Stijn Goldmann

Junior Support Engineer – Hydrographic Surveyor cat A

 Stijn Goldmann
Junior Support Engineer – Hydrographic Surveyor cat A

Stijn Goldmann started working for QPS in 2016.

Stijn has worked on several project and training courses:

• On site support
‒ Offshore Survey Vessel Mobilization
‒ Vessel Calibration and Survey trials

• QINSy, Qimera, Fledermaus training

‒ European Port Authorities
‒ Maritime Academy Antwerp
‒ Maritime Institute Willem Barentz
‒ In-house training courses

• Qarto demonstrations
Activity Impression Stijn Goldmann

Troubleshooting

Vessel
Calibrations

Onsite Training

Offshore
Mobilization
Purpose of the training
• Introduction to QPS and its products
• Setup a new template database for a MBES
survey and Understanding of interfacing
• To be able to perform a (good) survey by using
the correct Displays
• Online QC
• Alerts
• Multibeam calibration / Patch test
• Problem analysis

4
Planning Week 1
Date Subject Where?
27-2 Introduction QPS products Training Room
QINSy
- Building template
- Online
- Line planning

28-2 QINSy & Qimera Training Room

- Online
- Replay
- Introduction Qimera

1-3 QINSy & Qimera Group 1 Vessel

- Acquisition
- Qimera live
2-3 QINSy & Qimera Group 2 Vessel
- Acquisition
- Qimera live
- Patch test

3-3 Qimera Training Room

- Point cleaning
- Filtering

5
Planning Week 2
Date Subject Where?
6-3 Qimera Training Room
- Wobble test tool
- SVP Editing
- Time series editing
- Water column
Qinsy
- Plotting

7-3 Fledermaus Training Room

- Qimera to Fledermaus
- FMGT
8-3 Fledermaus Training Room
- Tools and Utilities
- Create Movies
9-3 QINSY, Qimera Morning Group 1 / Afternoon Group 2 Vessel
- Sea trials
- Patch test
10-3 QINSy, Qimera & Fledermaus Training Room
- Workflow exercise

6
Specialists in marine spatial
software solutions

Main products:
hydrographic survey and positioning system
3D hydrographic data processing
visualisation and analysis
ENC and BENC production
navigation and docking system
maritime data distribution system
 Global Presence
• Offices in Netherlands, USA, Canada and UK
• Worldwide partnerships with system integrator
• OEM resellers agreements with all
major manufactures
• Worldwide reseller
network
• ESRI as strategic partner

*Part of SAAB group

-- QPS is growing --
 The Philosophy...
• Quality is nr. #1
• Do things right the first time but utilizing:
– Online data visualisation
– Online data QA-QC
– Delivery of online clean dataset directly from vessel

* is extremely flexible, make use of

this flexibility!
QPS Tasks
• Data Recording - QINSy
– MBES, SSS, SBP, Video, Still Camera, Pipetracker, INS
– Data QC/QA

• Data Processing
– Qimera – MBES – Bathy, Backscatter, Water Column
– PM.Net – Sidescan Sonar – Mosaicing, target detection
– Export – SBP, Video, Still Camera

• Data Vizualisation – Fledermaus

– 4D Vizualisation
– Seabed analysis
– Link to ESRI ArcGIS
 - One product, many applications

Sidescan
Sonar

Mobile
Rig moves
mapping

Dredging

Bathymetry Offshore
Construction

AUV Processing
QINSy – Survey – Single Beam

12
QINSy – Survey - Multibeam

13
QINSy – Survey – Side Scan Sonar

14
Combined Laser Survey
Dredging
Dredging
Rock Dumping
Rock Dumping
Anchor Handling
Catenary Support
Saab Seaeye Sabertooth
AUV mission planning & system integration
PROCESSING
Volume Calculations

In-Survey
Surface difference
Out-Survey
Contouring & soundings
Plotting
Qimera

MULTIBEAM PROCESSING
 – ESRI Seamless Workflow

Complete Workflow Simplicity

Unique COTS Solution

The Future of Modern Marine Surveys

 versions

Qimera Qimera Qimera Pro

Clean
• Base level with only • All raw sonar files
QINSy DB Files as formats supported
• Only processed raw sonar format • All functions/tools
data cleaning • All functions/tools for processing
• Limited functions for processing
 Part of the QPS workflow

Data Acquisition

Data Visualization,
Data Processing Analysis, Interpretation,
Volumes and plotting
 , in a 3rd party workflow

3rd Party Data Processing: 3rd Party

Acquisition: (with FMGT) Visualization,
e.g. HYPACK, SIS, & Analysis:
PDS2000 FMMidwater e.g. ArcGIS
Great QA-QC Tools
Wobble Tool
Cross Check
Time Series comparison
Qimera 1D Processing
Qimera 2D Processing
Qimera 3D Processing
FMGT Add-on
FM Midwater Add-on
3D VISUALIZATION AND DATA
ANALYSIS SOFTWARE
• Vast 3D and 4D scenes
• Shows every type of data that has XY and attribute
• Provides various analysis tools for marine applications
– Surface roughness
– Slope angles
– Surface difference
– 4D visualisation
– Movie Making
• Connection straight into ArcGIS, no data conversion
Backscatter Processing -
Backscatter Processing -
Backscatter Processing -
WCI Processing -
WCI Processing -
example
ENC PRODUCTION
Qarto3
ENC Production - Qarto

Base S-57 ENC

Bathymetry
NO
Contouring & Soundings
• DEPARE QPS Sounding Grid
• DEPCNT S-57 ENC
• SOUNDG
Rule file
• UNSARE WITH
• DEPARE
• DEPCNT
• SOUNDG
• UNSARE
Learn more about Qarto
Qarto - Qomposer
High Density ENC - Qastor

Chart adapts to Real-Time tide

High Density ENC - Qastor

Chart adapts to specified vessel draft (UKC)

PRECISE NAVIGATION
Situational Awareness
Critical Navigation
Connect
Console – start point of QINSy
Knowledge base

Global settings Drivers & Interfacing

Support Folder settings QINSy CD release

Manage projects
Backup and Restore

Explore project folder

Main Options

Additional Options

Press F1 for online HELP

60
 Setup Record Process
• Setup
• Project preparation
• Template Database
• Geodetic Settings
• Vessel setup and hardware Interfacing
• Survey lines (guidance)

• Record
• Displays
• Interfacing / Decoding check
• Online QC
• Data acquisition
• Pre data filtering • Process
• Calibrations / field checks • Analyze raw data
• Replay data
• MBES Alignment Check (Calibration)
• Validate data
• Apply tide
• Create chart
61
Project Preparation Setup Record Process

• Create a new project

• Create a project called 2015-02-09_01 –Training
• YYYY-MM-DD_XX – Type
• XX = Day Sequence Number
• Type = Purpose of Survey (Pre / Pos – Sand / Rock / Pipe Route)
• Other convention could be to use a project number

• Open projects
• Global Settings
• Convert ENC to QNC
DbSetup – Template database Setup Record Process

To setup a template database

YYYY-MM-DD_XX VesselName – Project
follow the wizard.
DbSetup – Template database Setup Record Process

 General
• Project and Recorded Data Information
 Geodetic setup
• Height settings in QINSy
 Object setup (Vessel layout)
• Geometry / Nodes
• Interfacing
 Serial or network
 Serial baud rates (as high as possible)
 Correct or for (serial) latency
 MRU placement / setup
• A-priory Error / Uncertainty budget (IHO and CUBE)
 Auxiliary System (computer related)
• Time Synchronization
 PPS and Time Message
 NTP
 Time Message
 Inputs (AIS)
 Outputs
 Fixed Nodes
 Tide gauges locations
 (Robotic) Total stations
 Beacons
Geodetic setup - Theory Setup Record Process

• With the geodetic settings we can define:

How we calculate our chart coordinates

The start of the theory

Geodetic setup Setup Record Process

Due to the fact that the earth is not round,

people tended the define an ellipsoid that would fit best to the local region
N N

Earth surface
Geodetic setup Setup Record Process

Geoid and Ellipsoid

The Clarke 1866 Spheroid minimizes error between the spheroid and the geoid at
Meades Ranch, Kansas.
(The center of the U.S.; unfortunately, not the world.)
1866 Spheroid
(Clarke)
Sea surface

Meades
Ranch,
Kansas

Spheroid Center

Mass Center of Earth Earth surface

Geoid
Geodetic setup Setup Record Process

Geoid and Ellipsoid

The GRS80 Spheroid minimizes error between the spheroid and the geoid on average
around the world.
(Resulting in a spheroid centre much closer to the mass centre of the Earth.) GRS80 Ellipsoid
=
WGS84
1866 Spheroid
(Clarke)

Meades
Ranch,
Kansas

Spheroid Center
Ellipsoid Center
Mass Center of Earth Earth surface

Geoid
Geodetic setup - Theory Setup Record Process

• With the geodetic settings we can define:

How we calculate our chart coordinates

The End of the Theory

Geodetic setup - page 1 Setup Record Process

• Always use WGS84 (or ETRS89 in Europe) besides a second datum

• Mean Water Level Model is used to be able to calculate a height when:

• Tide stations are used (= Unreliable height mode)
• To refer all Tide stations to one common vertical level
• No (accurate) height of GNSS receiver / Total Station is used.

When using only RTK or Post Processing

(=Accurate Height)
you do not need to set the MWLM
Geodetic setup Setup Record Process

Geoid and Ellipsoid

Earth surface

Ocean
Geoid N = Gravity Anomaly
$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
H = h – N  h = H + N = 545.4 + 46.9 = 592.3

h = Calculated from GNSS string and used by QINSy in Accurate Height mode
H = not used
N = not used

QINSy retrieves the Geoid / MSL / Height correction values from the selected models :
• Mean Water Level Model (Tide = Unreliable height )
• Vertical Datum model (= Chart Datum) (RTK = Accurate height)
Geodetic setup Setup Record Process

Mean Water Level Model (MWLM)

Separation (N)
Geodetic setup - page 2 Setup Record Process

• If you selected 2 different Datum's on page 1, page 2 will give you the
option to enter the Translations, Rotations and scale factors from one
datum to the other datum

ETRS89

Dutch Datum
(Bessel 1841)

Amersfoort
The
Netherlands
Spheroid Center

ETRS89

Geoid Earth surface

 Geodetic setup – Page 3 Setup Record Process

Output datum
• Survey Datum (=Horizontal Datum or Target Ellipsoid)

• Vertical Datum (=Chart Datum)

 Height reference level on which the chart is based
For the Netherlands
• Inland = NAP (Amsterdam Levelling Reference)
• Coastal = LAT
 Height shift from Survey datum are applied after
projection on page 4

• Digital Terain Model

• Absolute DTM – Default
• Relative DTM
• Applied on rivers without River Line Model

• Vertical datum must be computed……

• For Deep Water surveys the geoid separation can
be different for each beam due to swath width
Geodetic setup – Page 4 Setup Record Process

Projections
Geodetic setup – Page 5 Setup Record Process

Local Construction Grid

Template DB – Geodetic Settings Setup Record Process

Geodetic
parameters
Object Setup Setup Record Process

Add Object
• Each free moving object is a separate object in QINSy. E.g.
o Survey vessel,
o SSS Fish
o ROV.
o Crane
o Boom
o Stick
o Bucket

• The best location for the object reference point is:

o The Center of Gravity (CoG) of the object

• Enter the distance between the CoG and the draft = 0 level.
o Will be used for height calculations when no accurate (=
unreliable) height of Positioning system / GPS is used. Tide is
used.
o Will be used to calculate the Actual Water level when Accurate
(RTK) height is used
 Setup Record Process

Object Setup - Height Above Draft Reference

CoG

Water Level

node
draft HADR offset

Tide
SVP

CD

Depth below Td

Chart Depth

Seafloor
Height Status Setup Record Process

Accurate height
• No Height Above Draft Reference needed…
• No Draft needed…
• Advised to set HADR and Draft to calculate Actual Water Level.
3D
Position
(RTK)

Absolute
Height

CoG
CRP

Actual Water Level

draft HADR
Depth /
Pressure
RTK-Tide
SVP Td

Use ZUSBL USBL Td CD

Actual
Depth below Td
depth
Chart Depth

Seafloor
System setup Setup Record Process

Add Systems
• Select type of system and driver
• Read the drivers manual

 Systems needed for basic hydrographic survey:

 Echosounder:
Node 2 (Single Beam)
 Singlebeam Object 1 Obs – Depth + Backscatter
 Multibeam Vessel

 Positioning System
Node 5 (GPS Rcvr #2) Node 1 (GPS Receiver #1)
 Gyro or Compass Obs - Position Obs – Heading + Roll Obs - Position

 Pitch, Roll and Heave sensor Reference Point

Node 4 (MBES) Node 3 (Attitude and Heading)
Obs – Depth + Backscatter Obs – Roll Pitch heave
Obs – Heading

 Date and Time reference of each message

System Setup - MRU Setup Record Process

MRU measuring point is set to MRU

• MRU has no output enabled for lever arm (=remote) locations.
• Pitch, roll and heave are calculated for the MRU position.

• QINSy MRU driver

• Select the MRU location as node
• QINSy will reduce for pitch and roll induced heave

QINSy MRU Node = MRU location

CoG QINSy node

offset
System Setup - MRU Setup Record Process

MRU measuring point is set to CoG (Preferred setup)

• Offset from MRU to CoG has been entered in the MRU
• MRU has a lever arm enabled from the MRU to the QINSY CoG (=Remote location).
• Pitch, roll and heave are calculated for the QINSy CoG position.
• MRU has reduced for Pitch and Roll induced heave at the CoG

• QINSy MRU driver

• Select the CoG as node because the MRU is virtually in the CoG
• Less issues with import of PPT and Delayed Heave

CoG Offset
CoG Lever arm
output

QINSy MRU Node = CoG

System Setup Setup Record Process

MRU measuring point is set to transducer

• Offset from MRU to CoG has been entered in the MRU
• MRU has an output lever arm enabled from the MRU to the transducer.
• Pitch, roll and heave are calculated for the transducer position.
• MRU has reduced for Pitch and Roll induced heave at the MBES location

• QINSy MRU driver

• Select the MBES as node because the MRU is virtually in the MBES

CoG CoG Offset

Lever arm
output

QINSy node
offset

QINSy MRU Node = MBES

 Setup Record Process

Object Setup – Create the vessel below

Template
Timing – Leap seconds & PPS Setup Record Process

05-11-2012 Check

18:48:30

18:48:31
18:48:31

18:48:31.013
18:48:30
= ACCEPTED

1000 ms

Pulse length
++Vdc
Vdc
t
Message 1PPS Active
1PPS HighLow
Active Signal
Signal
Window Rising EdgeEdge
Falling Trigger
Trigger
00Vdc
Vdc
t

$GPZDA,184830.015,05,11,2012,00,00*66

$GPZDA,184831.013,05,11,2012,00,00*66
-500 ms

500 ms
Scope

18:48:30
Timing
PPS & Message

Serial & Network

Timing – 1PPS & Time Messages Setup Record Process

Time tag automatic matching

05-11-2012 Check

18:48:30

18:48:31
18:48:31

18:48:31.013
18:48:30

= ACCEPTED

1000 ms 1000 ms

Pulse length Pulse length

+ Vdc + Vdc
t
Message 1PPS Active High Signal Message 1PPS Active Low Signal
Window Rising Edge Trigger Window Falling Edge Trigger
0 Vdc 0 Vdc
t
$GPZDA,184830.015,05,11,2012,00,00*66

$GPZDA,184831.013,05,11,2012,00,00*66

$GPZDA,184830.015,05,11,2012,00,00*66
-500 ms

-500 ms

500 ms
500 ms
18:48:30

Scope
Timing – 1PPS & Time Messages Setup Record Process

Time tag automatic matching Time tag arrives after pulse

05-11-2012 Check 05-11-2012 Check

18:48:31

18:48:31.013

18:48:31

18:48:31.013
18:48:30

18:48:30
= ACCEPTED = ACCEPTED

1000 ms 1000 ms

Pulse length Pulse length

+ Vdc + Vdc
Message 1PPS Active High Signal Message 1PPS Active High Signal

800
Window Rising Edge Trigger Window Rising Edge Trigger

15
0 Vdc 0 Vdc 785 ms
t t
Time Tag Accuracy
Time Tag Arrival
$GPZDA,184830.015,05,11,2012,00,00*66

$GPZDA,184831.013,05,11,2012,00,00*66

$GPZDA,184831.013,05,11,2012,00,00*66
$GPZDA,184830.015,05,11,2012,00,00*66
-500 ms

0 ms
500 ms

950 ms
18:48:30

18:48:30
Scope Scope
Timing – 1PPS & Time Messages Setup Record Process

Time tag arrives after pulse Time tag arrives before pulse
05-11-2012 Check 05-11-2012 Check

18:48:31

18:48:31.013
18:48:30

18:48:31

18:48:31.013
18:48:30
= ACCEPTED = ACCEPTED

1000 ms 1000 ms
Pulse length Pulse length
+ Vdc + Vdc
Message 1PPS Active High Signal Message 1PPS Active High Signal
Window Rising Edge Trigger Window Rising Edge Trigger
0 Vdc 0 Vdc
t t
$GPZDA,184830.015,05,11,2012,00,00*66

$GPZDA,184831.013,05,11,2012,00,00*66

$GPZDA,184830.015,05,11,2012,00,00*66

$GPZDA,184831.013,05,11,2012,00,00*66
0 ms

950 ms

-950 ms

0 ms
Scope Scope
18:48:30

18:48:30
 Timing – 1PPS & Trimble UTC Setup Record Process

Time tag arrives before pulse

18-03-2013 Check

10:40:00

10:40:30
10:39:59
= ACCEPTED
10:39:58.223

1000 ms

Pulse width
+ Vdc
Message Window 1PPS Active High Signal
Rising Edge Trigger
0 Vdc 777 ms
t
UTC 13.03.18 10:39:59 59<CR><LF>

UTC 13.03.18 10:40:00 59<CR><LF>

0 ms
-950 ms
Timing Setup Record Process

• Use PPS!!!
• Use highest possible baud rate
• Disable FIFO settings
• Use “counted drivers” instead of “terminated
drivers”
• QINSy ring buffers size is 500 observations
Timing – Default flow chart Setup Record Process

Serial & Network

ZDA
PPS

GNSS INS SBES DVL

MBES Laser SVS

QPS-TTL
Position
GPS/GLONASS
Heading & Motion

QINSy
Time in message Online Time stamp on arrival
UTC drivers
Serial & Network Serial when time critical

*.DB
Timing – Alternative flow chart Setup Record Process

When all time critical sensors are time tagged

you can feed QINSy with
Serial & Network
a time message only
ZDA
PPS

GNSS INS
GPS/GLONASS
Position MBES Laser SVS
Heading & Motion

QINSy
Time in message Online
UTC drivers
Serial & Network

*.DB
Online -Recording Data Setup Record Process

94
 Controller Setup Record Process

• Controls Online session

o Management of displays
• Display manager

o Settings
• Computation setup
• Echosounder / Laser filter settings
• Session Setup

o Session
• Line selection (PgUp / PgDn / F7)
• Start and stop logging (F3)

o Options
• Calibration tools

95
Display Manager Setup Record Process

QC your data with following displays

• Observation Physics displays
– display of raw data
• Node QC display
– display of calculated data (node / offset point)
• Navigation display
– sounding grid
• Timeplot display
– Time series off sensor data
• Alert display

96
Online Data QA-QC
Observation Physics display Setup Record Process

SD values from $GPGST string

Status of motion sensor

Lost data input

• The First check with a new database

• Display of raw decoded data with time tag
• Driver works if data shows up
• No data, go back to:
• DbSetup
• IO tester
• Firewall
98
 Node QC display Setup Record Process

• Second check when testing a (new) database

• Displays calculated data
• Shows the result of each created node
• Shows if computation works
• Shows which motion and gyro sensor is used
• Shows TPE / TPU values
• Shows if position filters where used

99
Navigation display Setup Record Process

• General navigation
• Sounding grid
– Depth + shadow effect
– 95% confidence level
– hit count

100
Alert display Setup Record Process

• Alert for:
1. IO data (Time Out on Port)
2. raw data
3. result data

• Auto pop-up
• Pause storage (Data QC)
• Only effective Online during recording

Tip: Always create alarms for computation thresholds

101
Useful displays Setup Record Process

• Echosounder display • Observation Physics displays

 Raw SBES data – display of raw data

• Raw Multibeam display • Node QC display

– Raw uncorrected MBES data – display of calculated data (node / offset point)
• Navigation display
• Swath system display
– sounding grid
– Corrected MBES & SBES data

• Profile Display • Timeplot display

• Easy check for HADR and Draft – Time series off sensor data
• Alert display
• Generic Display
– Textual information

• Positioning system display

 Raw GPS data

102
Computation Setup Setup Record Process

Two different height methods in QINSy

Accurate height Unreliable height

 Only to be used with:  To be used with
 RTK or similar quality  DGPS quality or less.
 Total Station
 Post Processed Data like:
 *.sbet  Height will be calculated from various
 *.ncom height components.
• Mean water level Model
 Uses the height of Positioning system • Vertical output datum
 Heave • Height Above Draft Reference (HADR)
 will be applied between position updates • Draft
 Actual Water Level • Heave
 can be calculated when HARD and draft are • Water Level from Tide gauge(s)
entered correctly. • Squat
 AWL is needed when using SSS and USBL
Draft & HADR Setup Record Process

Online

Replay
Replay

104
Working of computation Setup Record Process
Working of computation Setup Record Process
Working of computation Setup Record Process
 Setup Record Process

Computation Setup Position Filter

• Kalman Filter
• Filters object
• Vessel
• Rov
• Tow fish
• Uses history to estimate
current position
• Estimate used to correct
measured position
• Estimate calculated using a
dynamic model
• Model describes expected
movement
• Weight of observations
determined by SD values

108
Session setup – filtering Setup Record Process

Echosounder settings – Exclude Data

The options vary, depending on the type of echo

sounder:
• Depth Outside
• Range Outside
• Sector Outside
• Quality Outside (typically Kongberg)
• Heave Above
• TPE Exceeds
• Brightness Test Fails (typically Reson)
• Colinearity Test Fails (typically Reson)
• Exclude Specific Beams
 Alignment Check – Patch test

Chapter 10 – Multibeam Calibration 110

Generic Layout Editor

Creates layouts for:

1. Generic display
2. Output data
• Add Output driver in DbSetup
3. Log files
• Add output driver in DbSetup
4. Export files

111
Generic Layout Editor
Generic display

112
Generic Layout Editor
LogFile - Tide file from RTK ()

Note:
1. Only possible during online session
2. HADR and Draft need to set correctly in DB file and in
the (active) computation used during Online/Replay
3. (RTK-)Tide is not compensated for Squat

Note:
Export should be Log File

113
IO Driver Editor
• Create your own input drivers
– Serial
– Network (UDP only)

• Make combinations of multiple driver types on one port

114
IO Driver Editor
• Often used for interfacing:
– Cable Counters
– Manetometers (Maggy)
– ROV strings
– Sound Velocity Sensors

• Drivers are stored under:

– C:\Program Files (x86)\QPS\QINSy 8.1\Ini Files

• Driver can be backed up and restored with

– QINSy back and Restore Tool

115
Static: Accuracy -vs- Precision Setup Record Process

a b c d

High accuracy, Low accuracy, High accuracy, Low accuracy,

High precision High precision Low precision Low precision

116
Scatter Plot - GNSS and INS performance Setup Record Process

a b c d

GNSS

INS

High accuracy, Low accuracy, High accuracy, Low accuracy,

High precision High precision Low precision Low precision

GNSS
Lost RTK

GNSS
RTK - Fixed

117
Scatter Plot : GNSS -vs- INS Setup Record Process

GNSS

INS

118