Testing and Analysis of Selected Navigation Parameters of the GNSS/INS System for USV Path Localization during Inland Hydrographic Surveys.

One of the main methods of the path localization of moving objects is positioning using Global Navigation Satellite Systems (GNSSs) in cooperation with Inertial Navigation Systems (INSs). Its basic task is to provide high availability, in particular in areas with limited access to satellite signals such as forests, tunnels or urban areas. The aim of the article is to carry out the testing and analysis of selected navigation parameters (3D position coordinates (Northing, Easting, and height) and Euler angles (pitch and roll)) of the GNSS/INS system for Unmanned Surface Vehicle (USV) path localization during inland hydrographic surveys. The research used the Ellipse-D GNSS/INS system working in the Real Time Kinematic (RTK) mode in order to determine the position of the "HydroDron" Autonomous Surface Vehicle (ASV). Measurements were conducted on four representative routes with a parallel and spiral arrangement of sounding profiles on Lake Klodno (Poland). Based on the obtained research results, position accuracy measures of the "HydroDron" USV were determined using the Ellipse-D GNSS/INS system. Additionally, it was determined whether USV path localization using a GNSS/INS system working in the RTK mode meets the positioning requirements for inland hydrographic surveys. Research has shown that the Ellipse-D system operating in the RTK mode can be successfully used to position vessels when carrying out inland hydrographic surveys in all International Hydrographic Organization (IHO) Orders (Exclusive, Special, 1a/1b and 2) even when it does not work 100% correctly, e.g., loss of RTK corrections for an extended period of time. In an area with limited coverage of the mobile network operator (30-40% of the time the receiver operated in the differential mode), the positioning accuracy of the "HydroDron" USV using the Ellipse-D GNSS/INS system working in the RTK mode was from 0.877 m to 0.941 m for the R95(2D) measure, depending on the route travelled. Moreover, research has shown that if the Ellipse-D system performed GNSS/INS measurements using the RTK method, the pitch and roll error values amounted to approx. 0.06°, which is almost identical to that recommended by the device manufacturer. However, when working in the differential mode, the pitch and roll error values increased from 0.06° to just over 0.2°.

Review of Shoreline Extraction Methods from Aerial Laser Scanning.

Autonomous technologies are increasingly used in various areas of science. The use of unmanned vehicles for hydrographic surveys in shallow coastal areas requires accurate estimation of shoreline position. This is a nontrivial task, which can be performed using a wide range of sensors and methods. The aim of the publication is to review shoreline extraction methods based solely on data from aerial laser scanning (ALS). This narrative review discusses and critically analyses seven publications drawn up in the last ten years. The discussed papers employed nine different shoreline extraction methods based on aerial light detection and ranging (LiDAR) data. It should be noted that unambiguous evaluation of shoreline extraction methods is difficult or impossible. This is because not all of the methods reported achieved accuracy, the methods were assessed on different datasets, the measurements were conducted using different devices, the water areas differed in geometrical and optical properties, the shorelines had different geometries, and the extent of anthropogenic transformation. The methods proposed by the authors were compared with a wide range of reference methods.

Analysis of Methods for Determining Shallow Waterbody Depths Based on Images Taken by Unmanned Aerial Vehicles.

Hydrographic surveys enable the acquisition and processing of bathymetric data, which after being plotted onto nautical charts, can help to ensure safety of navigation, monitor changes in the coastal zone, and assess hydro-engineering structure conditions. This study involves the measurement of waterbody depth, identification of the seabed shape and geomorphology, the coastline course, and the location of underwater obstacles. Hydroacoustic systems mounted on vessels are commonly used in bathymetric measurements. However, there is also an increasing use of Unmanned Aerial Vehicles (UAV) that can employ sensors such as LiDAR (Light Detection And Ranging) or cameras previously not applied in hydrography. Current systems based on photogrammetric and remote sensing methods enable the determination of shallow waterbody depth with no human intervention and, thus, significantly reduce the duration of measurements, especially when surveying large waterbodies. The aim of this publication is to present and compare methods for determining shallow waterbody depths based on an analysis of images taken by UAVs. The perspective demonstrates that photogrammetric techniques based on the SfM (Structure-from-Motion) and MVS (Multi-View Stereo) method allow high accuracies of depth measurements to be obtained. Errors due to the phenomenon of water-wave refraction remain the main limitation of these techniques. It was also proven that image processing based on the SfM-MVS method can be effectively combined with other measurement methods that enable the experimental determination of the parameters of signal propagation in water. The publication also points out that the Lyzenga, Satellite-Derived Bathymetry (SDB), and Stumpf methods allow satisfactory depth measurement results to be obtained. However, they require further testing, as do methods using the optical wave propagation properties.

Automatic Identification System (AIS) Dynamic Data Integrity Monitoring and Trajectory Tracking Based on the Simultaneous Localization and Mapping (SLAM) Process Model.

To enhance the safety of marine navigation, one needs to consider the involvement of the automatic identification system (AIS), an existing system designed for ship-to-ship and ship-to-shore communication. Previous research on the quality of AIS parameters revealed problems that the system experiences with sensor data exchange. In coastal areas, littoral AIS does not meet the expectations of operational continuity and system availability, and there are areas not covered by the system. Therefore, in this study, process models were designed to simulate the tracking of vessel trajectories, enabling system failure detection based on integrity monitoring. Three methods for system integrity monitoring, through hypotheses testing with regard to differences between model output and actual simulated vessel positions, were implemented, i.e., a Global Positioning System (GPS) ship position model, Dead Reckoning and RADAR Extended Kalman Filter (EKF)-Simultaneous localization and mapping (SLAM) based on distance and bearing to navigational aid. The designed process models were validated on simulated AIS dynamic data, i.e., in a simulated experiment in the area of Gdansk Bay. The integrity of AIS information was determined using stochastic methods based on Markov chains. The research outcomes confirmed the usefulness of the proposed methods. The results of the research prove the high level (~99%) of integrity of the dynamic information of the AIS system for Dead Reckoning and the GPS process model, while the level of accuracy and integrity of the position varied depending on the distance to the navigation aid for the RADAR EKF-SLAM process model.

Analysis of GNSS, Hydroacoustic and Optoelectronic Data Integration Methods Used in Hydrography.

The integration of geospatial data in hydrography, performed using different measurement systems, involves combining several study results to provide a comprehensive analysis. Each of the hydroacoustic and optoelectronic systems is characterised by a different spatial reference system and the method for technical implementation of the measurement. Therefore, the integration of hydrographic data requires that problems in selected fields of electronics, geodesy and physics (acoustics and optics) be solved. The aim of this review is to present selected fusion methods applying the data derived from Global Navigation Satellite System (GNSS), Real Time Kinematic (RTK) measurements, hydrographic surveys, a photogrammetric pass using unmanned vehicles and Terrestrial Laser Scanning (TLS) and compare their accuracy. An additional goal is the evalution of data integration methods according to the International Hydrographic Organization (IHO) S-44 standard. The publication is supplemented by implementation examples of the integration of geospatial data in the Geographic Information System (GIS). The methods described indicate the lack of a uniform methodology for data fusion due to differences in both the spatial reference systems and the techniques used. However, the integration of hydroacoustic and optoelectronic data allows for high accuracy geospatial data to be obtained. This is confirmed by the methods cited, in which the accuracy of integrated geospatial data was in the order of several centimetres.

Consistency of the Empirical Distributions of Navigation Positioning System Errors with Theoretical Distributions-Comparative Analysis of the DGPS and EGNOS Systems in the Years 2006 and 2014.

Positioning systems are used to determine position coordinates in navigation (air, land and marine). The accuracy of an object's position is described by the position error and a statistical analysis can determine its measures, which usually include: Root Mean Square (RMS), twice the Distance Root Mean Square (2DRMS), Circular Error Probable (CEP) and Spherical Probable Error (SEP). It is commonly assumed in navigation that position errors are random and that their distribution are consistent with the normal distribution. This assumption is based on the popularity of the Gauss distribution in science, the simplicity of calculating RMS values for 68% and 95% probabilities, as well as the intuitive perception of randomness in the statistics which this distribution reflects. It should be noted, however, that the necessary conditions for a random variable to be normally distributed include the independence of measurements and identical conditions of their realisation, which is not the case in the iterative method of determining successive positions, the filtration of coordinates or the dependence of the position error on meteorological conditions. In the preface to this publication, examples are provided which indicate that position errors in some navigation systems may not be consistent with the normal distribution. The subsequent section describes basic statistical tests for assessing the fit between the empirical and theoretical distributions (Anderson-Darling, chi-square and Kolmogorov-Smirnov). Next, statistical tests of the position error distributions of very long Differential Global Positioning System (DGPS) and European Geostationary Navigation Overlay Service (EGNOS) campaigns from different years (2006 and 2014) were performed with the number of measurements per session being 900'000 fixes. In addition, the paper discusses selected statistical distributions that fit the empirical measurement results better than the normal distribution. Research has shown that normal distribution is not the optimal statistical distribution to describe position errors of navigation systems. The distributions that describe navigation positioning system errors more accurately include: beta, gamma, logistic and lognormal distributions.

Statistical Distribution Analysis of Navigation Positioning System Errors-Issue of the Empirical Sample Size.

Positioning systems are used to determine position coordinates in navigation (air, land, and marine). Statistical analysis of their accuracy assumes that the position errors (latitude-δφ and longitude-δλ) are random and that their distributions are consistent with the normal distribution. However, in practice, these errors do not appear in a random way, since the position determination in navigation systems is done with an iterative method. It causes so-called "Position Random Walk", similar to the term "Random Walk" known from statistics. It results in the empirical distribution of δφ and δλ being inconsistent with the normal distribution, even for samples of up to several thousand measurements. This phenomenon results in a significant overestimation of the accuracy of position determination calculated from such a short series of measurements, causing these tests to lose their representativeness. This paper attempts to determine the length of a measurement session (number of measurements) that is representative of the positioning system. This will be a measurement session of such a length that the position error statistics (δφ and δλ) represented by the standard deviation values are close to the real values and the calculated mean values (φ¯ and λ¯) are also close to the real values. Special attention will also be paid to the selection of an appropriate (statistically reliable) number of measurements to be tested statistically to verify the hypothesis that the δφ and δλ distributions are consistent with the normal distribution. Empirical measurement data are taken from different positioning systems: Global Positioning System (GPS) (168'286 fixes), Differential Global Positioning System (DGPS) (864'000 fixes), European Geostationary Navigation Overlay Service (EGNOS) (928'492 fixes), and Decca Navigator system (4052 fixes). The analyses showed that all researched positioning systems (GPS, DGPS, EGNOS and Decca Navigator) are characterized by the Position Random Walk (PRW), which resulted in that the empirical distribution of δφ and δλ being inconsistent with the normal distribution. The size of the PRW depends on the nominal accuracy of position determination by the system. It was found that measurement sessions consisting of 1000 fixes (for the GPS system) overestimate the accuracy analysis results by 109.1% and cannot be considered representative. Furthermore, when analyzing the results of long measurement campaigns (GPS and DGPS), it was found that the representative length of the measurement session differs for each positioning system and should be determined for each of them individually.

Seabed Topography Changes in the Sopot Pier Zone in 2010-2018 Influenced by Tombolo Phenomenon.

Bathymetric surveys of the same body of water, performed at regular intervals, apart from updating the geospatial information used to create paper and electronic maps, allow for several additional analyses, including an evaluation of geomorphological changes occurring in the coastal zone. This research is particularly important in places where the shape of the coastal zone has been violently disturbed, including by human activity. Tombolo is such a phenomenon and it dynamically shapes the new hydrological conditions of the coastal zone. Apart from natural factors, it may be caused by the construction of hydrotechnical facilities in the littoral zone. It causes a significant disturbance in the balance of the marine environment, resulting in the bottom accretion and dynamic changes in the coastline. This has been the case since 2010 in Sopot, where the rapidly advancing tombolo is not only changing environmental relations but also threatening the health-spa character of the town by stopping the transport of sand along the coast. This paper analyses changes in seabed shape in the pier area in Sopot between 2010 and 2018. In the analysis, both archival maps and bathymetric surveys over a period of 8 years were used; based on these, numerical bottom models were developed and their geospatial changes were analyzed. The results showed that changes in the seabed in this area are progressing very quickly, despite periodic dredging actions organized by administrative bodies.

Accuracy Analysis of Measuring X-Y-Z Coordinates with Regard to the Investigation of the Tombolo Effect.

Tombolo is a narrow belt connecting the mainland with an island lying near the shore. It is formed as a result of sand and gravel being deposited by sea currents. In consequence, the seabed constantly rises and the shoreline moves towards the sea. This paper deals with accuracy analysis of the undertaken tombolo effect investigation, namely estimation of uncertainty of the measurement results. The aforementioned analysis concerns two methods used for creating a 3D beach model: Firstly, based on geodetic laser scanning (TLS-terrestrial laser scanning) and secondly, using images from unmanned aerial vehicles (UAV). The presented exemplary estimation of uncertainty of the measurement of coordinates X-Y-Z is based on the Polish case study.

Using UAV Photogrammetry to Analyse Changes in the Coastal Zone Based on the Sopot Tombolo (Salient) Measurement Project.

The main factors influencing the shape of the beach, shoreline and seabed include undulation, wind and coastal currents. These phenomena cause continuous and multidimensional changes in the shape of the seabed and the Earth's surface, and when they occur in an area of intense human activity, they should be constantly monitored. In 2018 and 2019, several measurement campaigns took place in the littoral zone in Sopot, related to the intensive uplift of the seabed and beach caused by the tombolo phenomenon. In this research, a unique combination of bathymetric data obtained from an unmanned surface vessel, photogrammetric data obtained from unmanned aerial vehicles and ground laser scanning were used, along with geodetic data from precision measurements with receivers of global satellite navigation systems. This paper comprehensively presents photogrammetric measurements made from unmanned aerial vehicles during these campaigns. It describes in detail the problems in reconstruction within the water areas, analyses the accuracy of various photogrammetric measurement techniques, proposes a statistical method of data filtration and presents the changes that occurred within the studies area. The work ends with an interpretation of the causes of changes in the land part of the littoral zone and a summary of the obtained results.

Evaluation of the Possibility of Identifying a Complex Polygonal Tram Track Layout Using Multiple Satellite Measurements.

We present the main assumptions about the algorithmization of the analysis of measurement data recorded in mobile satellite measurements. The research team from the Gdansk University of Technology and the Maritime University in Gdynia, as part of a research project conducted in cooperation with PKP PLK (Polish Railway Infrastructure Manager), developed algorithms supporting the identification and assessment of track axis layout. This article presents selected issues concerning the identification of a tramway line's axis system. For this purpose, the supporting algorithm was developed and measurement data recorded using Global Navigation Satellite System (GNSS) techniques was evaluated and analyzed. The discussed algorithm identifies main track directions from multi-device data and repeated position recordings. In order to observe the influence of crucial factors, the investigated route was carefully selected. The chosen tramway track was characterized by its location in various field conditions and a diversified and complex geometric layout. The analysis of the obtained results was focused on the assessment of the signal's dispersion and repeatability using residuals in relation to the estimated track's direction. The presented methodology is intended to support railway infrastructure management processes, mainly in planning and maintenance through an efficient inventory of the infrastructure in service.

Digital Filtering of Railway Track Coordinates in Mobile Multi-Receiver GNSS Measurements.

The article discusses an important issue in connection with the technique of mobile Global Navigation Satellite System (GNSS) measurements of railway track coordinates, which is digital filtering performed to precisely determine railway track axes. For this purpose, a measuring technique is proposed which bases on the use of a measuring platform with a number of appropriately distributed GNSS receivers, where two of them determine the directional base vector of the platform. The receivers used in the research had high measuring frequency in the Real Time Kinematic (RTK) operating mode and enabled correction of the obtained results in post-processing. A key problem discussed in the article is the method for assessing the quality of the measurement results obtained from GNSS receivers, and their preparation for further processing making use of geometrically constrained parameters of the base vector and specialized digital filtering, among other elements, to precisely determining the track axis. The obtained results confirm the applicability of the used method of GNSS signal processing.

Application of Least Squares with Conditional Equations Method for Railway Track Inventory Using GNSS Observations.

Satellite geodetic networks are commonly used in surveying tasks, but they can also be used in mobile surveys. Mobile satellite surveys can be used for trackage inventory, diagnostics and design. The combination of modern technological solutions with the adaptation of research methods known in other fields of science offers an opportunity to acquire highly accurate solutions for railway track inventory. This article presents the effects of work carried out using a mobile surveying platform on which Global Navigation Satellite System (GNSS) receivers were mounted. The satellite observations (surveys) obtained were aligned using one of the methods known from classical land surveying. The records obtained during the surveying campaign on a 246th km railway track section were subjected to alignment. This article provides a description of the surveying campaign necessary to obtain measurement data and a theoretical description of the method employed to align observation results as well as their visualisation.

Method of Evaluating the Positioning System Capability for Complying with the Minimum Accuracy Requirements for the International Hydrographic Organization Orders.

According to the IHO (International Hydrographic Organization) S-44 standard, hydrographic surveys can be carried out in four categories, the so-called orders-special, 1a, 1b, and 2-for which minimum accuracy requirements for the applied positioning system have been set out. These amount to, respectively: 2 m, 5 m, 5 m, and 20 m at a confidence level of 0.95. It is widely assumed that GNSS (Global Navigation Satellite System) network solutions with an accuracy of 2-5 cm (p = 0.95) and maritime DGPS (Differential Global Positioning System) systems with an error of 1-2 m (p = 0.95) are currently the two main positioning methods in hydrography. Other positioning systems whose positioning accuracy increases from year to year (and which may serve as alternative solutions) have been omitted. The article proposes a method that enables an assessment of any given navigation positioning system in terms of its compliance (or non-compliance) with the minimum accuracy requirements specified for hydrographic surveys. The method concerned clearly assesses whether a particular positioning system meets the accuracy requirements set out for a particular IHO order. The model was verified, taking into account both past and present research results (stationary and dynamic) derived from tests on the following systems: DGPS, EGNOS (European Geostationary Navigation Overlay Service), and multi-GNSS receivers (GPS/GLONASS/BDS/Galileo). The study confirmed that the DGPS system meets the requirements for all IHO orders and proved that the EGNOS system can currently be applied in measurements in the orders 1a, 1b, and 2. On the other hand, multi-GNSS receivers meet the requirements for order 2, while some of them meet the requirements for orders 1a and 1b as well.

Assessment of the Steering Precision of a Hydrographic Unmanned Surface Vessel (USV) along Sounding Profiles Using a Low-Cost Multi-Global Navigation Satellite System (GNSS) Receiver Supported Autopilot.

The performance of bathymetric measurements by traditional methods (using manned vessels) in ultra-shallow waters, i.e., lakes, rivers, and sea beaches with a depth of less than 1 m, is often difficult or, in many cases, impossible due to problems related to safe vessel maneuvering. For this reason, the use of shallow draft hydrographic Unmanned Surface Vessels (USV) appears to provide a promising alternative method for performing such bathymetric measurements. This article describes the modernisation of a USV to switch from manual to automatic mode, and presents a preliminary study aimed at assessing the suitability of a popular autopilot commonly used in Unmanned Aerial Vehicles (UAV), and a low-cost multi-Global Navigation Satellite System (GNSS) receiver cooperating with it, for performing bathymetric measurements in automated mode, which involves independent movement along a specified route (hydrographic sounding profiles). The cross track error (XTE) variable, i.e., the distance determined between a USV's position and the sounding profile, measured transversely to the course, was adopted as the measure of automatic control precision. Moreover, the XTE value was statistically assessed in the publication.

Comparative analysis of positioning accuracy of Samsung Galaxy smartphones in stationary measurements.

Achieving single meter positioning accuracy by portable mobile devices still poses a major challenge to the satellite signal receivers constructors, despite gradual constellation completing process and the progress achieved in last decades. Nowadays popular smartphones are multifunctional devices that serve also as a personal navigation tool in navigation and sport activities using the global navigation satellite systems (GNSS) receivers installed. It would seem that introducing newer models to the global market would cause constant progress in the accuracies obtained, however, the study results do not confirm that. This study focused on Galaxy series smartphones of Samsung, one of the leading manufacturers worldwide, to examine its technological progress. The aim was to verify the thesis using statistical models and analyses to compare succeeding generations of smartphones on six devices from the series. The authors conducted two synchronous stationary measurement campaigns of 24 and 12 hours with one-second interval in obstacle-free environment which provided 70000+ and 30000+ statistical samples of position measurements. The reference values of true smartphones coordinates were determined by means of state-of-the-art precise surveying instruments and geodetic calculations. The results indicate that two newest generations of the Galaxy series included in the research, namely S6 and S7, obtained lower accuracies than their predecessors. Against the backdrop of lack of public availability of smartphones technical parameters, the conducted research results are relevant especially to smartphones positioning service users community.