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Surveying on the Ellipsoid: A Canadian Hydrographic Perspective Ian Church
31

Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Jan 25, 2020

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Page 1: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Surveying on the Ellipsoid: A Canadian Hydrographic

Perspective

Ian Church

Page 2: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž
Page 3: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

β€’ System Integration

β€’ Raytracing

β€’ Positioning (3D vs 2D)

Processing Multibeam Survey Data

Depth Sounding

Page 4: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Positioning of a Depth Sounding

Depth Sounding

Horizontal Position

Vertical Position

Page 5: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Traditional Depth Sounding Position

Vertical:

Tides, Draft & Squat

Horizontal:

Positioning (GNSS)

Why are these positions from different sources?

Page 6: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Vertical Positioning

β€’ What is the vertical reference

for the numbers on a chart?

β€’ They must be meaningful to a

mariner

http://museum.gov.ns.ca/fossils/protect/tideanim.htm24 hours worth of water-levels

Must Consider the Changing Tide

Page 7: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Ellipsoid Reference Survey (ERS)

β€’ Find a way to transform data from the Ellipsoid to Chart Datum

β€’ FIG #62 (Mills & Dodd, 2014)

β€’ Know how to do it - Lots of potential ways to get the separation

Page 8: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Challenge for Canada

β€’ Canada has a special challenge

– We need to have agreement across the country -long coastline, lots of water and limited resources

– Few tide gauges and lots of open water

β€’ Makes interpolation of CD between gauges impossible.

Page 9: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž
Page 10: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

M2 K1

Hudson Bay M2 and K1 Amphidromes (Co-Tidal Charts) 2005 Version (WebTide)

Interpolation works well in a Narrow

Channel, but what about in an Open Bay?

Page 11: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Continuously Varying Chart Datum (CVD) for Canada

Robin, C., Nudds, S., MacAulay, P., Godin, A., De Lange Boom, B., & Bartlett, J. (2016). Hydrographic Vertical Separation Surfaces (HyVSEPs) for the Tidal Waters of Canada. Marine Geodesy, 39(2), 195–222.

Page 12: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Ellipsoid

Sonar-relative

Depth measurement

(Sound Velocity Correction)

Instantaneous

Water level

N: (Geoid

Model)

h:

(Ellipsoid)

GPS Approach We Need SEP (Ellipsoid – CD)

H:

(Orthometric )

SSTHydrodynamic

Model

CD

SEP

SEPSEP

Charted

Depth

CD Depth = Sonar Depth + Offsets + Ellipsoid –SEP

SEP = N + SST + HModel

Page 13: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Ellipsoid

Sonar-relative

Depth measurement

(Sound Velocity Correction)

Instantaneous

Water level

N: (Geoid

Model)

h:

(Ellipsoid)

GPS Approach We Need SEP (Ellipsoid – CD)

H:

(Orthometric )

SSTHydrodynamic

Model

CD

SEP

SEPSEP

Charted

Depth

CD Depth = Sonar Depth + Offsets + Ellipsoid –SEP

SEP = N + SST + HModel

Page 14: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Geoid-Ellipsoid Separation Models

β€’ Canada: CGVD2013 (CGG2013)

β€’ USA: Geoid12A: NAD83 NAVD88 (hybrid Geoid)

β€’ USA: USGG2012: WGS84 Geoid

β€’ International: EGM08

Geoid12A

CGVD2013

Page 15: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

15

CGVD2013 Error Map

NRCAN, 2014

Page 16: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

CGG2013 Minus GGeoid14

Research Analysis by UNB GGE MScE Student Weston Renoud

Page 17: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Resolution and Akpatok Islands

Research Analysis by UNB GGE MScE Student Weston Renoud

CGG2013 GGeoid14

Resolution and

Akpotok IslandsResolution and

Akpotok Islands

Differences of +/- 40 cm

Page 18: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Ellipsoid

Sonar-relative

Depth measurement

(Sound Velocity Correction)

Instantaneous

Water level

N: (Geoid

Model)

h:

(Ellipsoid)

GPS Approach We Need SEP (Ellipsoid – CD)

H:

(Orthometric )

SSTHydrodynamic

Model

CD

SEP

SEPSEP

Charted

Depth

CD Depth = Sonar Depth + Offsets + Ellipsoid –SEP

SEP = N + SST + HModel

Page 19: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Dynamic Ocean Topography

DOT: Associated Epoch and a Reference Geoid β€’ Sea Surface Variations

– Ocean Currents: 1 m

– Waves

– Sun Heating: 0.3 – 1 m

– Storms, Pressure, Winds. etc

Page 20: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Ellipsoid

Sonar-relative

Depth measurement

(Sound Velocity Correction)

Instantaneous

Water level

N: (Geoid

Model)

h:

(Ellipsoid)

GPS Approach We Need SEP (Ellipsoid – CD)

H:

(Orthometric )

SSTHydrodynamic

Model

CD

SEP

SEPSEP

Charted

Depth

CD Depth = Sonar Depth + Offsets + Ellipsoid –SEP

SEP = N + SST + HModel

Page 21: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

21 21

5.5

5.0

WebTide(Hannah, Greenberg, Dupont et al.)Scotian Shelf Model

M2 Amplitude

Hydrodynamic Model

Page 22: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Canadian Tidal Model Coverage

➒Tides:

β€’ Limited Tide Gauge Network

β€’ Hydrodynamic Models

Page 23: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Match the 2-Dimensionally Varying Chart Datum from Hydrodynamic Model to Established Chart Datum

23

Hydrodynamic

Model

CDCharted

Depth

Page 24: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Continuous Vertical Datum

Tide stations and the four working grid domains, each portrayed

in a separate colour, duplicated from Robin et al (2016)

Accuracy estimates:

CANEAST 7.5cm

CANWEST 6.9cm

CANNORTH 6.6cm

CANHUD 17.7cm

For CGG2013 single

average error of 2.5 cm

used

Page 25: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Water Levels from GNSS

Photo of the GPS-Catamaran at M2 tide gauge

location, duplicated from Bonnefond et al (2003)

CCGS Amundsen icebreaker –Wert (2004)

Princess of Acadia –Wardwell (2008)

MV AIDAblu

Duplicated from

Reinking et al

(2012)

Page 26: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

RV Nuliajuk

~4

00

km

http://www.omg.unb.ca/Projects/Arctic/SE_Baffin/

Part of OMG Arctic

Mapping Program

2012-2014

Research Analysis by UNB GGE MScE Student Weston Renoud

Page 27: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Water Height Reduction𝐻w𝑙 = β„Žπ‘’π‘™π‘™π‘–π‘βˆ’ 𝑁 βˆ’ β„Žπ‘’π‘Žπ‘£π‘’π‘£π‘’π‘ π‘ π‘’π‘™βˆ’ β„Žπ‘’π‘Žπ‘£π‘’π‘™π‘’π‘£π‘’π‘Ÿ βˆ’ π‘ π‘žπ‘’π‘Žπ‘‘ βˆ’ β„Žπ‘Žπ‘›π‘‘

βˆ’ 𝑀𝑙𝑧Where:

β„Žπ‘’π‘™π‘™π‘–π‘ - the PPP solution height above NAD83(CSRS),

𝑁 - the geoid undulation from CGG2013 for the

position of the vessel,

β„Žπ‘’π‘Žπ‘£π‘’π‘£π‘’π‘ π‘ π‘’π‘™ - the vessel heave as reported at the ship’s

reference point,

β„Žπ‘’π‘Žπ‘£π‘’π‘™π‘’π‘£π‘’π‘Ÿ - induced heave due to offsets of the antenna

from the ship’s reference point,

π‘ π‘žπ‘’π‘Žπ‘‘ - vessel squat as a function of the speed over

ground,

β„Žπ‘Žπ‘›π‘‘ - height of the GNSS antenna above the ship’s

reference point, and

𝑀𝑙𝑧 - height of the ship’s reference point above the

water. Research Analysis by UNB GGE MScE Student Weston Renoud

hellip

N

Page 28: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

GNSS Water Height and Tide Observations

Research Analysis by UNB GGE MScE Student Weston Renoud

Comparison of GNSS Water Heights to Observations at active Tidal Station:Frobisher’s Farthest – Frobisher Bay

Page 29: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Initial Results and Validation

β€’ NRCAN PPP solutions for the forward mounted CNAV3050

were used as observations

β€’ Estimates of Mean Sea Level wrt Ellipsoid

β€’ Grids were binned at 3 km

Research Analysis by UNB GGE MScE Student Weston Renoud

Page 30: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Conclusions

β€’ The hydrographic community has unique challenges for vertical referencing vs. land surveying

β€’ Ellipsoid Referenced Surveys (ERS) are now possible for all Canadian Waters

β€’ The CVD solution must be continually refined and improved as better Geoid Approximations, DOT estimates and Tidal Estimates become available

β€’ There needs to be additional validations throughout the CVD domain to verify stated uncertainties and to confirm that vertical accuracy requirements are being met

Page 31: Surveying on the Ellipsoid: A CanadianHydrographic PerspectiveΒ Β· Water Height Reduction 𝐻 w𝑙= β„Žπ‘’π‘™π‘™π‘– βˆ’ π‘βˆ’ β„Žπ‘’π‘Ž 𝑒 𝑒 𝑒𝑙 βˆ’ β„Žπ‘’π‘Ž

Questions?


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