Uncertainty Workshop: Sounding attributes Rob Hare Manager, Hydrographic Surveys Canadian...
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Transcript of Uncertainty Workshop: Sounding attributes Rob Hare Manager, Hydrographic Surveys Canadian...
Uncertainty Uncertainty Workshop:Workshop:Sounding Sounding attributesattributes
Rob HareRob HareManager, Hydrographic SurveysManager, Hydrographic Surveys
Canadian Hydrographic Service, Pacific RegionCanadian Hydrographic Service, Pacific Region
CHC2004 May 24, 2004CHC2004 May 24, 2004
AbstractAbstract
A discussion of attributes on A discussion of attributes on soundingssoundings, sources of error and , sources of error and computation of sounding error. computation of sounding error. Plus a whole lot morePlus a whole lot more
An error prediction tool along with An error prediction tool along with the characteristics and capabilities the characteristics and capabilities of (a few) sounding systems will be of (a few) sounding systems will be reviewedreviewed..
Data Quality ElementsData Quality Elements CompletenessCompleteness Logical consistencyLogical consistency Positional accuracyPositional accuracy
Has Has horizontal and verticalhorizontal and vertical components components Sub-elements: Sub-elements: absolute accuracyabsolute accuracy, attribute , attribute
completeness, shape fidelity, time accuracy, completeness, shape fidelity, time accuracy, topologic consistencytopologic consistency
Temporal accuracyTemporal accuracy Thematic accuracyThematic accuracy
Estimation of Quality Estimation of Quality metricsmetrics
Direct and indirect methodsDirect and indirect methods Require absolute coordinate Require absolute coordinate
reference frame (e.g. WGS-84)reference frame (e.g. WGS-84) Most direct methods impracticalMost direct methods impractical
source inter-comparison is an exceptionsource inter-comparison is an exception Indirect methods require validationIndirect methods require validation
e.g. deductive error estimation (forward e.g. deductive error estimation (forward error prediction)error prediction)
Statistical estimatorsStatistical estimators
Measures of central tendencyMeasures of central tendency Sample meanSample mean Median, ModeMedian, Mode
Measures of dispersion (1-D and 2-D)Measures of dispersion (1-D and 2-D) Standard deviation (or variance), Standard deviation (or variance), RMSRMS CEP, MSEP,CEP, MSEP, drmsdrms
Total Propagated Error (TPE)Total Propagated Error (TPE) CAUTIONCAUTION - many hydrographic - many hydrographic
measurements are correlated (e.g. H&V measurements are correlated (e.g. H&V components of soundings)components of soundings)
Why estimate Why estimate error/uncertainty?error/uncertainty?
PreanalysisPreanalysis Will my system meet specifications?Will my system meet specifications? Do I purchase a new … C/B analysis?Do I purchase a new … C/B analysis?
Real-time QA Real-time QA Am I collecting enough data to meet specifications?Am I collecting enough data to meet specifications? Do I modify my sampling/processing strategy, discard outer Do I modify my sampling/processing strategy, discard outer
beams, increase overlap, take more sound speed profiles, beams, increase overlap, take more sound speed profiles, etc.?etc.?
Post-mission assessmentPost-mission assessment Did I meet specifications? Classification - what Order did I Did I meet specifications? Classification - what Order did I
achieve?achieve? Provide metadata for informed decision making/risk Provide metadata for informed decision making/risk
assessmentassessment Data attribution for integration/validation/comparison of Data attribution for integration/validation/comparison of
different data setsdifferent data sets Assessment of historic sourcesAssessment of historic sources
Initialization of CUBE estimator?Initialization of CUBE estimator? Create Source Classification or Reliability Diagrams or ZOCsCreate Source Classification or Reliability Diagrams or ZOCs
Part 1 - The VERTICALPart 1 - The VERTICAL
Absolute Vertical Absolute Vertical AccuracyAccuracy
Estimates of vertical precisionEstimates of vertical precision Errors common to all vertical Errors common to all vertical
measurementsmeasurements Errors common to GPS vertical Errors common to GPS vertical
measurementsmeasurements Depth soundingsDepth soundings
Shoal examinationsShoal examinations Drying heightsDrying heights Elevations and clearancesElevations and clearances
Depth soundingsDepth soundings
Leadline, sounding pole, rodLeadline, sounding pole, rod Single-beam echosounder - SBESSingle-beam echosounder - SBES
analogue soundersanalogue sounders digital soundersdigital sounders
Sweep (multi-transducer)Sweep (multi-transducer) Lidar Lidar Swath (multibeam echosounder - MBES)Swath (multibeam echosounder - MBES) Other – e.g. TIBS, wire or bar sweep, Other – e.g. TIBS, wire or bar sweep,
diverdiver
Sources of error - water Sources of error - water levelslevels
gauge measurement precisiongauge measurement precision method of filtering sea surface wavesmethod of filtering sea surface waves timing synchronisation of gauge and timing synchronisation of gauge and
measurement measurement vertical datum precision vertical datum precision spatial extrapolation to the location of the spatial extrapolation to the location of the
vertical measurement, or in the case of vertical measurement, or in the case of predictions,predictions,
quality of constituent set (length/quality of quality of constituent set (length/quality of observations)observations)
correction for environmental effectscorrection for environmental effects
Other sources of vertical Other sources of vertical errorerror
Draft and squat or settlementDraft and squat or settlement Antenna to transducer offset Antenna to transducer offset
(GPS)(GPS) Datum separation model (GPS)Datum separation model (GPS) Sounding measurementSounding measurement HeaveHeave Sound speedSound speed
Traditional sounding Traditional sounding reductionreduction
Dynamic draft
ChartedDepth, D
Chart datumMeasuredDepth, d
Tide, WL
θr
D = d + draft – WLd = r cos (θ+R) cos P
r = rangeΘ = beam angleR = Roll angleP = Pitch angle
RTK GPS sounding RTK GPS sounding reductionreduction
Dynamic draft
ChartedDepth, D
Chart datum
MeasuredDepth, d
Tide, WL
θr
Ellipsoid
GPS RTK, Z
Separation Model, M
AntennaHeight, K
D = d + K – Z – M
K = Δx sinP + Δy cosP sinR + Δz cosP cosR
Vertical error Vertical error propagationpropagation
SBES error sourcesSBES error sources
depth measurementdepth measurement algorithm, frequency, beamwidth, pulse algorithm, frequency, beamwidth, pulse
lengthlength sound speed correction methodsound speed correction method draft (and squat if applied)draft (and squat if applied) heave (measured)heave (measured) tidestides manual trace reading, resolution, manual trace reading, resolution,
recording and reduction methodrecording and reduction method
Lidar error sourcesLidar error sources
Depth measurementDepth measurement Refraction correction (calibration)Refraction correction (calibration) Sea-surface modellingSea-surface modelling Tides Tides Footprint spreadingFootprint spreading
MBES error sourcesMBES error sources Range and beam angle Range and beam angle
measurementmeasurement detection method (amplitude or phase)detection method (amplitude or phase)
Refraction correctionRefraction correction Dynamic draft Dynamic draft
includes squat, settlement, change of includes squat, settlement, change of trimtrim
Heave (measured and induced)Heave (measured and induced) Tides or water levelsTides or water levels Roll, pitch, headingRoll, pitch, heading Calibration (patch test) offsetsCalibration (patch test) offsets
Roll, pitch, heading, sensor latencyRoll, pitch, heading, sensor latency Positioning systemPositioning system
Patch test - Heading offsetPatch test - Heading offset
Patch test - Roll offsetPatch test - Roll offset Patch test - Pitch and latencyPatch test - Pitch and latency
Alignment errorsAlignment errors
MBES coordinate MBES coordinate systemssystems
Positioning system antenna
VRU, attitude sensor,sometimes HRP sensor
Transducerx
z
y
Direction of vessel travel
PortStarboard
Pitch angle
Roll angle
Yaw
Gyro
Y
Bow
Stern
XLL
LL
y
(range = 1/2 of 2-way travel time)Beam angle
Draft
d
z
r
(cross-track distance)
(measured depth)
Sample error mapping equationsSample error mapping equations
1dP r
2 2 2 cos cos
2dr P2 2 2 sin cos
3dr P
P2 2 2 cos sin
Map of sources of depthMap of sources of depthmeasurement errormeasurement error
d
Pv
R R v
r
v v
P P
pitch stabilization
non-orthogonally-steered beams
Rv m
m
m s
m
p s
d d dd4 1 2 3
, d r m
v m v m
Mapping reduced depth errorMapping reduced depth error
D
D WL
dynamic draughtdH
load squat draughtH H
R P offsets
Measured depth
Depth reduced for vessel
Reduced depth
(transducer to VRU)
(t)
im
Mapping depth errorsMapping depth errors
Confidence levelsConfidence levels For a normal distribution, the probabilities of For a normal distribution, the probabilities of
univariate random errors of a single univariate random errors of a single measurement falling within a certain level of measurement falling within a certain level of error (number of standard deviations, error (number of standard deviations, ) are ) are
given in the following table.given in the following table.
EM1002 depth error estimates (95%)(view looking aft, EA mode)
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
-250 -200 -150 -100 -50 0 50 100 150 200 250
Cross-track distance (m)
Dep
th e
rro
r (m
)
Sounder Heave Roll Pitch
Refraction Total depth measurement Dynamic draft Water level
Total reduced depth (EA mode) IHO Special Order IHO Order 1
Depth error estimatesDepth error estimates
Additional vertical Additional vertical correctionscorrections
sounding datum sounding datum adjustmentsadjustments
metric conversionmetric conversion may include generation of may include generation of
metric contoursmetric contours sound speed correctionssound speed corrections
Potential limitationsPotential limitations
heave estimation (manual)heave estimation (manual) phase lag or latencyphase lag or latency sound speed changessound speed changes manual trace readingmanual trace reading vertical display resolutionvertical display resolution stepped vertical datum zonesstepped vertical datum zones shoal biasingshoal biasing datum separation modelsdatum separation models
Part 2 - The Part 2 - The HORIZONTALHORIZONTAL
Absolute Horizontal Absolute Horizontal AccuracyAccuracy
Estimates of horizontal precisionEstimates of horizontal precision Field sheet processesField sheet processes SoundingsSoundings
Shoal examinationsShoal examinations Other data typesOther data types
Heights, elevations, clearancesHeights, elevations, clearances Navigational AidsNavigational Aids ShorelineShoreline Bathymetric contoursBathymetric contours
Cartographic processes (including digitizing)Cartographic processes (including digitizing)
Sounding Position Sounding Position EquationsEquations
sx r R r P R cos sin( ) sin sin cos( )
sy r R r P R sin sin( ) cos sin cos( )
meas sy ay ty M( )/
meas sx ax tx N( )/ cos
ax x P y R P R z R P R sin cos (cos cos sin sin sin ) (cos sin sin sin cos )
tx tSOG P sin cos ty tSOG P cos cos
ay x P y R P R z R P R cos cos (sin cos cos sin sin ) (sin sin cos sin cos )
Estimates of precisionEstimates of precision
Rigorous - error ellipsesRigorous - error ellipses HDOPHDOP MSEPMSEP CEPCEP CSECSE drms drms badrms 22
22yxMSEP
Errors in Multibeam Errors in Multibeam soundingssoundings
GPS or POS/MV position errorGPS or POS/MV position error transducer - antenna offsets transducer - antenna offsets sounder measurement errorsounder measurement error
range, beam angle, detection methodrange, beam angle, detection method refraction correction errorrefraction correction error
transducer shape, orientation, roll-modulationtransducer shape, orientation, roll-modulation roll, pitch and roll, pitch and headingheading error error latency between systems latency between systems
GPS, sounder, VRUGPS, sounder, VRU
Sample position error mappingSample position error mappingequationsequations
1sp P r2 1 2 2 ( (cos cos ) )
2sp r P2 2 1 2 2 ( (cos cos ) )
Sounding position error mapSounding position error mapp
Pv
R R v
r
v v
m
pitch stabilizationR
non-orthogonally-steered beams
PPrm
vm
sm
m
s
p s
ps ps ps ps4321
vm
vm
m
Mapping total position errorMapping total position error
p
drms pp p
speed latency P offsets P R
s at
Mapping position errorsMapping position errors
Confidence levelsConfidence levels
EM1002 position error estimates (2MSEP)(view looking aft, EA mode)
0
2
4
6
8
10
12
-250 -200 -150 -100 -50 0 50 100 150 200 250
Cross-track distance (m)
Po
siti
on
err
or
(m)
Positioning System Sounding Refraction Roll Pitch Heading Sounding position IHO Special Order IHO Order 1
Position error estimatesPosition error estimates
Field Sheet processesField Sheet processes Horizontal datumHorizontal datum Manual processesManual processes
Materials and constructionMaterials and construction Horizontal controlHorizontal control Station plottingStation plotting
Data typesData types SoundingsSoundings
Shoal examinations, drying heightsShoal examinations, drying heights ContoursContours
Navigational aidsNavigational aids Shoreline (natural and man-made)Shoreline (natural and man-made) Seafloor samplesSeafloor samples Topography, elevations, clearancesTopography, elevations, clearances
These are scale-dependent errors
Soundings - sources of Soundings - sources of errorerror
Positioning system/methodPositioning system/method Sounding system Sounding system
including offsets in space and timeincluding offsets in space and time
PlottingPlotting InkingInking DigitizingDigitizing
Mytyaysm /)( cos/)( Nxtxaxsm
Positioning Positioning systems/methodssystems/methods
Manual/OpticalManual/Optical Sextant (eccentric circle LOP)Sextant (eccentric circle LOP) Subtense (eccentric circle LOP)Subtense (eccentric circle LOP) Range poles (straight-line LOP)Range poles (straight-line LOP) Azimuth (straight-line LOP)Azimuth (straight-line LOP)
Electronic positioning systems (EPS)Electronic positioning systems (EPS) Range-bearing (hybrid - circle and line) Range-bearing (hybrid - circle and line) Two-range or range-range (later multi-range) - concentric Two-range or range-range (later multi-range) - concentric
circle LOPcircle LOP Hyperbolic (2 and later multi-hyperbola) LOPHyperbolic (2 and later multi-hyperbola) LOP Transit satellite (Doppler) - spherical LOPTransit satellite (Doppler) - spherical LOP GPS (spherical LOP)GPS (spherical LOP)
DGPSDGPS OTFOTF
Plotting, Inking, Plotting, Inking, Digitizing errorsDigitizing errors
PlottingPlotting 3-arm protractor3-arm protractor latticeslattices collector registrationcollector registration fixes and ‘tweeners’fixes and ‘tweeners’
InkingInking on collectoron collector on field sheeton field sheet registrationregistration
DigitizingDigitizing digitizer resolutiondigitizer resolution registration (rms of fit on HCP) - transformation usedregistration (rms of fit on HCP) - transformation used datum shiftdatum shift projectionprojection
These are scale-dependent errors
Systematic error sources Systematic error sources (safety biasing)(safety biasing)
GeneralizationGeneralization Line smoothingLine smoothing SymbolizationSymbolization Feature displacementFeature displacement
soundingssoundings bottom samples (more for clarity than bottom samples (more for clarity than
safety)safety)
Drafting Drafting (from final compilation (from final compilation
manuscript)manuscript) Control pointsControl points Linework (shoreline)Linework (shoreline) SoundingsSoundings SymbolsSymbols ContoursContours Bottom samplesBottom samples
DigitizingDigitizing
Registration/rectification methodRegistration/rectification method Digitizer precision, resolutionDigitizer precision, resolution Optical centre recognitionOptical centre recognition Line-following abilityLine-following ability QC tolerances (chart specifications)QC tolerances (chart specifications)
Sources, products and points of digitization
Manually-compiled
source
Digitally-collected
source
digitizeconvert
Digitalsource
manualcompilation
manualdrafting
printing
digitalcompilation
Digitalchart/ENC
Digitalchart/ENC
Paperchart
QER
QER
QER
digitizeconvert
digitizeconvert
Field sheet processes
Cartographic processes
QER QERQER
Data inter-comparisons:Data inter-comparisons:validating error prediction validating error prediction
assumptionsassumptions MethodsMethods
compare same data set at different process stagescompare same data set at different process stages difference DTM (soundings)difference DTM (soundings) inter-comparison of point features (shoal examinations, inter-comparison of point features (shoal examinations,
drying heights)drying heights) linework comparisons (HWL, LWL, contours)linework comparisons (HWL, LWL, contours) validate inference methods (expected vs. actual)validate inference methods (expected vs. actual)
LimitationsLimitations small statistical samplesmall statistical sample is it the same feature?is it the same feature? separation of depth from position errorseparation of depth from position error
22
21 mm
Quality ImplementationsQuality Implementations Data collection - ASCII, Simrad, Hypack, NMEAData collection - ASCII, Simrad, Hypack, NMEA Data processing - HIPS (Quality flag, coverage, Data processing - HIPS (Quality flag, coverage,
standard deviation), CUBE (stochastic surface, standard deviation), CUBE (stochastic surface, etc.)etc.)
Data storage - Caris ASCII, GSF, SDS, …Data storage - Caris ASCII, GSF, SDS, … Paper Charts - Source Classification/Reliability Paper Charts - Source Classification/Reliability
Diagrams, Explanations in Sailing Diagrams, Explanations in Sailing Directions/PilotsDirections/Pilots
ENC - S-57 objects and meta-objects ENC - S-57 objects and meta-objects (M_QUAL, M_ACCY, CATZOC, CATQUA, QUASOU, (M_QUAL, M_ACCY, CATZOC, CATQUA, QUASOU,
TECSOU, POSACC)TECSOU, POSACC) Raster Charts?Raster Charts?
SummarySummary Depth and position errors can be estimated Depth and position errors can be estimated
using forward error predictionusing forward error prediction These estimates can be validated by inter-These estimates can be validated by inter-
comparison of data setscomparison of data sets Estimates can be used:Estimates can be used:
To make decisions regarding equipment To make decisions regarding equipment selection and purchaseselection and purchase
To determine if specifications can be/have been To determine if specifications can be/have been metmet
To adapt your sampling strategyTo adapt your sampling strategy As an input to statistical processing algorithmsAs an input to statistical processing algorithms
These are but two of many These are but two of many Quality/Uncertainty MeasuresQuality/Uncertainty Measures