Combination of High Rate, Real-Time GNSS and Accelerometer Observations and Rapid Seismic Event Notification for Earthquake Early Warning Systems.

Transcription

1 Combination of High Rate, Real-Time GNSS and Accelerometer Observations and Rapid Seismic Event Notification for Earthquake Early Warning Systems. Trimble s Kestrel series innovation: the SeismoGeodetic System SG FITIC Fundaments / Facts Earthquake induced site displacement is key information for locating the epicenter and estimating the magnitude of earthquakes. For earthquake early warning systems (EEWS), the estimation of accurate co-seismic displacements and waveforms, is needed in real time to facilitate the decisions about public safety, and infrastructure shutdown. 1

2 Fundaments / Geo-p Seismic displacements are obtained by double integration of observed accelerometer signals, and/or single integration of velocities observed with broadband seismometers. Seismic instruments that are subject to drifts (accelerometer) or signal clipping in case of large earthquakes (broadband seismometer) Fundaments / Geo-d GNSS receiver displacements are precise, and don t suffer from drift or scale issues of seismic systems. GNSS displacements processed by relative methods (post-processed or RTK based) are provide a relative displacement with respect to (at least) one reference station, which might itself be subject to shaking. SEISMIC referenced displacements are subject to happen in very short time windows limited capabilities to be measured by GNSS unit/systems. 2

3 Application A filtered combination of GNSS and accelerometers provides: Optimum, Accurate, High rate estimate of displacement Essential for Earthquake Early Warning Systems, and other applications. Integration + 3

4 Seismo-Geodesy Integration of GNSS with Accelerometers + = High Frequency Displacements App integration RTX (Trimble Center Point TM ) Up to 200Hz output displacements Raw data can also be post processed: Acceleration 200 sps GPS 1 Hz, 10 Hz Global RTX Tracking Network Tracking GNSS Networks (~100) 4

5 Trimble RTX Overview The RTX (Real Time extended) positioning solution is the technology resulting from the employment of a variety of innovative techniques, which combined, provide users with cm-level real time position accuracy anywhere on or near the earth s surface. A true global positioning technology Multi-GNSS positioning system Compliments existing Trimble RTK technology Provides precise real-time orbit, clock, and other information Positions and displacements calculated on receiver high accuracy in real-time. 0.1 Hz sine wave large displacements (15cm), negligible accelerations Test Scenarios Can we measure displacements in real time with sufficient accuracy For Earth Systems Applications? 1 Hz sine wave Moderate displacements moderate accelerations 10 Hz sine wave - Negligible displacements large accelerations Simulated El Mayor M w 7.2 Earthquake for a distance of ~70km 5

6 0.1 Hz Sine Wave Shaking 1 Hz Sine Wave Shaking 6

7 10 Hz Sine Wave Shake SG on Shake Table 2010 El Mayor M w 7.2 Simulation 67km 7

8 Simulation 2010 El Mayor M w 7.2 Math!!! 8

9 Signals Combination GNSS & Accelerometer Data fusion of GNSS displacements and accelerations in Kalman Filter (loosely coupled) GNSS (10 Hz) Displacements Accelerometer (200 Hz) Accelerations Kalman Filter Integration in Pivot Kalman step (Meas. Update) Predict Update Integrator (Time Update) Kalman filtered displacements and velocities Packet Transmission Delay 9

10 Summary SG combines on-board GNSS processing and high quality accelerometer observations, and produces high frequency displacements output in real time. Combines benefits of full-scale displacement characteristics of GNSS and the highresolution and high dynamic motions of seismic technologies. Useful for seismic and geodetic, earthquake early warning, tsunami alert, and volcano applications. Just to Re-confirm Robust? 10

11 Contact info Alex León Regional Manager South Europe, Middle East, and Africa Ph: Web: Thank you. Questions/Answers 11

12 Resumen SG combines on-board GNSS processing and high quality accelerometer observations and produces high frequency displacements in real time. Combines benefits of full-scale displacement characteristics of GNSS and the highresolution and high dynamic motions of seismic technologies Useful for seismic and geodetic, earthquake early warning and volcano applications Topic 5: Field Installation and Maintenance Presenter: Antonio Sanchez, Jared Raczka 12

13 The SG Facts About the SG : 16 GB USB storage ( About a Week of data ) No internal batteries, external power only WI-FI for local command and control PIVOT for remote command and control (02) IP addresses will be needed ( CPU, GNSS Module), 10/100 Base-T. No IPV6 support yet Input Voltage 9-24 VDC LED s for operation status (ON after magnetic swipe) 13

14 LED Information Console Port for debugging, only for Trimble usage, not available for users Modular, Basic setup 4 Modules, room for 2 more Internal High Dynamic Range Accelerometer MRF format data Recording for accelerometer and displacement data BST (Bytestream) format for transmitting RT27 from the GNSS module to RTPD at the central site Magnetic Switch to turn unit/acq ON and OFF. In Case of communications outages data will be stored on local USB disk to be back filled when the link is resumed 14

15 GENERAL OPERATION One Continuous Stream for Accelerometer data on Channels 1,2,3 at 200 SPS. One Continuous Stream for Displacement With RTX correction at 10 SPS. ( What About If I don t have Internet?) No RTX corrections, errors. One Trigger Stream for Accelerometer data. Parameters for the trigger are fixed and cannot be changed. One Stream for Tc and Tpd triggered from Stream 3 at 200 SPS. One continuous Byte Stream to Send GNSS data to RTPD Portable installation THIS IS SO EASY: In the portable installation the SG MUST have internet Connectivity : Stream 2 for Real Time Displacements needs to have RTX corrections which comes over the Internet. There is no DISK recording capability per say, disk recording is enabled ( forced ) when no data link. 15

16 Permanent GNSS Installations Permanent SM Installations 16

17 Permanent installations What s Needed now that we have a combined Instrument? GNSS + Accelerometer Installations for the two instruments are fairly similar but special Care has to be taken when installing the SG System as there are some considerations to be taken for the GNSS part of the recorder. Things to be considered for the Accelerometer part of the SG : Site security, ownership and permission Infrastructure/Housing: Instrument has to be bolted to the ground Power Communications Co locations with other instrumentation 17

18 Mounting Plate for Permanent installation Things to be considered for the GNSS Part of the SG : Site Foundation Horizon mask Site security, ownership and permission Multipath Radio Frequency Interference (RFI) Co locations with other instrumentation Radio Communications 18

19 Firmware/Hardware Maintenance maintenance Hardware In theory, no maintenance is needed other than running an accelerometer self-test command every year. In practice it is to the user s advantage to inspect a unit at least every year or before and after any longterm field deployment. Back Up Battery will last 10 Years. Any repairs or service will be done via Repair Services Users Should not remove the warranty labels, doing so will void Warranty 19

20 Firmware Plans will be announced for : Technical Support for Firmware-related inquiries Bug fixes Firmware updates, enhancements How to obtain Firmware Updates: To receive your Firmware update, please contact TRIMBLE technical support at [email protected], [email protected] or at You will need to provide the Support Access Code you received as a result of your Firmware Maintenance purchase. Technical support will provide access to download the firmware update. Warranty Instruments are warranted free from defects of manufacture for one year from date of shipment. Any instrument malfunction occurring within this period, except due to improper usage, will be repaired or replaced at our option with no charge for parts and labor Removal of covers from any of the modules VOIDS the warranty unless performed by a certified customer service technician. 20

21 Questions/Answers Topic-3 SeismoGeodetic System Options Presenter: Paul Passmore 21

22 SG specifications: AD Converter: Type: Dynamic range: Input channels: Input impedance: Full Scale Input: Sampling range: Synchronous Sampling Anti-Alias Filter Common Mode Rejection Gain Stability and Accuracy Delta-Sigma Modulation, 24-bit output resolution > sps 3 (Internal accelerometer) Matched to Internal accelerometer Matched to Internal accelerometer 200 sps (accelerometer) Simultaneous on all channels to within ±5 μs of the mean sampling time. FIR Greater than 70 db within ±2.5 VDC 0.5% over 0 to +40 C 1% over full operating temperature range Full Scale Offset 0.5% FS from 0 to +40 C Internal Timekeeping Oscillator 0.1 ppm from 0 to +40 C Data storage: Type: USB (External, Industrial, 8, 16, or 32 GB) Data Format: MRF, Bytestream Telemetry Protocol RTP REN with backfill algorithm. Backfill data stored on USB drive Accelerometer: Type: ANSS Class A: Force-Balance Accelerometer, triaxial (internal) Dynamic range: >145 db (DC to 2 Hz) Full-scale range: ± 4g Full scale output: ± 10V, 20 VPP Frequency Response DC - 150Hz flat response(+/-3db) Self-noise: <1 µm/s/s Cross Axis Sensitivity -40 db due to misalignment of active axis to case reference Hysteresis -70 db over a ±1g range Sensitivity: 2.5 V/g Linearity: 70 db over a ±1g range Damping: 0.7 Clip Recovery Hard Clip Recovery <10s SG specifications: GNSS Receiver: Type: Position Corrections: GNSS Trimble CenterPoint RTX technology Data output type (GNSS): 15sec, 1, 10 Data output type (displacement): GPS antenna: 6 (X, Y, Z displacement and Ex, Ey, Ez 10 sps TNC (Tornado, Zephyr geodetic 2, Choke Ring) Environmental: Input Voltage: Power Consumption: Material: Weight: Dimensions Watertight integrity: Shock and Vibration: Operating Temperature: Fully meet specs Storage Operating Temperature GNSS Antenna mount: 9-24 VDC 4 watts Aluminum A380, Clear Alodine, Power Coated 15.5 lb (7 kg) 7.42" (18.8 cm) H x 7,66" (19.5 cm) W x 11.43" (29cm) L IP67 MIL-STD-810G transportation test -20 C to +60 C -50 C to +80 C Mounting boss included on the lid (optionally the antenna can be mounted separately) 22

23 Questions/Answers Replica Iquique 7.6 registrada con tecnología RTX Desplazamientos en tiempo real 7.4 cm en dirección Norte, y 23.9 cm en dirección Este 23