RAIM For Ship And Rig Management

RAIM for Ship and Rig ManagementMaritime ApplicationsInstitute of Space Technology and Space ApplicationsUniversity FAF Munich, GermanyPhD Student Diana FontanellaDiana.Fontanella@unibw.dePhD Student Hanno BeckmannHanno.Beckmann@unibw.dePhD Student Victoria KroppVictoria.Kropp@unibw.deProf. Dr.‐Ing. Bernd EissfellerBernd.Eissfeller@unibw.dePeking, China7 November 2012

Presentation Overview Motivation & Objectives Present eNavigation Receiver Autonomous Integrity Monitoring (RAIM) Horizontal Protection Levels (HPL) RAIM Availability Simulation Performances HPL Values for the Harbor in Hamburg RAIM Availability Over the Globe Threats & Alternative Systems2

Motivation & Objectives What benefits does Receiver Autonomous IntegrityMonitoring (RAIM) offer to marine navigation? Can multi‐constellation dual frequency GNSS RAIM meetArctic challenges and provide integrity for the safety,reliable and cost‐effective oil transport and exploitation Can classical RAIM extended to operate with dual frequencyand dual constellation GNSS achieve 99.8% of IMO futureGNSS availability requirements A 22/Res. 915 Availability of RAIM is the percentage of time that provides usablenavigation service within a specified coverage area3

Present eNavigationMix of AtoN (Aids to Navigation) Augmentation through IALA DGPS e‐Navigation elements AIS 2,3(Automatic Identification System) ECDIS (Electronic Chart Display and InformationSystem) GNSS/DGNSS (Global Navigation SatelliteSystems/Differential GNSS) Radars (X‐Band or S‐Band) eLORAN (enhanced LOng RAnge Navigation) other radio navigation means1integrationanddisplayofmaritime information onboardand ashore by electronic means toenhance berth‐to‐berth navigationand related services, safety andsecurity at sea and protection ofthe marine environmentIALA e‐navigation definitionRAIM3 is a vital technology andan easy way to provide a GNSSintegrity monitoring solution1International Association of marine aids to navigation andLighthouse Authorities2http://www.marinetraffic.com3possible integration of position integrity enhanced by RAIM(Receiver Autonomous Integrity Monitoring)e‐Navigation is the collection,4

RAIMReceiver Autonomous Integrity Monitoring (RAIM) is a technique that usesan overdetermined solution to perform a consistency check on the satellitemeasurements The output of the algorithm is the Horizontal Protection Level (HPL),which is the radius of circle, centered at the true user position that isassured to contain the indicated horizontal position with the givenprobability of false alarm (PFA) and missed detection (PMD)ISTAR (Integrity Simulation Tool for Advanced RAIM) allows to estimateHorizontal Protection Levels based on the various GNSS constellations andmultiple frequencies Ref.: MultiRAIM Project, founded by the Bundesministerium für Wirtschaft und Technologie (BMWi), administered bythe Agency of Aeronautics of the DLR in Bonn (FKZ 50NA1004)5

Summary of Major Steps1Horizontal Alert Limit (HAL )6

Horizontal Protection Level (HPL) Ref.[1]: Kaplan, p. 353Ref.[2]: J.E.Angus, RAIM with Multiple Faults.Ref.[3]: T.Walter, P.Enge, „Weighted RAIM for Precision Approach“, Palm Springs, CA, September 1995,1995‐20047pp.

HPL over 10 Sidereal DaysHamburg harbourGPS 27 SatGAL 27 SatTime period: 10 Days,Time step: 600 sPmd 10-4System LevelParametersPort approachand restrictedwatersAbsolute accuracyIntegriyHorizontal(Meters)Alert Limit(Meters)Time toAlarm (s)Integrity Riskper(3 hours)10251010‐5IMO GNSS performance requirements for general navigation according toRes. A.915(22) on future GNSS8

RAIM Availability (HPL2)Grid: 5 x 5 Time period: 10 DaysTime step: 600 sGPS 27 SatGAL 27 SatURA 1.2 mSISA 1.2 mPfa 2.1·10‐5Papriori sat 10‐4HAL 15 mMask angle:10 Service Level ParametersAvailability %per 30 daysContinuity % over3 hoursCoverageFix interval(s)Port approach and restricted waters99.8N/AGlobal1IMO GNSS performance requirements for general navigation according to Res. A.915(22) on future GNSS9

RAIM AvailabilityINTEGRITYREQUIREMENTSHAL 15 mPfa 2.1·10-5URA 1.2 mSISA 1.2 mThe percentage of the globe between 70 S and 70 Nthat has 95% and 99.8% RAIM availabilityMask angle: 10 Papriori sat 10-4Dual Frequency GNSS RAIMWith the 15m Horizontal AlertLimit the simulation results meetthe reuquired availability10

Threats GNSS‐Weakness Large Distance toSatellites Low GNSS‐SignalPower Space WeatherSpoofing Simulation andTransmission of fakeGNSS‐Signals Manipulate NPT‐SolutionDenial of Service Intentional Jamming Unintentional RadioInterference11

Alternative SystemsNavigationParameter Measurement PrincipleAccuracyAvailabilityHeadingMechanical GyroscopeFOG (Fiber Optic Gyroscope )THD (Transmitting Heading Device)Magnetic (Compass)0.1 deg 0.5 deg 1.0 deg 5 deg100 %100 % 100 %100 %PositionGNSSDGNSSLORAN CeLORAN4.5 – 25 m0.1 – 25 m 450 m 20 m 100% (for 2 GNSS)Station dependentChain dependentSpeedDoppler Speed LogElectromagnetic LogSatellite Log 0.2 kn 0.5 kn 0.1 knDepth 80 – 400 m100% 100%DepthEcho Sounder 1m 300 mRef.[1]: Dr. v. Koehler, Integrated Navigation Systems for Commercial Shipping, CCG e.V. Oberpfaffenhofen, 201012

Summary & Conclusions Dual Frequency Dual GNSS constellation RAIM Algorithms can achieve99.8% of IMO future GNSS availability requirements A 22/Res. 915 Ships have to carry a GNSS receiver (AIS). RAIM could be integrated Moreover RAIM can be supported by additional INS or augmentation systeminformation Multi‐constellation GNSS RAIM can support in demanding applicationssuch as navigation in Arctic The RAIM already used in aviation is fairly efficient against a largenumber of threats (including spoofing) Future GNSS systems & increased number of satellites will allow bestselection of the NPT information in order to provide integrity to theuser’s position; achieve safety and cost‐effective navigation solution13

Questions and DiscussionContact InformationUniversity of Federal Armed Forces Munich, GermanyWerner‐Heisenberg‐Weg 39, 85577, NeubibergMail: Victoria.Kropp@unibw.dePhone: 49‐89‐6004‐2588Thank you four your attention!14

eNavigation Architecture Ref.: e‐Nav 140, „The e‐Navigation Architecture – the initial shore‐based architecture perspective“, Ed. 1.0, IALARecommendations, Dec. 200915

RAIM AvailabilityINTEGRITYREQUIREMENTSHAL 25 mPfa 2.1·10-5URA 1.2 mSISA 1.2 mThe percentage of the globe between 70 S and 70 Nthat has 95% and 99.8% RAIM availabilityMask angle: 10 Papriori sat 10-4Dual Frequency Dual GNSS RAIMwith 2 simultaneous failures16

IMO GNSS performance requirements for general navigation according to Res. A.915(22) on future GNSS Time period: 10 Days, Time step: 600 s Pmd 10-4 System Level Parameters Absolute accuracy Integriy Horizontal (Meters) Alert Limit (Meters) Time to Alarm (s) Integrity Risk per(3