedule in case of any delays The half day test can be executed in the morning plan see Table 2 or shifted to the afternoon in case of arrival in the morning plan see Table 3 The static test to be performed is to be carried out with the equipment mounted on the ship but before the ship leaves the harbor This way the correct performance of the equipment can be checked Also EGNOS can be validated to be working properly The ESSP service site will be accessed at the day of testing to check for the current state of EGNOS The exact assessment of the EGNOS performance cannot be done as is not a goal of the tests to be performed it is an assessment of the usability of
5. Test methodology DL 3 Selection of receivers to be tested rationale supporting the choice DL 4 Selection of Test scenarios Test sites DL 5 Presentation of the test procedure and test data to be gathered Assessment of EGNOS potential in the maritime and inland waterways transport sector Specific Contract No 3 under DG ENTR s Framework Contract ex TREN G4 475 1 2009 Company Confidential and for internal use only Reference EC SCNo3_HLD TM Created Date By v 0 1 2012 02 29 Andreas Kroier Last Modified Version Date By v 1 1 2012 04 12 Andreas Kroier Recipients European Commission Michael Mastier Av d Auderghem 45 BREY 4 244 1049 Brussels Belgium Responsible DKE Aerospace Germany GmbH Andreas Kroier Graf von Soden Strafse H10 88090 Immenstaad Germany Tel 49 7545 8 8297 Fax 49 7545 8 8296 www dke aerospace com DKE Aerospace 2012 This document contains proprietary information and may not be reproduced in any form whatsoever nor may it be used by or its contents divulged to third parties without written permission of DKE Aerospace Germany GmbH Any hard copy of this document or unlocked soft copy must be regarded as an uncontrolled copy Reference Documents RD1 u blox 6 Receiver Description Including Protocol Specification FW 7 03 GPS G6 SW 01 04 2011 10018 A 2008 RD3 2011 RD4 16 07 2010 RDS 07 09 2010 RDE 18 02 2010 RD7 13 12 2006 Company Confidential DK
6. nias cif n STATUS NORMAL OPERATION NAME IND W POSITION 25 0 E OPERATOR Inmarsat MESSAGE TYPE 0 Figure 5 EGNOS satellite status before testing Source ESSP Company Confidential DKE Aerospace 7 of 32 f AVA DKE AEROSPACE 1D JE GERMANY GMBH PRN 120 planned SIS transmission PRN 124 planned SIS transmission No Planned Maintenance Activities that could impact the Signal Availability No Planned Maintenance Activities that could impact the Signal Availability GE Planned Signal Outage GE Planned Activities that could impact the Signal Availability No Planned Maintenance Activities TBC one week in advance No Planned Maintenance Activities TBC one week in advance No detailed information available satellite used for EGNOS Tests EGNOS No detailed information available satellite used for EGNOS Tests EGNOS Signal Availability is not guaranteed Signal Availability is not guaranteed Risk of signal outage Low risk of signal outage Disclaimer This information is provided without any warranty regarding EGNOS Disclaimer This information is provided without any warranty regarding EGNOS Signal availability It constitutes the best understanding of the planned EGNOS Signal availability It constitutes the best understanding of the planned EGNOS maintenance activities by the EGNOS Operator on operated GEOs maintenance activities by the EGNOS Operator on operated GEOs March 2012 March 2012 Fi
7. since uBlox does not provide a parser for their log files but would only allow to replay it in uBlox This is considered useless for the purpose of the tests to be done 4 2 Low end EGNOS position RX2 The NMEA positions are recorded through the HyperTerminal the same way as for RX1 also RX2 does not allow to log raw data Company Confidential DKE Aerospace 20 of 32 4 3 Medium end receiver EGNOS position RX3 A SBAS position is recorded on RX3 The NMEA positions are recorded through the HyperTerminal application and stored in a file The NMEA sentences to be received can be set on the receiver directly see AP 2 in the manual ODE 44400 A RX3 does not allow to store raw data 4 4 High end receiver EGNOS position RX4 The position of the high end EGNOs receiver is logged through NMEA sentences similar to the other receivers RX4 therefore creates a file with the NMEA sentences to be stored for example RX6_0670 121 Which contains the NMEA sentences as shown in Table 10 SGPRMC 102307 10 A 4740 32125 N 00923 10343 E 0 0 070312 0 0 W D 00 SGPGGA 102307 10 4740 32125 N 00923 10343 E 2 10 0 8 419 35 M 48 00 M 2 4 0124 44 SGPVTG T M 0 0 N 0 0 K D 26 SGPGSA A 3 13 32 01 17 11 20 10 04 23 31 1 6 0 8 1 3 3F SGPGRS 102307 10 1 0 3 0 2 0 1 0 9 0 4 0 0 0 7 0 5 0 1 0 4 42 SGPGSV 3 1 10 23 71 195 50 10 11 274 42 11 14 156 45 31 23 047 48 79 Table 10 NMEA data recording RX4 4 5 IALA beacon position RX5 The IALA beac
8. 7 Bergen 7 8 Klaipeda Belfast Cologne 2 Strasbourg Brest tt 5 Venice Lisbon EF ft Nice Figure 28 Test sites excl additional test at the Lake Of Constance This section shall provide the deliverable requested in the task specification on page eight DL4 Selection of test scenarios test sites The tests on each site shall be done in the same way in order to have repeated test cases Therefore the difference is to be made between inland waterway tests and the maritime tests as stated in previous sections The inland waterway IWW tests will differ in such a way that the straight line that is followed in the maritime cases is not possible on the IWW due to natural the shape of the waterways Other than that there shall be no difference in terms of equipment or setup to what is discussed in this document 7 1 Lake of Constance Preliminary test The date for the test is indicated to be on March 17 This date was chosen since currently the boats are in their winter quarters and are not available yet The boat will be provided by the DLRG a German organization The boat foreseen is shown in Figure 29 Company Confidential DKE Aerospace 30 of 32 a C FITD DK E A CDACDA CC D D DK E AEROSPACE FI GERMANY GMBI Figure 29 Boat preliminary test The preliminary test is considered very important since it is the dry run for all upcoming tests The timing shall also allow for a second test i
9. EGNOS and therefore it is interesting to understand the general availability of EGNOS on the test days To assess that once the availability of EGNOS will be checked before the test and documented with Figure 5 and Figure 6 In addition the EGNOS Helpdesk will be contacted at least one week in advance in order to obtain a detailed view of the expected performances over the area during the selected dates In case of any significant change occurs differing from the initial planning it will be communicated by the EGNOS Helpdesk in order to take it into account during the trials On the day after the test Figure 7 will be included in the test report to state the correct sending of EGNOS messages Actual performances can be checked against the data recorded at the nearest RIMS provided by the EGNOS User Support website or requested directly at the EGNOS Helpdesk PRN 120 VIEW SIS SCHEDULE Rt f STATUS NORMAL i OPERATION NAME AOR E j POSITION Sow OPERATOR Inmarsat 5 a gt MESSAGE TYPE 2 EGNOS Real Time PRN 124 VIEW SIS SCHEDULE gt i i aes X Last update 05 03 2012 16 03 55 UTC Yesterday Outputs STATUS NORMAL a bef OPERATION i SBAS Data AS Data NAME ARTEMIS POSITION 21 5 E y 4 RSA as i PRN 120 PRN 124 PRN 126 ah cane IE ies Operational Mode MT 2 Operational Mode MT 2 Test Mode MT 0 0 SIS Active SIS Active SIS Active PRN126 0 uewasscne a A MT Distribution TEST i i y a
10. GPS and EGNOS data recording For each type of raw data a separate file is created which needs to be converted with the SBF converter The filename for the raw data is created according to the IGS Convention as for example RX4_0670 12_ where the file type is 12_ For details regarding the naming convention see the RxControl v4 6 5 manual page 64 The files are placed in a directory created also according to IGS conventions as for example 12067 where 12 indicates the year and 067 the day of the year when the data was recorded When converting the file with the SBF converter the separate files are created according to the selection done for the raw data to be logged for example RX4_0670 12__GEORawlL1_1 stf for the GEORawL1 raw data and RX4_0670 12__GPSRawCA_1 stf for the GPSRawCA raw data Samples of the respective messages are shown in Table 13 and Table 14 GPSRawCA 1678 118800 000 1 0 1 8b10b4c89ab0d344a5bdc4ce409bdafd1d00c284338e436af6ef479a32ec7d2dede7ecO007ef 1678 118800 000 20 0 1 8b0a384c9ab0deb4a5bdc4ce409bdafd1d00c284338e436af6ef479a32ec7d2dede7ec007ef 1678 118800 000 32 0 1 8b0a384c9abO0deb4a5bdc4ce409bdafd1e0086843389e36af6e5079a32c57d2ded43f0000d7 1678 118800 000 11 0 1 8b0a384c9ab0deb4a5be1a13809c7dfd1b004684339c636a7b48879a04c27c5cad2fec00763 Table 13 GPS raw data recording RX4 The EGNOS raw data is recorded for all satellites in view an example is shown in Table 14 This
11. data is input into the SBAS teacher to verify its readability the result is shown in Figure 22 GEORawL1 1678 118800 000 126 24 1 0 c60e0010000003fe8003 ff3ffO000003fcc000000001bb979d7b97bba31b1640 1678 118800 000 120 24 1 0 c60c400cO00003fe4003ffO000000003fdc000000001bb979d7b97bb83aa1840 1678 118800 000 124 24 1 0 c6110024000003fc3fe0000000000000000000000001fb997b80000021e40000 1678 118801 000 126 24 1 0 5360014000003fc7fe0001fb99 7880283c150601c0334402a010501a0e9ed7cO 1678 118801 000 120 24 1 0 53104024000003fc3fe0000000000000000000000001fb997b8000003dbe7880 1678 118801 000 124 24 1 0 53093fe8000000008000000000000000003fc3ff3fdd7bbbbbbbb955dbbed700 Table 14 EGNOS raw data recording RX4 Company Confidential DKE Aerospace 25 of 32 SN amp DKE AEROSPACE DE GERMANY GMBH Se CS Message Type 24 Mixed fast term satellite error correctio eases x CRC paan _ MT C53 CA CC EJ 8884224 Preamble IODP Preamble MT CRC IODF IODP es ca cos 24 3832871 eo sil s7 cal o x sz Pseudo Range Correction meters satellites 27 39 in PAN mask Pseudo Range Correction meters satellites 27 32 in PAN mask Velocity Code olu e 29 30 satellite PRN mask 20 M 0 000 0 000 1 875 1 000 0DE x M x ECEF 265m M i nn sy ECEF 150m P S z ECEF 0875m M User Diferential Range Estimate Block ID a 1 397e 9 s satellites 27 32 in PAN mask satellite sat DEEN UDR nates Store
12. interesting if e g an existing system shall be enhanced with a better antenna the tee solution would be something the end user would rather do than buying a diplexer Some of the antenna to receiver connections cannot be changed and therefore imply a certain connection diagram which is shown in Figure 8 The reference receiver RX6 must be connected through the splitter to the high end antenna since this is the only combination that enables the Veripos service indicated as LBand The second connection that cannot be changed is the connection of the IALA beacon receiver RX5 to the beacon antenna indicated as MSK The other connections are interchangeable Signal reception Medium end antenna PPM AT575 L1 Beacon antenna CT MSK High end antenna GA 530 L1 L2 LBand MSK Splitter 1 to 4 ALDCBS1X4 1 1 GHz to 1 7 GHz L1 L2 LBand Splitter Il 1 to 4 ALDCBS1X4 1 1 GHz to 1 7 GHz L1 L2 LBand Unchangeable TNC T connector Medium end EGNOS Furuno GP150 1575 MHz L1 Low end EGNOS GPS High end EGNOS Septentrio AsteRx2eL 1575 MHz L1 Veripos DGPS service Septentrio AsteRx2eL 1575 1227 6 1525 1559 MHz L1 L2 LBand Signal processing IALA Beacon Trimble SPS531 295 kHz to 325 kHz MSK uBlox EVK6 T uBlox EVK6 T 1575 MHz 1575 MHz L1 L1 Scenario l Scenario Il Scenario Ill Scenario IV Splitter Splitter II Sp
13. is not used but the antennas are mounted directly on structures available on the ship It is important that the antennas are not place directly in the radar beam The boats to be used are intended to be similar as shown in Figure 1 This type of boats is considered to be representative for the private ship owner since it is not too big but also not too small and allows the tests to be carried out with the equipment required and providing space for the personnel present Figure 1 Boat types Since the tests shall reflect a likely usage scenario no active measures against interference are taken expect from the antenna placement This is considered a valid approach since it is thought to be what the private ship owner would do 1 2 Handling of two antennas The introduction of two antennas through the update of the task specification as outlined in the proposal leaves the difficulty of the exact determination of the position of the medium end antenna It requires the question to be clarified how the second antenna can be referred to the reference antenna or in other words how the reference track can be compared to the track recorded through the second antenna The only way to align the two tracks would be that the system provides heading information Since not all receivers are available at the submission of this draft of the test methodology it cannot be stated whether this will be the case or not At the time of writing it seems unlikely
14. m Ci PRN mask 3 MM EACE 48 E P wE e 28 alfa l NotMoritored Not Monitored x ECEF 265m p _LJ nnn 25 aTa e Worwentored Wot Mentored ay Ece ma oo af 6 olf e aa cw EcEF 1200 P ESC ce 30 mais sa 6054e9s P 52 afta e NotWontres NetWontered T 0 000 0 000 2 000 1 000 0 000 User Diferential Range Estimate satellites 27 39 in PAN mask Co Sat UDREI UDRE meters ofore m 27 aA s 18703 ae 28 alfa el Not Monitored Not Monitored sft norwoneed TNomontoed ia so ae 3m ft 2992 a1 aifs ef 30f oas 32 afia El f NotMontored NotMontored gt lo0P Ol ej ie 2 ies Figure 22 Decoded messages SBAS teacher The European Commission stated that the raw data should also be available in RINEX format Since the software provides this possibility the requirement is fulfilled and it can be selected whether to convert the raw data to RINEX 2 3 RINEX 3 0 or even both subsequently see Figure 23 The direct recording via the option shown in Figure 26 left will be used as well V GPS Navigation Exclude GPS satellites F GLONASS Navigation T Exclude GLONASS satellites Galileo Navigation T Exdude Galileo satellites W SBAS Broadcast T Exclude SBAS satellites V GEO Navigation Add C A and P2 SNRs V Observation Observation options Add L1 and L2 Dopplers Use data from antenna Li
15. 39 0 N 00929 1E 009 29 1 E 009 29 0E MZOE eee 009 25 9 E 009 29 0 E 009 25 9 E 009 21 4E 009 25 9E 009 29 0 E 009 29 0 E 009 29 0E 009 29 1 E 009 29 1E DKE Aerospace ETE Start 00H 00M 00H 00M 00H 01M 00H 02M 00H 24M 00H 45M 01H 07M 01H 29M 01H 51M 02H 12M GEEN 02H 14M 02H 15M 02H 15M IDO 10 00 10 00 10 00 Baan 10 00 HN rasanan 30 00 10 00 10 00 10 00 10 00 10 00 10 00 32 of 32
16. Default gt GPIO Default Receiver Initialization gt Receiver Setup gt Advanced User Settings gt Satellite Tracking see Figure 17 left Signal Tracking see Figure 17 right With the above setting possibilities the data can be set according to section 3 Additional setting influences will be tested Company Confidential DKE Aerospace 18 of 32 a j m ZAG Satellite Tracking Frontend S Satellite Tracking E off E all GPS Gol goz G03 Go4 GOS Gog Go Gos Gos G10 Gii Gi Elei Fl cis Micis WMieis Mila Mi cis G19 G20 G21 G22 G23 G24 G25 G26 G27 G28 G29 G30 G31 G32 O Guowass roi1 jlro2 fF jros E rRos E ros Roe leroy Eros Piroo Erio Piru Prev Pla Plea Piri Pires Flav Preis lei jaz Pia Plea Please PRs O GALILEO e0i eE0o2 eos feos Pecos E E06 Oleo fjeos E eo9 Mew Pew Mew les lei Pleis leis Plev Peis Mes fea Men Mee Mes Pes Eez les lev flex Plex E ezo Olesi E e32 E SBAS W siz 0 siz M siz22 E si233 W s124 E s125 Signal Tracking Tracking Loop Parameters Frontend Settir Wsi siz Misi E si29 E si30 E s131 Signal Tracking Esi Hsi Msi E s135 size E s137 F Al E s138 GPSLICA GPSL2PY epstac F epsts D eLoLica E Gore E compass M co1 F Glot2ca F GaLLisc F GAESa F GALESb F GALES GEOL1 Figure 17 RX4 Navigation Advanced User Settings Tracking Note The enabled S126 in Figure 17 originates from a preliminary test and was disabled afterwards Also the GPSL2C w
17. E Aerospace 2 of 32 Table of Content PROT ONG DG CN Cit a terres aeespoactienn AA E E E E E E E E A E E 2 Tae OT OCS a a E E EE AE ET E E EE EE AEA E E E EEA E T A 3 1 aage e 10 ea e A E E A A A E TA A AE A 4 1 1 WANTON SIG 2 SOU CSS E EE PES EA A E NE N TEE E E A E 4 1 2 Handing of TWO antennas sisoneosatarecteazsancsectesseicaeai wanna eiie a iiaa a a aaa aaiae 4 1 3 Tes route and TIMID seriearen i riis EE EE E EE EEE 5 2 ETI SIA a E E E E E 9 2 1 Splitting OF the antenna Signals ocacsansscounsaitsnetvacaie Saicteuusineddsacssavsiwsiovadsemesdoeteucseasuunanccusautenotuanai lar Sauunieddsarsanemoeseeatsas 10 2 2 Sod are 9 ae ONNE nen eer ee ee een Reine E ee nee ee nee eee 12 2 3 BIERE ghd el A E E Neen eee re eer ene ee eee ee ee ee 13 3 FS COIS SIG 5 tcc seat sascrctak chive E E r EA ER 15 3 1 OPPO O R rset eer gic ace cic nue tong ats E E E Sanibel donasetaw Gao E E senceeaseacneaacons 15 322 Low end receiver EGNOS position RX2 cccccsseccccssccccensecceeseceseusecccsseceseeeesaueeeessaeeessuseesaaeeessaeeesseneeees 16 3 3 Medium end receiver EGNOS position RX3 cccccssecccesssccceeeecceecccseecesseeeeseaeceeseaecesseeeesaueseeseeeeesaneeess 16 3 4 IALA Deacon POSION RAS snena EOE ET 16 3 5 High end receiver EGNOS position RX4 ccccccccccsssssseeccceeceeesseeeccceeeeeeeeececeeeesueaseeceeeeeeeeesseeeeeeeeuenseeeeeeeenas 17 3 6 Reference position RX6 s sesssssssssresessrrrsessrtrressrtreessttrrsst
18. TP Timepulse TPS Timepulse 5 i USB Universal Serial Bus G ESF External Sensor Fusion 0000 B5 62 06 16 08 00 00 00 o i IME nfnremnatinn Figure 14 RX1 Disable SBAS UES CFG Contig 5545 SEAS Settings Subsystem EAEn To make sure this setting does not change the configuration is written into the non volatile memory of the receiver see Figure 15 Messages UBX CFG Config CFG Configuration UBX n fl ACK Acknowledge H AID GPS Aiding CFG Config UES CFG Config CFG Configuration Revert to last saved configuration W Devices gt For Mm Revert all but ANT default configuration EBR m dure ia t r i ANT Antenna Settings he Revert to default configuration fe a oor a 1 FLASH CFG Configuration Reuse 2 l C EEPROM E DAT Datum Save current configuration 4 SP FLASH a EKF EKF Settings User defined operation ESFGWT Gyro Wheeltick Clear cave Load FAN Fix Now Mode 0 PAT 0 PRT INF InfMessages 1 7 MSG 1 i MSG i MFM Jammin Interference E BE 7 AF AN AM ANA AN ANA NA AN CE CE NA AN i Figure 15 RX1 Permanently save the configuration u blox maintains a world wide network of GPS monitoring stations collects measurements and distributes aiding information derived from these measurements over an Internet connected Server No registration is done for this Company Confidential DKE Aerospace 15 of 32 i service and no con
19. as only a test and will not remain enabled 3 6 Reference position RX6 The reference position is chosen to be Veripos ULTRA and therefore in Figure 16 left instead of SBAS the PPP option is chosen The remaining settings in the Positioning Mode menu are not to be changed Veripos stated to set the maximum age to 120 s and the elevation mask for tracking to be set to 5 It will be tested if the Veripos service is also working properly with the settings indicated in section 3 Veripos provided a manual how to configure RX6 to DKE Aerospace t has to be checked whether the information from this document can be made publicly available or included in this document Otherwise a reference will be provided This was not answered by the time of submission of this report Company Confidential DKE Aerospace 19 of 32 4 Data logging The data which needs to be recorded is GPS position from the GPS receiver RX1 EGNOS position from the low end EGNOS receiver RX2 EGNOS position from the medium end EGNOS receiver RX3 EGNOS position from the high end EGNOS receiver RX4 DGPS reference position from the reference receiver RX5 IALA beacon position from the beacon receiver RX6 Raw GPS data from the high end EGNOS receiver RX4 Raw EGNOS data from the high end EGNOS receiver RX4 Vv Vv Vv VV VW VW gZ WW For each receiver the minimum requirement to be logged are the NMEA sentences containing the position of the respective receiv
20. d in the PVT but the SBAS corrections are still decoded and potentially used in the PVT Health Mask Tracking On PVT On If Mask is on for the Tracking engine no measurements are generated for unhealthy signals but these signals will remain internally tracked and their navigation data will be decoded and processed This is to ensure immediate reaction in the event that the signal would become healthy again If Mask is on for the PVT engine measurements from unhealthy signals are not included in the PVT Setting this mask to off must be done with caution including a non healthy signal in the PVT computation may lead to unpredictable behavior of the receiver C NO Mask For all satellites set to 28dB Hz The receiver does not generate measurements for those signals of which the C NO is under the specified mask and does not include these signals in the PVT computation However it continues to track these signals and to decode and use the navigation data as long as possible regardless of the C NO mask Atmosphere gt lonosphere Model SBAS to be tested gt Troposphere Model Zenith Model MOPS gt Troposphere Model Mapping Model MOPS gt Troposphere Parameters Default Motion gt Acceleration and jerk levels Moderate gt Type of motion Pedestrian or Automotive to be tested Earth Models to be tested Integrity to be tested Ambiguities Default Datum Default gt Timing
21. e 12 of 32 Dye DKE AEROSPACE GERMANY GMBH f Figure 11 Beacon signal at the Lake of Constance The beacon signal is well received getting closer to a beacon signal transmission station 2 3 DKE antenna mast The DKE Aerospace antenna mast is shown in Figure 12 not containing the structure to hold the antenna Figure 12 DKE Aerospace antenna mast The antenna mast provides the possibility to bring the antennas up to different heights The theoretical maximum being ten meters this case obviously is highly unlikely Since the mast can be separated in elements heights from 1 35m are possible This shall allow the required flexibility to bring the antennas to a suitable and probable height for example outside a radar beam The antennas are mounted at the top of the mast as shown in Figure 13 Figure 13 DKE Aerospace antenna mast with antennas As it can be seen in Figure 13 an additional ground plane is introduced right below the medium end antenna left in the picture as well as below both antennas This is considered realistic as the antennas used may either have an Company Confidential DKE Aerospace 13 of 32 i integrated ground plane or the antennas are mounted on the roof of the ship which would then serve as ground plane The fixing of the mast on the ship shall be done either on the guard rail of the ship or another suitable structure a collection of shells available shall provide enough flexibil
22. e Table 2 and Table 3 providing three test hours two scenarios will be used I and II gt Scenario IV is a backup in case a longer test duration would be possible at a test site 2 2 Signal conditioning In order to make sure that the signals provided by the antenna and amplified through the splitters or amplifiers are not harming the equipment used during the tests the signal level was checked Figure 9 Splitter used to connect antennas Figure 10 Low end left and high end right GPS antenna signals What can be seen is that with the excellent conditions on the roof of the DKE Aerospace Germany Building where there is no obstruction anywhere close the signal level is around 40dBm This is below any critical signal level that could harm the equipment used Therefore the usage of the splitter is considered justified From the theory it was assumed that the IALA beacon signal due to its frequency is relatively easy to receive A preliminary test showed that at a distance of 160km from an IALA beacon station it was difficult to receive the signal if the antenna was not placed on the roof of a building and even then with the signal received it is most of the time difficult to lock on a IALA station As Figure 11 shows the signal level is very low and noisy This will be especially interesting for the preliminary test at the Lake of Constance Since the lake is located at the edge of the IALA coverage Company Confidential DKE Aerospac
23. eacon enhanced position since the beacon signal only provides enhancement data and not a position itself Company Confidential DKE Aerospace 14 of 32 3 Receiver settings A few settings have been suggested by different parties as for example a PVT elevation mask of 15 was suggested by the EC whereas Veripos suggested a 10 PVT elevation mask Therefore a tradeoff has to be found for certain values The values the receivers shall be set to are gt 10 elevation mask gt SNR for satellites 28 dbHz to be used in PVT gt SBAS satellites to be used 120 124 or other EGNOS PRNs according to the operational status gt GPS smoothing not used Other settings vary between the receivers are discussed in the following sub sections 3 1 GPS position RX1 The settings on RX1 need to be configured so that it does not incorporate SBAS or other enhancement data The configuration is done via the software provided along with the receiver referred to as uCenter The uCenter software allows to configure the receiver through a graphical user interface Turning off the SBAS functionality can be done through disabling the SBAS functionality in the via the UBX CFG SBAS message see Figure 14 Messages UBX CFG Config SBAS SBAS Settings z RINV Remote Inventory 2 RST Reset RXM Receiver Manager _ SBAS SBAS Settings x TM Time Mark i TM2 Time Mark2 i TMODE Time Made i TMODE Time Made 2
24. er computed with the respective GNSS position w wo SBAS DGPS IALA enhancement The NMEA sentences logged are GGA Global Positioning System Fix Data RMC Recommended Minimum Specific GNSS Data VTG Course Over Ground amp Ground Speed ZDA Time amp Date Vv Vv VV VY Additional NMEA sentences which are not available on all receivers are gt GSA GNSS DOP and active satellites gt GSV GNSS satellite in view GST GNSS Pseudorange Error Statisitics gt GRS GNSS Range Residuals The selection of the NMEA sentences shall provide an indication of the quality of the position the position itself and the timeframe of the test performed Additional recorded data is detailed in section 6 The data recorded is to be stored on a separate encrypted SD card for backup reasons as well as to be sent to a DKE Aerospace server through a secured connection 4 1 GPS position RX1 The GPS only position is recorded on RX1 The NMEA positions are recorded through the HyperTerminal application which provides a visual output of the NMEA sentences received The NMEA sentences to be received can be set in the uCenter software In order to store the NMEA sentences for the analysis the HyperTerminal provides the possibility to write the NMEA sentences in a file through the option Transfer and Capture Text RX1 does not allow to store raw data in a human readable format and therefore this data cannot be used
25. ey would be too close Details for the antenna mounting are discussed in section 2 2 The following section introduces the equipment used The details on each receiver are entered only after the validation and test with the real receiver the section shall not be a copy of the manuals 1 3 Test route and timing The test route chosen is a straight line from the departure point to the end point selected with a distance of about 15km 8 09 nautical miles Depending on the speed of the boat available the test route will be extended by the same straight line perpendicular to the first part of the test route see Figure 4 Company Confidential DKE Aerospace 5 of 32 2 3 4 5 4 5 8 9 6 7 10 11 lt j lt lt te 1 2 3 4 16 1 2 3 12 d __ _____ gt t dt 7 5km 15km 15km 25km 12 5km 25km 5km h 2 7 knots 15 km h 8 1 knots 25 km h 13 5 knots Each indicated part 90 min Each indicated part 60 min Each indicated part 30 min Total 6h Total 6h Total 6h Figure 4 Route test path As shown in Figure 4 the route is depending on the speed of the boat The basis is the part of the route always indicated as 1 For the maritime this part will in any case be repeated for all scenarios In order to more efficiently use the time available on the test day this basic scenario will be extended with the vertical tests indicated to vary the test route Obviously on inland waterways the scenario cannot be like shown in Figure 4 but rather has t
26. f required since the first real test is scheduled for 02 April 2012 7 1 1 Timing The timing for the test on the Lake of Constance will be the one shown in Table 2 The timing is chosen rather loosely to provide enough time to set everything up carefully and see how much time is required The maximization of the test time is not the most important for this test but rather the check of the tests themselves The DKE Aerospace team will intentionally not checkout the boat beforehand to have the same situation as for the other tests where also only the statements of the skipper and maybe pictures to check for possibilities to mount the antennas and place the equipment are available 7 1 2 Route r m ae all FA m ihe dnehenster Haten am AN Ly Ce Ce Figure 30 Lake of Constance test Route Company Confidential DKE Aerospace 31 of 32 DKE AEROSPACE GERMANY GMBH To Waypoint i eae BIBIR B S Company Confidential 4129 25 nm 0 04nm O 1inm tated aiad 3 58 nm 3 58 nm 3 70m inm 035 Deg T 007Deg T 3 58 nm 0 06 nm 0 04nm Figure 31 Lake of Constance test Route details 078 Deg T 170 Deg T 228 Deg T 187 Deg T 172 Deg T 215Deg T CSOT 215Deg T 303 Deg T 123 Deg T TET 350Deg T 047 39 0N PE 04739 0N 047 38 9 N 047 38 6N 047 35 7N 047 38 6 N UEN 047 37 7N 047 35 7N 047 38 6 N 047 38 9N sd Renard 047
27. f the data is much shorter and a satellite is used in the PVT solution if only SBAS satellite and ionospheric corrections are available Whereas during en route a satellite without SBAS ionospheric corrections can be used in the PVT solution using greater of equal number of satellites with respect to precision approach Since the scenario is not an aviation scenario the setting of choice is EnRoute The Version of the DO229 is left to automatic since there is no noticeable advantage in returning to DO 229C The last interesting tab is the Differential Corrections tab in which the used Veripos service is set to ULTRA see Figure 16 left ULTRA is chosen over APEX since Veripos recommended the ULTRA service PVT Mode SBAS Corrections I Differential Corrections TE SBAS Corrections Differential Corrections PVT Mode Differential Corrections Usage Mode Static Rover Positioning Mode LowLatency Rover Mode E all Maximum Age 3 600 0 sec StandAlone W SBAS pePs PPP face Selection auto Static Position auto Ci manual Manual Reference ID OK Sensor Integration off Having Bace of Max number of base stations 5 Static Position Geodetic i Max baseline length 2 500 000 m gt Geodeticl Latitude N 00700 00 00000 Max Age of Differential Corrections Longitude E 000 00 00 00000 Maximum age of DGPS corrections 120 0 sec Altitude 0 0000 m
28. gure 6 EGNOS SiS planned transmission Source ESSP PRN 120 04 03 2012 PRN 126 01 03 2012 MT Distribution MT Distribution Se ene ee i eS Se Oe ee en ree 00 00 04 00 08 00 12 00 16 00 20 00 00 00 00 00 04 00 08 00 12 00 16 00 20 00 00 00 GPS Time hh mm GPS Time hh mm Figure 7 EGNOS sateliltes message type trasnmitted on day of testing Source ESSP The above figures shall be in line with the EGNOS messages received and logged by RX4 Therefore a check of the EGNOS messages logged and those sent on the EMS will be done with the aim to indicate that the receiver was receiving the EGNOS messages correctly Company Confidential DKE Aerospace 8 of 32 2 Equipment The task specification page eight required to use six receivers to log GPS and EGNOS data as well as IALA beacon and reference position data The receiver selected for the tests are listed in Table 4 Receiver usage Receiver name Receiver ID GPS receiver uBlox EVK 6T RX1 EGNOS low end receiver uBlox EVK 6T RX2 EGNOS mid end receiver Furuno GP 150 RX3 EGNOS high end receiver Septentrio AsteRx2eL RX4 IALA MSK beacon receiver Trimble SPS 351 RX5 Reference receiver Veripos service Septentrio AsteRx2eL RX6 Table 4 Equipment Receivers The equipment was selected to reflect the requirements set by the task specification as well as to cover the possibility for the introduction of new equipment in the maritime market and include equipment certified by the Internatio
29. itting of the antenna signals The splitters used are active splitters and therefore amplify the signal coming from the antenna This is required since otherwise the signal strength would be reduced The required theory behind this is not part of this methodology document The splitters provide an average gain of 18 4dB This high gain could cause problems on the low end Company Confidential DKE Aerospace 10 of 32 a gt an pee f J receivers therefor 10dB attenuators are used to keep the antenna gain after the splitters at an acceptable level for all receivers Two splitters have to be used to account for the requirement of feeding one antenna signal to multiple receivers This led to a consecutive requirement of using a separate IALA beacon antenna even though the GA530 has an internal beacon antenna This is based on the fact that the splitter filters out the IALA beacon signal With a frequency of 300kHz the beacon signal can be treated as quasi direct current DC This on the other hand has the advantage that a TNC Tee can be used to combine the GNSS signal from the splitter with the IALA beacon signal from the beacon antenna The splitter outputs are in DC block mode and therefore are protected against the IALA beacon signal which would be fed to the splitter through the TNC tee An alternative option would be to use a diplexer But the tee option is supported by the distributor of the receiver as well as the antenna This would also be
30. ity in case the exact location cannot be determined beforehand V2A U bolts and a set of V2A or aluminum profiles shall provide the necessary flexibility to mount the mast on the different ship types Since the antenna mast is used on a ship the height of the antenna is also influenced by the possibilities to mount the mast on the ship If the mast cannot be used the antennas will be mounted on the highest suitable point available on the ship using a similar structure as used to mount the antennas on the top of the mast The result of the difference in ships used during the tests results also in a different height of the antenna This is assumed to be acceptable since providing a guideline to mount the antennas on a certain height would be unpractical for the end user In any case the mast will only be extended to a height that would be available possible on the ship It is not intended to increase the signal reception by mounting the mast higher than necessary The two GPS antennas are mounted on the mast with a distance of roughly one meter The beacon antenna is placed somewhere else on the ship not close to the GPS antennas During the testing it turned out that the beacon antenna would have a negative effect on the GPS antennas more on the low medium end antenna than on the high end antenna The beacon signal reception shall not be influenced by the mounting of the beacon antenna The position of the beacon antenna has no influence on the b
31. ivers connected to the same antenna as RX6 Therefore the error is visualized against the reference position over the TOW as shown in Figure 21 Please note that the reference receiver is not available at the time of writing this document therefore only two receivers GPS and EGNOS low end are shown in the figure and the EGNOS positions are used as reference positions By simulating a Static situation other figures well known from available GPS receiver comparisons can be created This will be done by removing the distance between the reference positions The same distances will be removed from the other receiver points and therefore a static situation can be simulated where the average of all reference positions would be the reference point 3 5 3 2 5 F z MH 1 5 1 Mi il IEN ii iy 4 Jiha i H i ll Error GPS RX1 lis aA va hy Ai IAN ry N LA l ii un Hy M pah 1d i NY nh NWT iT N Ni AN T WN fi Hag QIAN TA ane 65312 75312 85312 95312 105312 115312 125312 135312 145312 Error m Error EGNOS low end RX2 1 3 0 5 TOW Figure 21 Error visualization Further data analysis shall be done covering statements about the satellite constellation which can be obtained through the NMEA sentences GSA and GSV please refer to the NMEA0183 standard p 91f These sentences provide the dilution of precision values the signal to noise ratios for each satellite as well as for example the satellites e
32. levation and azimuth Therefore these values can be compared to each other through several combinations The exact report will be provided after the first test at the Lake of Constance The analysis will also include the assessment of the protection layers computed by EGNOS through the values recorded as detailed in section 6 2 A detailed analysis of the EGNOS and GPS data recorded by RX4 and RX6 can be done by third parties also through post processing with the recorded raw data see section 6 available in ASCII which is called STF by the manufacturer of RX6 and RINEX format Company Confidential DKE Aerospace 23 of 32 i The analysis will be done similarly for both splitters meaning that the receivers connected to the respective splitters will be analysed Obviously since the second splitter does not have a reference position a quasi reference position is computed taking into consideration what is detailed in section 1 2 and compare the receivers connected to SPII to this computed quasi reference position In order to compute the quasi reference position the course over ground will be used which is dependent on the speed This will allow also a statement about the receivers connected to the second splitter It is understood that there is a difference between the reference position and the quasi reference position The preliminary test shall provide the possibility to analyse the quality of the quasi refere
33. litter Splitter II Splitter Splitter II Splitter Splitter II gt RX6 gt RX2 gt RX6 gt RX1 gt RX6 gt RX4 gt RX6 gt RX1 gt RX1 gt RX3 gt RX2 gt RX3 gt RX1 gt RX5 gt RX2 RX5 gt RX 4 gt RX 4 gt RX2 gt RX3 gt RX5 gt RX 5 gt RX3 gt RX 4 Figure 8 Antenna to receiver connections unchangeable colors are not indicational of conenctions Splitter leave three connectors available allowing three additional receivers to be connected since the RX6 receiver connection cannot be changed Therefore the reference position can only be directly compared to three other receivers at the same time Therefore scenarios are available to exchange the receivers and splitters The scenarios used to switch between the receivers and antennas are shown in Figure 8 The idea is to have once the signals GPS EGNOS and Beacon connected and compared to the reference position Subsequently for example separate the two receivers recording the protection layers in order to see the influence by the antenna As a positive side effect the order of the scenarios has the advantage of little cable changes mainly two cables required The scenarios are applied so that during gt a full test day providing six test hours see Table 1 every two hours the scenario shall be exchanged I gt II gt III Company Confidential DKE Aerospace 11 of 32 D f DKE AEROSPACE J GERMANY GMBH gt a short test day se
34. lker ID PTNL Message ID GGK UTC time of position fix in hhmimmss ss format Hours must be two numbers so may be padded for example 7 b shown as 07 UTC date of position fix in ddmmyy format Day must be two numbers so may be padded for example amp is shown as 08 Latitude in degrees and decimal minutes dddmm mmmmmmm Direction of latitude N North 5 South Longitude in degrees and decimal minutes dddmm mmmmmmm Should contain three digits of ddd Direction of longitude E East W West GPS Quality indicator 0 Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSA5 RTK float or RTK location 3D Network solution RTK fixed 3D Network solution RTK float or RTK location 2D in a Network solution RIK fixed 2D Network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VES solution 12 Location RTK solution 13 Beacon DGPS Number of satellites in fix Ellipsoidal height of fix antenna height above ellipsoid Must start with EHT M ellipsoidal height is measured in meters wee we wl The checksum data always begins with Figure 19 PTNL GGK message fields RD2 4 6 Reference position RX6 The data to be recorded with RX6 and the Veripos service enabled is shown in Table 11 The data logging is enabled through the same process as described in section 6 1 except that additionally in the
35. lly for certain scenarios are considered to be a valid position enhancement and will not be disabled see the setting to At sea Internal position enhancement measures which are not documented in the publicly available and provided manuals cannot be influenced and therefore no attention can be paid to such measures Further settings in the NAV5 messages are the exclusion of satellites below the elevation in degrees specified in section 3 This shall allow for a good position performance 3 2 Low end receiver EGNOS position RX2 The settings for RX2 are basically the same as for RX1 except that the SBAS usage is not as shown in Figure 14 but enabled The further settings in SBAS are to disable the Autoscan for SBAS satellites and use only the relevant EGNOS operational PRNs 3 3 Medium end receiver EGNOS position RX3 A very important setting is the enabling of EGNOS on RX3 through the menu as described in the manual OME 44400 A on page 8 10 Note The Furuno GP 150 only talks about WAAS only when it means SBAS The other settings for RX3 are very straight forward since it only allows to enable or disable NMEA sentences through their respective output rate This is explained in the manual OME 44400 A on page AP 2 Further it is possible to set GPS smoothing and RAIM 3 4 IALA beacon position RX5 RX5 provides the possibility to be configured through a web interface or directly on the device The web interface will be
36. nal Maritime Organization IMO for the maritime usage The equipment covers a wide price range This distribution was chosen on purpose to reflect the scenarios from the private ship owner to the expensive receiver required to use the DGPS L band frequency services used as reference position Nevertheless the absolute high end equipment in the price range of gt 10T EUR is not covered by this test since it was not included A in the task specification and B this price range is not consider relevant for the intended audience The selection of the receivers was discussed with and agreed by the European Commission in the Kick off meeting held for this specific contract The above is considered as the deliverable requested in the task specification on page eight as DL3 Selection of receivers to be tested with the receivers listed in Table 4 The receivers used operate in gt the GPS L1 1575 42 MHz and L2 1227 6 MHz frequencies gt the DGPS L band frequency on which the VERIPOS data is transmitted antenna input range 1525 MHz to 1559 MHz gt the IALA beacon frequency 283 5 kHz to 325 0 kHz This frequency distribution in combination with the requirements from the task specification makes it necessary to include three antennas Those comprise a medium end and high end GNSS SBAS antenna as well as an IALA beacon antenna The two GNSS SBAS antennas are to be split among the receivers This is detailed in section 2 1 The distrib
37. nce position and its influence on the analyses outlined The optimum to determine the position of the second antenna would be an INS integrated receiver nevertheless this was not an option due to budget constraints Further the boats might or might not have a compass and if it has a compass it can be a GPS COG course over ground information that is displayed Therefore the only real option is to use the COG provided by the receivers well knowing that it is speed dependent Company Confidential DKE Aerospace 24 of 32 6 Raw data recording RX4 or RX6 The raw data is recorded for GPS as well as EGNOS satellites using RX4 The raw data is recorded in a proprietary format called SBF In order to read the raw data it can be converted into different file formats including ASCII The raw data is then represented as hexadecimal values for GPS while for EGNOS raw data the messages are the EGNOS messages which can be parsed according to the EGNOS standard The raw data is stored via one serial port while the second serial port can be used to check the data live such as for example the skyplot The RX4 provides the raw data for GPS as well as EGNOS the messages logged are shown in Table 12 The data logged shall provide the sources required for postprocessing by any interested party after the tests were done Name Content description GPSRawCA GPS CA navigation frame GPSRawL2C GPS L2C navigation frame GEORawL1 SBAS L1 navigation message Table 12
38. nection to the internet will be available for the RX1 receiver Therefore the u blox AssistNow service will not be used by the receiver this is important since it shall be a GPS position Since RX1 is to be used in maritime or inland water way scenarios the platform settings will be set to sea The description of this is detailed subsequently u blox positioning technology supports different dynamic platform models to adjust the navigation engine to the expected application environment These platform settings can be changed dynamically without performing a power cycle or reset The settings improve the receiver s interpretation of the measurements and thus provide a more accurate position output Setting the receiver to an unsuitable platform model for the given application environment results in a loss of receiver performance and position accuracy Source u blox 6 Receiver Description Protocol Specification The platform setting At sea is described as Recommended for applications at sea with zero vertical velocity Zero vertical velocity assumed Sea level assumed MAX Altitude m 500 MAX Velocity m s 25 MAX Vertical Velocity m s 5 Sanity check type Altitude and Velocity Max Position Deviation Medium Source u blox 6 Receiver Description Protocol Specification The setting is made through the CFG NAV5 message Any other corrections done to the GPS position such as for example Kalman filters designed specifica
39. o Other 85 Knuser normcdf 85 1 04 Therefore setting the k factor to maritime the HPL especially for maritime can be recorded The value of the k factor for maritime is based on the paper EGNOS Terrestrial Regional Augmentation Networks Based on AIS for River Information Services M Jandrisitis et al At the same time RX4 and RX6 allow to log the HPL VPL values according to DO 229 Kp aviation 6 18 Ky aviation 2 33 In order to do so the DOP message in PVTExtra compare Figure 26 of the SBF protocol is used With the above mentioned information a comparison between the HPL for both k factors for aviation as well as maritime can be done for the test sites This is considered particularly interesting Also the maritime HPL can be computed by dividing the HPL of RX4 by the Kh aviationand multiplying the resulting value with the Ky maritime Company Confidential DKE Aerospace 29 of 32 7 Tests per test site The test sites were proposed by the European Commission in the task specification page seven The rationale behind the selection shall provide a good coverage of the European Union including tests of EGNOS on the edges of the coverage zone at the time of writing this document The sites were able to be changed within a 200nm rage if requested by the test team Subsequently the test sites are detailed and shown in Figure 28 The test sites are discussed with and agreed by the European Commission No
40. o follow the path of the waterway Therefore a straight line is intended to be followed if possible In any case on the inland waterway the route will be repeated following the same course in order to create the repeated measurement data nevertheless this can only be done if the traffic and rules allow for it The distance is a result of the boat type and the speed it provides along with the time available for a test Table 1 Table 2 and Table 3 detail the planned timeline for tests on a full day and an additional half day test The full day test is guaranteed on each test site The half day test will be done if the test site schedule allows for it The timing is a general timing that is valid for the test sites It can vary depending on circumstances such as delayed flights etc and can be extended to increase the test time Time end Duration Activity 08 00 SS Arrival Boat pick up 10 30 Ci Departure harbor Kinematic test start o oS o gt 1630 __ O6h0Omin _ Arrival harbor Kinematic testend oo aras Departure Return boat SSS Static test duration Kinematic test duration 06 h 00 min Table 1 Test day timing full day Time start__ Time end__ Duration Activity S 08 00 po Arrival Boat pick up S 08 15 09 00 09 45 08 15 08 45 00 h 30 min Equipment set up on the boat 09 00 09 45 00 h 45 min Warm up Phase Veripos service 30min 10 30 Departure harbor Kinematic test start 13 30 03 h 00 min Arrival harbor
41. on position is recorded through the NMEA sentences output by RX5 In order to ensure that the output position is a IALA beacon position a second NMEA message is important PTNL GGK It outputs the GPS Quality indicator which provides information about the current position as indicated in Figure 19 in field eight by indicator 13 There would be further NMEA messages suitable for this purpose PTNL PJK PTNL VGK PTNL VHD All NMEA messages available on RX5 are shown in Figure 18 it can be seen that the NMEA messages stated in the introduction of section 4 are provided by the receiver except for GRS Message Function GGA Time position and fix related data GSA GPS DOP and active satellites GST Position error statistics GSV Number of SVs in view PRN elevation azimuth and SNR HDT Heading from True North PTNL AVR Time yaw tilt range mode PDOP and number of SVs for Moving Baseline RTK PTNL BPQ Base station position and position quality indicator PTNL GGK Time position position type and DOP values PTNL PJK Local coordinate position output PTNL VGK Time locator vector type and DOP values PTNL VHD Heading Information RMC Position Velocity and Time ROT Rate of turn VTG Actual track made good and speed over ground ZDA UTC day month and year and local time zone offset Figure 18 RX5 Available NMEA sentences RD2 Company Confidential DKE Aerospace 21 of 32 RX5 does not allow to log raw data Meaning Ta
42. r see Table 8 for details Receiver Receiver name Receiver ID PC connection GPS receiver uBlox EVK 6T RX1 USB also provides power EGNOS low end receiver uBlox EVK 6T RX2 USB also provides power BT EGNOS mid end receiver Furuno GP 150 RX3 RS 232 to USB EGNOS high end receiver Septentrio AsteRx2eL RX4 USB IALA MSK beacon receiver Trimble SPS 351 RX5 Ethernet Reference receiver Veripos service Septentrio AsteRx2eL RX6 USB Table 8 Connections Receiver to PC The recording of the respective data is done as detailed in Table 9 Receiver Data Format Recording GPS receiver GPS position NMEA0183 Recording via HyperTerminal EGNOS low end receiver EGNOS position NMEA0183 Recording via HyperTerminal EGNOS mid end receiver EGNOS position NMEA0183 Recording via HyperTerminal EGNOS high end receiver EGNOS position SBF NMEA0183 Septentrio software IALA MSK beacon receiver IALA position NMEA0183 Recording via HyperTerminal Reference receiver Veripos service Reference position SBF NMEA0183 Septentrio software Table 9 Position logging Port Format Type For the recording of the log file a software called HyperTerminal is used This software was chosen due to its simplicity In general any software can be used which allows for the capturing of a data stream on the serial ports virtual serial ports All receivers will be transported and some of them mounted in a waterproof and shockproof box with dimensions 50 1 x 27 9 x 19 3 cm 2 1 Spl
43. ratedAttitude T Si ri PWT Extra T ex Attitude E Time El GUI E Event F E Measurements E DiffCorr F Er RawNavBits E ExtSensors El GPSRawCA Status E GPSRawL2c LBand E i GPSRawL5 E UserGroups E GLORawCA E PosCart E GALRawFNAV F ReceiverSetup GALRawINAV E Commands E GEORaw 1 Comment IntPV4AGeod Figure 26 RX4 RX6 Settings SBF The last setting to be done in the RXLogger software is the configuration of the NMEA sentences to be stored The NMEA tab provides the required controls as shown in Figure 27 Stream A 3 E FESS O A 8008000 Figure 27 RX4 RX6 Settings NMEA 6 2 Integrity recording Since the integrity of EGNOS is an important aspect it shall be logged for each test site throughout the test Two possibilities are available to record the integrity values namely HPL and VPL for aviation The EGNOS SDK v1 0 allows for logging the horizontal and vertical protection levels for different k factors determining the intended usage scenario This means that the EGNOS SDK will be taken into the maritime tests an additional mean to log the protection layer values No additional receiver is required since the EGNOS SDK will be connected to RX2 Company Confidential DKE Aerospace 28 of 32 i The EGNOS SDK currently implements the aviation k factor Kp aviation 6 18 the k factor for maritime Knmaritime 5 6 as well as a user defined value which is per default set t
44. sssssescessessensessessensessssccssesssss 30 7 1 1 T err E E E A ARE E 31 7 1 2 ROUTO e A A A wend eee crear E S sider accuneeneesie 31 Company Confidential DKE Aerospace 3 of 32 1 Introduction The purpose of this document is to provide a detailed test methodology for the test carried out under this specific contract for the European Commission and therefore corresponds to the deliverable DL 5 Presentation of the test procedure and test data to be gathered 1 1 Interference sources This section is not intended for a general discussion about GNSS SBAS interference since there are multiple papers available discussing these issues The interference sources on the ship identified are radar and radio even though some of the ships probably do not have radar aboard Sonar and other typical equipment present on ships are considered to have less influence The radar aboard ships depends very much on the ship type and its usage The transmission power therefore varies from some milliwatt on private ships to kilo watts on high sea ships In order to avoid disturbance of the test equipment by radar the antennas shall be placed as far away from the radar as possible Preferably the navigation antennas are also placed on the highest point of the ship With the mast detailed in section 2 1 this can easily be realized Nevertheless the aim shall be to stay as low as possible to best reflect the real world scenario This will be the case if the mast
45. that a receiver would provide sufficiently accurate heading information since heading is usually provided through duplicate antenna systems Figure 2 shows the situation What can be seen that by calculation the position of the medium antenna the missing angle information would lead to an error indicated as red position marked Wrong Company Confidential DKE Aerospace 4 of 32 Figure 2 Medium end antenna position determination A way to calculate the position of the medium end antenna is the course over ground The quality of this computed quasi reference position will be assessed at the preliminary test In any case at the start of the measurement the antenna positions will be determined through the reference antenna As shown in Figure 3 the antenna mast will be turned by 180 to determine the position of both antennas The beacon antenna will be placed in the middle of the antenna array The distances between the antennas are fixed Therefore the measurement as a side effect also provides an assessment of the reference position accuracy since the distance between the antennas is fixed being one meter l A 0 B l O Reference antenna Medium end antenna Beacon antenna Figure 3 Antenna position determiation at start The distance between the antennas on the structure used is chosen to be possible on a small ships mast like the ones shown but also to avoid the antennas interfering with each other in case th
46. ttings of the global tab are not of importance for the tests to be done The file names are partially predefined by the receiver itself and also defined through the File naming tab see Figure 25 The interval of data contained in one file can be set For the tests to be done the exact interval is set to 24 hours If the file size turns out to be too big to be handled by software used for the analysis the interval will be decreased In any case this has no major influence on the tests to be done The MarkerName is the receiver identifier of the receiver used to create the log file Fie namng Post Processing File Naming Convention 165 24hours IGS Options E Log messages with a do not use time stamp to O00000 MarkerName gt 0000 00 W Limit the MarkerName to 4 characters 0 Retrieve the MarkerName from the receiver Force the MarkerName to RX6 Manual File Name Options File Name log SBF File Extension sbf NMEA File Extension nmea Split Files After Size Limited 100 000 MB Time Limited 000 10 00 Station Settings Set Station Settings Figure 25 RX4 RX6 Settings File Naming The SBF tab provides the settings to log the raw data Figure 26 shows the user interface where the raw data for GPS L1 L2 as well as the EGNOS satellites is selected GEORawL1 Company Confidential DKE Aerospace 27 of 32 Global sicom Stream A ors Se IntegratedGeod ese sto Integ
47. ttressttttes ttti sst ttt setet esteet esat trtsrrttressetereseeteeeseeereee 19 4 DANOLINE are ona E N ET ESE E EE E AE E TE 20 4 1 GPS POSION RA ssicsssccantapecssadeastnactaaenssounes EEE EEE TEE EE ERE EEEE EE EE 20 4 2 Low end EGNOS position RX2 ccccccsssscccesssccceeccccauecccssnscesaaeeeessuseceseueceesaueeessaeseeseaecesseaseesaaeseesaueeesseneeees 20 4 3 Medium end receiver EGNOS position RX3 ccccccsssccccsssecceececcesccesescesseeceseaececseuecesseueeesaaeeeeseseessaneeess 21 4 4 High end receiver EGNOS position RX4 ssssssssssensssssserrrresssssererressssrrrrressssrrrrreossseerereessssereereesssererreessseeeeee 21 4 5 IALA eacohni position RAS emer nee a ere one ar nee tert ne ree oe Rm EO ee eee 21 4 6 Reer CMC S PO IOI Fk Ob a E a tessa tancsavssesatacesaenuetabasdetegenauauuindaseasoocuacseeceedstans 22 5 BE AM VS 1 ecco seine teenage i pets ds oe cv pe at eases causa bveteonc ue send src net meeea E 23 6 Raw data recording RX4 or RXG svcsssssssccsnsasinctasiestunden cosensimaabedenioaddeatestandenanaddudsadeatinnspeaucdndusaatacheadaamadbuassavsnbaceess 25 6 1 BN estes tie Ser eee ten area wed erc une deem sofas tiniest tate fg anima A E A E E agi E E E ec E A TE 26 6 2 RES Ye COONS e EE sare E E E E eh aray treet wat N AEA A aati oman E 28 7 MOSES CESS SIS AEE E EAEE N AA E EAE E E E AEA 30 7 1 Lake of Constance Preliminary test sssssecsssssssccsssssssecccssessccscssssesccesessecce
48. used as the main configuration option In order to set the values defined in section 3 the Receiver Configuration menu is used see also RD2 page seven The output through the Ethernet port is configured in the I O Configuration menu where the frequency for the specific NMEA sentences can be set All NMEA sentences are output with 1 Hz Company Confidential DKE Aerospace 16 of 32 3 5 High end receiver EGNOS position RX4 RX4 needs to be configured to apply EGNOS corrections only To configure the receiver a Septentrio software package called RxControl is used To apply EGNOS corrections only and no other corrections StandAlone and SBAS is selected see Figure 16 left The reason to select both is that at least the GPS position shall be output in case EGNOS would not be included in the position The usage can be determined in the analysis through the GSA message where all satellites are shown which are used for the position computation The SBAS corrections are set through the SBAS Corrections tab of the RxControl software see Figure 16 center The DO 229 standard which has its origin in aviation makes a distinction between two positioning applications en route and precision approach The choice between both applications influences the length of the interval during which the SBAS corrections are valid and the criteria to use a satellite in the PVT solution During a precision approach the validity o
49. ution of one antenna signal between multiple receivers requires using active splitters those would be filtering out the IALA beacon frequency and therefore a separate antenna is used to receive the IALA signal The antennas and splitters are listed in Table 5 and Table 6 Splitter Splitter name Splitter ID Antenna usage Antenna name Antenna ID Splitter GPS Networking ALDCBS 1X8 SP1 Medium end antenna PPMAT 575 ANT1 Splitter II GPS Networking ALDCBS 1X8 SP2 High end antenna Trimble GA 530 ANT2 Table 5 Equipmnet Splitters IALA beacon antenna CT A401223 ANT3 Table 6 Equipment Antennas The cables used to connect the antennas to the splitters and receivers are high quality cables especially produced for mobile usage according to the distributor The cables required are listed in Table 7 Company Confidential DKE Aerospace 9 of 32 Cable usage Connector Adapter Cable type Connector Cable length Cable ID RX1 SPx SMA m H2000F TNC m 30 cm C1 RX2 SPx SMA m H2000F TNC m 30 cm C2 RX3 SPx TNC m H2000F TNC m 30 cm C3 RX4 SPx TNC m H2000F TNC m 30 cm C4 RX5 ANT3 TNC m H2000F TNC m 15m C5 RX6 SPx TNC m H2000F TNC m 30 cm C6 SP1 ANT1 TNC m H2000F TNC m 15m C7 SP2 ANT2 TNC m H2000F TNC m 15m C8 Table 7 Equipment Cables amp Connectors The connection to the PC is done via the means provided by the receive
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