Within CARIS HIPS and SIPS, it is now possible to utilize the computed Total Propagated Uncertainty for many different sonars within the incorporated CUBE functionality.

The computation of TPU is based on the user's setup of the HIPS Vessel File with estimates of the accuracy of each individual sensor. In the TPU section of the HVF, each sensor accuracy value must be entered as 1-sigma. With the use of the TPU values in the Vessel File the user is now able to compute TPU so as to create a CUBE surface to aid in the processing of hydrographic data based on statisitical comparisons.

The sensor accuracy values provided in these pages were taken or derived from published manufacturer specifications between March 2004 and July 2004. The manufacturer reserves the right to change equipment specifications without notice.

The use of these published accuracy values should be re-evaluated periodically, as the user gains experience with the sensors and the TPU calculations.

Click here for computation and common values of 1-sigma.

 

Navigation

	Manufacturer		Model		Manufacturer Accuracy		HIPS Value		Setting/Comments
	Applanix		POS MV 220		0.02m - 0.10m RMS		0.1		RTK
					0.5m - 4.0m RMS		4.0		DGPS
			POS MV 320		0.02m - 0.10m RMS		0.1		RTK
					0.5m - 2.0m RMS		2.0		DGPS
	C & C Technologies		C-NAV 2000 RM		0.10m RMS		0.10		Real-time StarFire DGPS
			C-NAV 2050		< 0.10m RMS		0.10		Real-time StarFire DGPS
					Centimeter Level		0.01		RTK
	CODA Octopus		F180 Attitude and Position System		0.2m CEP		0.17		RTK (L1/L2 upgrade yields 0.02m CEP)
					0.5m - 4.0m CEP		3.40		DGPS
	CSI Wireless		Mini Max		< 1m 95% confidence		0.51		DGPS
					< 5m 95% confidence		2.55
			PowerMax		< 1m 95% confidence		0.51		DGPS
					< 5m 95% confidence		2.55
			DGPS Max		1m 95% confidence		0.51		DGPS
					5m 95% confidence		2.55
			GBX-12		2 to 3m (2DRMS)		1.06
			GBX Pro		1m (2DRMS)		0.35
	Ixsea		PHINS		5m to 15m CEP		12.74		With standalone GPS aiding
					2m to 5 cm CEP		0.04		With RTK differential GPS aiding
					0.5m to 3m CEP		2.55		With differential GPS aiding
	Kongsberg Seatex		Seapath 20		1.5m RMS or 3.3m (95% CEP)		1.5		DGPS
			Seapath 100		2.2m RMS or 5m (95% CEP)		2.20		DGPS
			Seapath 200		0.7m RMS or 1.5m (95% CEP)		0.7		DGPS
					0.01m + 1.6ppm RMS		0.01+ 1.6ppm		RTK
			DPS 100		1m (95% CEP)		0.41		DGPS
			DPS 102		1m (95% CEP)		0.41		DGPS
			DPS 200		1m (95% CEP)		0.41		DGPS
			DPS 116		< 2m (95% CEP)		0.9		with SBAS Service
					1m (95% CEP)		0.64		Multiref
	Thales navigation		3011 GPS Compass		0.5 to 1m RMS		1.0		DGPS HF Mode
			Aquarius		< 0.01m		0.01		Real-time Accuracy
			Aquarius²		< 0.01m		0.01		Real-time Accuracy
			Sagitta		< 0.01m		0.01		Real-time Accuracy
			DG14		3m CEP 5m 95%		2.55		Autonomous
					0.4m CEP 0.9m 95%		0.46		Differential (Local Base Station)
					0.7 CEP 1.6m 95%		0.82		Differential (Beacon)
					1.0 CEP 3.0m 95%		1.53		Differential (SBAS)
			DG16		3m CEP 5m 95%		2.55		Autonomous
					0.4m CEP 0.9m 95%		0.46		Differential (Local Base Station)
					0.7m CEP 1.6m 95%		0.82		Differential (Beacon)
					1.0m CEP 3.0m 95%		1.53		Differential (SBAS)
	Trimble		AgGPS 132		sub-meter differential		1		static (year-to-year)
					0.10 to 0.30m RMS		0.3		dynamic (pass-to-pass)
			MS860		0.01m + 2ppm		0.01 + 2ppm		Synchronized RTK
					0.02m + 2ppm		0.02 + 2ppm		Low Latency RTK
					< 1 m		1.0		DGPS
			DSM 132		< 1m RMS		1.0		DGPS
			DSM 12/212		< 1m RMS		1.0		DGPS
	NavCom Technology, Inc.		NCT-2000D		± 0.5m RMS		0.5		Enhanced SBAS (WAAS/EGNOS)
					± 0.01m + 1ppm RMS		0.01 + 1ppm		RTK Positioning < 10kms
					± 0.12 m + 2ppm RMS		0.12 + 2ppm		Code Differential GPS Positioning < 200kms
			NCT-2030M		± 0.5m RMS		0.5		Enhanced SBAS (WAAS/EGNOS)
					± 0.01 m + 1ppm RMS		0.01 + 1ppm		RTK Positioning < 10kms
					± 0.12 m + 2ppm RMS		0.12 + 2ppm		Code Differential GPS Positioning < 200kms
			SF-2040G		< 0.10 m RMS		0.1		Real-time StarFire Accuracy
					0.5m RMS		0.5		Enhanced SBAS (WAAS/EGNOS)
					0.12 m + 2ppm RMS		0.12 + 2ppm		Code Differential GPS Positioning < 200kms
			SF-2050		< 0.10 m RMS		0.1		Real-time StarFire Accuracy
					0.5m RMS		0.5		Enhanced SBAS (WAAS/EGNOS)
					0.12 m + 2ppm RMS		0.12 + 2ppm		Code Differential GPS Positioning < 200kms
			RT-3010S		0.5m RMS		0.5		Enhanced SBAS (WAAS/EGNOS)
					0.01 m + 1ppm RMS		0.01 m + 1ppm		RTK Positioning < 10kms
					0.12 m + 2ppm RMS		0.12 + 2ppm		Code Differential GPS Positioning < 200kms
			RT-3020		0.5m RMS		0.5		Enhanced SBAS (WAAS/EGNOS)
					0.01 m + 1ppm RMS		0.01 m + 1ppm		RTK Positioning < 10kms
					0.12 m + 2ppm RMS		0.12 + 2ppm		Code Differential GPS Positioning < 200kms

 

Gyro/Heading

	Manufacturer		Model		Manufacturer Accuracy		HIPS Value		Setting/Comments
	Applanix		POS MV 220		0.05°		0.05		4m baseline (RTK/DGPS)
					0.1°		0.1		2m baseline (RTK/DGPS)
			POS MV 320		0.01°		0.01		4m baseline (RTK/DGPS)
					0.02°		0.02		2m baseline (RTK/DGPS)
	CDLtd		MicroGyro-S		±0.07° RMS Secant Latitude		0.7 x Sec(Latitude)		Dynamic (at Sea)
			MiniPOS-S		0.169° Secant Latitude		0.169 x Sec(Latitude)
			MiniPOS		0.169° Secant Latitude		0.169 x Sec(Latitude)
	CODA Octopus		F180 Attitude and Position System		0.025°		0.025		4m Baseline (RTK/DGPS)
					0.05°		0.05		2m Baseline (RTK/DGPS)
					0.1°		0.1		1m Baseline (RTK/DGPS)
	Ixsea		Octans III		±0.1°RMS Secant Latitude		0.1 x Sec(Latitude)		Gyrocompass
			PHINS		0.01° RMS Secant Latitude		0.01 x Sec(Latitude)		with GPS aiding
					0.02° RMS Secant Latitude		0.02 x Sec(Latitude)		with DVL aiding only
					0.05° RMS Secant Latitude		0.05 x Sec(Latitude)		with no aiding
	Kongsberg Seatex		Seapath 20		0.2° RMS		0.2		Static
					0.3° RMS		0.3		Dynamic
			Seapath 100		0.2° RMS		0.2		1m baseline
			Seapath 200		0.05° RMS		0.05		2.5m baseline
					0.05° RMS		0.05		RTK
			MRU 4		0.05° RMS		0.05		Static (no magnetic vehicle influence, < 60° latitude
			MRU 40		1.2° RMS		1.2		Dynamic (at optimal magnetic conditions,< 60° latitude
			MRU 6		0.3° RMS		0.3		Static (no magnetic vehicle influence, < 60° latitude
			MRU 6		1.0° RMS		1.0		Dynamic (at optimal magnetic conditions,< 60° latitude
	Thales navigation		3011 GPS Compass		0.5° RMS		0.5
			Aquarius²		0.2°xD RMS		0.2xD		D = Baseline Length in meters
			Sagitta		0.2°xD RMS		0.2xD		D = Baseline Length in meters
	Trimble		MS860		<0.03°		0.03		10m Baseline
					<0.08°		0.08		5m Baseline
	VT TSS		MAHRS Surface		±0.1° RMS Secant Latitude		0.1 x Sec(Latitude)		Dynamic
			Meridian Standard		±0.6° RMS Secant Latitude		0.6 x Sec(Latitude)		Dynamic
			Meridian Surveyor		±0.2° RMS Secant Latitude		0.2 x Sec(Latitude)		Dynamic

 

Heave

Manufacturer

Model

Manufacturer Accuracy

Heave

Heave % Amplitude

Setting/Comments

Applanix

POS MV 220

5cm or 5% of amplitude

0.05

5

whichever is higher (RTK/DGPS)

POS MV 320

5cm or 5% of amplitude

0.05

5

whichever is higher (RTK/DGPS)

OCDA Octopus

F180 Attitude and Position System

5cm or 5% of amplitude

0.05

5

whichever is higher (RTK/DGPS)

Ixsea

Octans III

5cm or 5% of amplitude

0.05

5

whichever is higher

PHINS

5cm or 5% of amplitude

0.05

5

whichever is higher

Kongsberg Seatex

Seapath 100

5cm or 5% of amplitude

0.05

5

whichever is higher

Seapath 200

5cm or 5% of amplitude

0.05

5

whichever is higher

Seapath 200 RTK

5cm or 5% of amplitude

0.05

5

whichever is higher

MRU 4

5cm or 5% of amplitude

0.05

5

whichever is higher

MRU 5

5cm or 5% of amplitude

0.05

5

whichever is higher

MRU 6

5cm or 5% of amplitude

0.05

5

whichever is higher

MRU H

5cm or 5% of amplitude

0.05

5

whichever is higher

VT TSS

DMS-05

5cm or 5% of amplitude

0.05

5

whichever is higher

DMS 10

5cm or 5% of amplitude

0.05

5

whichever is higher

DMS 25

5cm or 5% of amplitude

0.05

5

whichever is higher

HS 50

5cm or 5% of amplitude

0.05

5

whichever is higher

MAHRS Surface

5cm or 5% of amplitude

0.05

5

whichever is higher

 

Roll & Pitch

	Manufacturer		Model		Manufacturer Accuracy		HIPS Value		Setting/Comments
	Applanix		POS MV 220		< 0.05° RMS		0.05		RTK
					0.05° RMS		0.05		DGPS
			POS MV 320		< 0.01° RMS		0.01		RTK
					0.02° RMS		0.02		DGPS
	CDLtd		MicroGyro-S		0.05°		0.05
			MicroGyro		0.05°		0.05
			MiniPOS-S		0.028° RMS		0.028
			MiniPOS		0.028° RMS		0.028
			MiniTilt		0.05°		0.05
			MicroTilt		0.5° RMS		0.5		to ±30° at maximum update rate (approx 40 updates / second)
					0.2° RMS		0.2		to ±30° at maximum update rate (approx 2 updates / second)
	CODA Octopus		F180 Attitude and Position System		< 0.025°		0.025		RTK/DGPS
	Ixsea		Octans III		±0.01° RMS		0.01		for ± 90° ampllitude
			PHINS		0.01° RMS		0.01
	Kongsberg Seatex		Seapath 100		0.1° RMS		0.1		for ± 5° ampllitude
			Seapath 200		0.02° RMS		0.02		for ± 5° ampllitude
			MRU 2		0.1° RMS		0.1		Static
					0.15° RMS		0.15		Dynamic (for ±5° amplitude)
			MRU 4		0.05° RMS		0.05		Static
					0.1° RMS		0.1		Dynamic (for ±5° amplitude)
			MRU 5		0.02° RMS		0.02		for ± 5° ampllitude
			MRU 6		0.02° RMS		0.02		for ± 5° ampllitude
			MRU H		0.05° RMS		0.05		Static
					0.1° RMS		0.1		Dynamic (for ±5° amplitude)
	VT TSS		DMS-05		0.04° RMS		0.04		at ± 30° amplitude
			DMS 10		0.07° RMS		0.07		at ± 30° amplitude
			DMS 25		0.2° RMS		0.2		at ± 30° amplitude
			DMS RP25		0.25° RMS		0.25		at ± 30° amplitude
			MAHRS Surface		0.01° RMS		0.01		at ± 90° amplitude

 

Sonar

	Entry in Device Models		Description		Units
Sonar Specifics
	Max_Num_Beams value		Maximum number of beams on the device		#
	Operating_Frequency_1 value		Operating frequency 1 (or prime freq.), kHz		kHz
	Operating_Frequency_2 value		Operating frequency 2 (or zero if 1 frequency), kHz		kHz
	Max_Angle value		Maximum angle away from nadir, deg		Deg
	Beam_Width_Across value		Across track beam width		Deg
	Beam_Width_Along value		Along track beam width		Deg
	Steering_Angle value		Angle beyond which beams are steered		Deg
	Range_Sampling_Frequency value		Range sampling frequency		Hz
	Range_Sampling_Distance value		Range sampling distance		m
	Min_Pulse_Length value		Minimum pulse length		ms
Rates
	Repitition value		Maximum repitition rate		pings per sec
	Bathy value		Rate of bathymetry packets		packets per sec
	Attitude value		Rate of attitude packets		packets per sec
	Imagery value		Rate of imagery packets		packets per sec
Density
	Bathy value		Number of packets of bathy information		packets in datagram
	Attitude value		Number of packets of attitude information		packets in datagram
	Imagery value		Number of packets of imagery		packets in datagram
Device Properties
	Imagery value		Device is a multi-beam (No = single-beam)		Yes / No
	SideScan value		Device is a true side-scan sonar		Yes / No
	Towed value		Device is towed/tethered or is being towed		Yes / No
	Calibrated value		Device backscatter is calibrated in dB		Yes / No
	DualFrequency value		Device uses two operating frequencies		Yes / No
	HasAccuracy value		Accuracy information available through device module calls		Yes / No
	Steered value		Device has steered beams		Yes / No
	Splithead value		Device has a dual transducer configuration		Yes / No
	Bathymetric value		Device can generate bathymetry information		Yes / No
	Imagery value		Device can generate imagery (backscatter)		Yes / No
	Attitude value		Device can generate attitude datastream		Yes / No
Is is advised that all fields are populated as other fields will be used in future releases of HIPS Values in bold are required by the HIPS devicemodels.xml

 

Computation and common values of 1-sigma

The uncertainty values used within the HIPS Vessel File need to be entered as 1-sigma. This being the uncertainty of a sensor.

Throughout the TPU Resource page there is reference made of uncertainty in several different forms such as 95%, CEP, RMS, etc. It must be remembered that HIPS and SIPS requires the 1-sigma value to be entered in the Vessel File for a more rigorous computation of the TPU. Below are some of the relationships between the 1-sigma value and some of the common values found in manufacturer's specifications.

Determination of the Standard Deviation Values of the TPE Sensor in the HVF

*Note: Values entered into the Standard Deviation section of the TPE sensor of the HVF are to be standard deviation values or uncertainty values at 1 sigma (approximately 68%)

Standard Deviation/Uncertainty is denoted by: σ

Other values which the user may discover when trying to determine the standard deviation:

RMS: Root Mean Square

This value is an estimation of the standard deviation or uncertainty. For all intents and purposes this value can be used as the standard deviation

CEP: Circular Error Probable

This is the radius of a circle that contains 50% of the observations

CEP = 0.5887(σ_x1 + σ_x2)

Assuming that σ_x1 = σ_x2, then:

CEP = 0.5887(2σ)

95% CEP = 2.08 × CEP
99% CEP = 2.58 × CEP

DRMS: Distance Root Mean Square or Mean Square Positional Error (MSPE)

This measure contains 64% – 77% probability.

DRMS = √σ²_x1 + σ²_x2

Assuming that σ_x1 = σ_x2, then:

DRMS = √2 × σ

2DRMS: Twice the DRMS

This measure contains 95% — 98% probability.

2DRMS = 2 × DRMS