28 july 2004 representing uncertainty on charts: the “hydrographic crisis” “beyond safety of...
TRANSCRIPT
28 July 2004
Representing Uncertainty on Charts: Representing Uncertainty on Charts: The “Hydrographic Crisis”The “Hydrographic Crisis”
““Beyond Safety of Navigation”Beyond Safety of Navigation”
Multibeam and Visualization WorkshopMultibeam and Visualization Workshop
28 July 2004
The Gordon ReidThe Gordon Reid
The Canadian Coast Guard Ship (CCGS) Gordon Reid ran aground on an uncharted rock in Estavan Sound, off the coast of British Columbia on 28 September 2003
CHS Chart 3724: 1923 lead-line and sextant survey with 400 metres between sounding lines
28 July 2004
Research UndertakenResearch Undertaken
Topic of the UNB Uncertainty Paper, “Bathymetric Uncertainty Representation on Nautical Charts”
Research taken on by UNB & USM graduate students under the direction of Dr. Dave Wells
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The Uncertainty SituationThe Uncertainty Situation
Many users of nautical charts have no idea how uncertain is the information shown on the charts they are using
This leads to inappropriate navigation decisions, groundings, and sometimes loss of life
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Uncertainty in Hazard DetectionUncertainty in Hazard Detection
Bathymetric Uncertainties Positioning UncertaintiesIncomplete coverage between survey
lines (as was the fate of the Gordon Reid)
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Navigation DecisionsNavigation Decisions
Mariners have excellent positioning tools due to high accuracy GPS and ENCs
This does not account for positioning uncertainty present at time of survey
For example, over half of the inshore NOAA nautical charts were acquired by lead-line and sextant surveying prior to 1940
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3 Methods of Representing Uncertainty3 Methods of Representing Uncertainty
Two methods, a Source Diagram (SD), and a Reliability Diagram (RD) are graphical insets on a paper chart– Showing the geographical limits for each
survey– A table describing the attributes of each
survey area in the diagram
Zone of Confidence (ZOC) methods used on Electronic Navigational Charts (ENC)
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Source Diagrams (SCD)Source Diagrams (SCD)
Hydrographic organizationDate of survey Scale of survey Direct line spacing information
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Mod
el S
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Sou
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Dia
gram
IHB M4
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NOS SDNOS SD(A) 1990 to the present. Full bottom coverage. DGPS positioning used.
(B1) 1990 to the present. Partial bottom coverage from single
beam echo sounder. GPS or DGPS used.
(B2) 1970 to 1989. Partial bottom coverage from single beam echo sounder. Primarily electronic radio-positioning .
(B3) 1940 to 1969. Partial bottom coverage from single beam echo sounder. Visual positioning
(B4) 1900 to 1939. Partial bottom coverage from lead line. visual positioning.
(B5) Pre-1900. Partial bottom coverage from lead line. visual positioning.
NOAA ApproachNOAA Approach
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CHS CHS
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RAN RAN
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Reliability DiagramsReliability Diagrams
Give an assessment of accuracy as well as advising on preferred areas for navigation
Examples of the attributes – Estimated accuracy of soundings– Distance between survey sounding lines– Classification of the survey (e.g.
reconnaissance or incomplete; controlled; sounded by lead line; sounded by echosounder; shoals have been examined; has been sonar swept)
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Mod
el R
elia
bili
ty D
iagr
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IHB M4
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Zones of Confidence (ZOC)Zones of Confidence (ZOC)
ZOC values assigned to areas on an ENC A1/A2: Full bottom ensonification with
depths determined for all
significant features B: Uncharted hazards may exist C: Uncharted depth anomalies are
expected D: Large depth anomalies are expected
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ZOC CategoriesZOC Categories
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3 Active Directions3 Active Directions
Education for users
Worldwide HO Survey
Presentation on charts
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Worldwide HO SurveyWorldwide HO Survey
HOs from around the world have been contacted
5 questions were asked about their uncertainty policies
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Survey QuestionsSurvey Questions
Asked 5 questions about their uncertainty information– Both paper and electronic charts– Methods of communication to users– Satisfaction with current policy– Plans to change current policies, and barriers which
prevent doing so Very diverse responses Australia, Canada, Denmark, Finland, Greece, Hong Kong,
Iceland, Italy, Japan, Mexico, Netherlands, New Zealand, Norway, Poland, Portugal, Saudi Arabia, South Africa, Sweden, Turkey, UK, US NGA, US NOAA
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1: How is uncertainty represented on 1: How is uncertainty represented on your paper charts? your paper charts?
Some agencies do not use SDs or RDs at all (one agency removed SDs from their charts, since they were not kept updated)
Some agencies use SDs only on large scale charts
Most agencies are in the process of adding SDs to their charts. One agency claimed 100% of their charts had SDs
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2. Are ZOC values on your ENCs fully 2. Are ZOC values on your ENCs fully
attributed? attributed? 40% have full ZOC attribution on all ENCs (over
half of these use only ZOC values B and C, or in one case only B on all ENCs)
30% use only U attribution so far 30% are partway to full attribution Reasons for not having full ZOC attribution were
lack of resources, lack of metadata upon which to base the ZOC, and the liability implied by assigning a ZOC
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3. How else do you communicate 3. How else do you communicate information on chart uncertainties to users? information on chart uncertainties to users?
60% use Notices to Mariners 25% used web pages, other nautical publications,
and presentations to user groups. The Danish hydrographic office booklet “Behind
the Nautical Chart” is free for downloading from its website. This booklet explains the uncertainty associated with hydrographic survey methods over the years (and is soon to be translated from Danish to English)
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4. Are you satisfied with your current 4. Are you satisfied with your current policies and practices? policies and practices?
30% answered yes 60% answered with a qualified or unqualified no 10% dodged the question (e.g. “we will always try
to improve”) The qualified no answers were based on a desire
for better methods than SDs, RDs or ZOCs, and on liability issues associated with RDs and ZOCs
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5. Are you considering any changes to 5. Are you considering any changes to
these policies and practices? these policies and practices? 15% answered no 10% answered they would comply with any new
international standards that might emerge 40% intend to work towards completion of SDs
on all paper charts, and / or full ZOC attribution on all ENCs
35% seek improvements to their entire hydrographic data management strategy, uncertainty information
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Defining the end userDefining the end user
Commercial ShippingFishing and Natural resourcesRecreational usersMilitary/Coast Guard
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Need based representationNeed based representation
Establish product enhancements based on input from user groups.
Common factor being improved situational awareness.
What enhancements will most improve the safety and decision making of the Navigator?
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Why add the enhancement?Why add the enhancement?
How and under what circumstances will it be used?
Voyage planning.Weather maneuvering.Shipboard medical emergency.Result: Time critical decision making
requires clear depiction of reliability.
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What to add to the Chart?What to add to the Chart? Source diagram – Voyage and approach planning.
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What to add to the Chart?What to add to the Chart? Primary chart depiction - Best for time critical
decision making.
Rocks, soundings and depth contours printed in red (Gulf of Finland)
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Low-Density Data SourcesLow-Density Data SourcesS
ourc
e: L
T S
hep
Sm
ith
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Uncertainty ModelingUncertainty Modeling
Traditionally, the measurement error of a given sounding is the value reported as the uncertainty of the depth. In other words: How good was that measurement?
But, what mariners really want to know is: How well is the depth known at this location?
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When we shoal bias multibeam, we keep the least accurate measurements
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Fundamental Process GoalFundamental Process Goal
First: determine what is the true depth in the area of interest without any consideration of a final product, scale or ‘hydrographic’ concerns
- i.e., how well do we know that depth?
Then: make the appropriate products with due regard for the end-user requirements.
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Uncertainty ModelingUncertainty Modeling
Three basic methodologies: Forward error Backward error Interpolation
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Forward ErrorForward Error
When applied to high-density MB bathymetry, each depth is assigned a predicted error based on:
1) the systems used to collect it
2) environmental conditions at
the time of the survey
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Backward ErrorBackward Error
Uses the standard error of the measurements around the weighted mean.
Limitation: difficult to distinguish between areas of steep slope, high seafloor irregularity, and high error.
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Uncertainty for Interpolated Uncertainty for Interpolated AreasAreas Gaps between MB survey lines or SB soundings
are a nagging concern.
Typically, uncertainty interpolation: is related to the measurement uncertainty at the
node where the measurement was made increases as a function of the distance to the
nearest measurement is higher on a more irregular seafloor
Uncertainty Model of Clean Uncertainty Model of Clean MultibeamMultibeam The uncertainty of the
node is the greater of:– -the average uncertainty
of the measurements– the 95% bound of the
distribution of the measurements around the mean.
Interpolated areas follow the sparse data rules
High uncertainty is expected on steep slopes due to horizontal error.
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Other Types of UncertaintyOther Types of Uncertainty
Time-Dependent – dynamic seafloor areas may require a “changeability coefficient” to be assigned at every node.
Superceding Data * – when superceding old data
with new, some rules should be applied:– a model node with lower uncertainty supercedes one
with greater– a newer node supercedes an older node– a shoaler node supercedes a deeper node
* Primarily applies to navigation products
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Navigation Surface Navigation Surface Chart Product Chart Product GenerationGeneration
Three steps are involved: Defocusing - apply the horizontal uncertainty of
the model nodes to the model- at each node, adjacent nodes are adjusted in the shoal direction if they are deeper or fall into the horizontal error circle of the node.
Generalization - for the intended product, use a “buffering” process
Extract Cartographic Objects – e.g., contours, depth areas, and selected soundings
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UNB RecommendationsUNB Recommendations
Survey details including:- Date of survey- Survey and positioning technology
used - Line spacing/amount of coverage
Given by either exact survey details, or by a classification scheme to maximize clarity and simplicity
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UNB RecommendationsUNB Recommendations
Timeless, without the use of descriptive quality terms such as “modern standards” or “current technology”
Be accompanied by a form of education for chart users
Be part of a national standard, with the ultimate future goal of a global standard