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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 SG160-09.

FITIC - 2015

Fundaments / Facts

Earthquake induced sitedisplacement is keyinformation for locating theepicenter and estimatingthe magnitude ofearthquakes.

For earthquake earlywarning systems (EEWS),the estimation of accurateco-seismic displacementsand waveforms, is neededin real time to facilitate thedecisions about publicsafety, and infrastructureshutdown.

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Seismic displacements areobtained by double integrationof observed accelerometersignals, and/or singleintegration of velocitiesobserved with broadbandseismometers.

Seismic instruments that aresubject to drifts(accelerometer) or signalclipping in case of largeearthquakes (broadbandseismometer)

Fundaments / Geo-p

GNSS receiver displacements areprecise, and don’t suffer from driftor scale issues of seismic systems.

GNSS displacements processed byrelative methods (post-processedor RTK based) are provide arelative displacement with respectto (at least) one reference station,which might itself be subject toshaking.

SEISMIC referenced displacementsare subject to happen in very shorttime windows… limited capabilitiesto be measured by GNSSunit/systems.

Fundaments / Geo-d

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A filtered combination of GNSSand accelerometers provides:

– Optimum,

– Accurate,

– High rate estimate of displacement

Essential for Earthquake EarlyWarning Systems, and otherapplications.

Application

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Integration

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Integration of GNSS with Accelerometers

App integration RTX (Trimble Center PointTM)

Up to 200Hz output displacements

Raw data can also be post processed:– Acceleration data @ 200 sps

– GPS data @ 1 Hz, 10 Hz

Seismo-Geodesy

+ = High FrequencyDisplacements

Global RTX Tracking Network

Tracking GNSS Networks (~100)

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Trimble RTX Overview

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.

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.

0.1 Hz sine wave –large displacements (15cm), negligible accelerations

10 Hz sine wave -Negligible displacements large accelerations

Simulated El Mayor Mw

7.2 Earthquake for a distance of ~70km

Test Scenarios

1 Hz sine wave – Moderate displacements moderate accelerations

Can we measure displacements in real time with sufficient accuracy For Earth Systems Applications?

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0.1 Hz Sine Wave Shaking

1 Hz Sine Wave Shaking

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10 Hz Sine Wave Shake

160-09SG on Shake Table2010 El Mayor Mw 7.2 Simulation – 67km

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Simulation 2010 El Mayor Mw 7.2

Math !!!

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Signals CombinationGNSS & Accelerometer

Data fusion of GNSS displacements and accelerations in Kalman Filter (loosely coupled)

GNSS(10 Hz)

Accelerometer(200 Hz)

Displacements Accelerations

Kalman Filter Integration in Pivot

Kalman step (Meas. Update)

Integrator(Time Update)

Kalman filtered displacements and velocities

Predict

Update

Packet Transmission Delay

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160-09SG combines on-board GNSSprocessing and high quality accelerometerobservations, and produces high frequencydisplacements output in real time.

Combines benefits of full-scale displacementcharacteristics of GNSS and the high-resolution and high dynamic motions ofseismic technologies.

Useful for seismic and geodetic, earthquakeearly warning, tsunami alert, and volcanoapplications.

Summary

Just to Re-confirm

…Robust?

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Alex LeónRegional Manager

South Europe, Middle East, and Africa

E-mail: alex_leon@trimble.com

Ph: +39-354-145-1839

Web: www.trimble.com/infrastructure/

Contact info…

… Thank you.

Questions/Answers

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160-09SG 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 high-resolution and high dynamic motions of seismic technologies

Useful for seismic and geodetic, earthquake early warning and volcano applications

Resumen

Topic 5: Field Installation and Maintenance

Presenter: Antonio Sanchez , Jared Raczka

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The SG160-09

Facts About the SG160-09 :

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)

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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

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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 SG160-09 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.

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Permanent GNSS Installations

Permanent SM Installations

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Permanent installations

What’s Needed now that we have a combined Instrument?

GNSS + Accelerometer

Installations for the two instruments are fairly similar butspecial Care has to be taken when installing the SG160-09 System as there are some considerations to be takenfor the GNSS part of the recorder.

Things to be considered for the Accelerometer part of the SG160-09 :

Site security, ownership and permission

Infrastructure/Housing: Instrument has to be bolted to the ground

Power

Communications

Co locations with other instrumentation

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Mounting Plate for Permanent installation

Things to be considered for the GNSS Part of the SG160-09 :

Site Foundation

Horizon mask

Site security, ownership and permission

Multipath

Radio Frequency Interference (RFI)

Co locations with other instrumentation

Radio Communications

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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 long-term 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

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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 infrastructure_support@trimble.com, reftek_support@trimble.com or at 888-879-2207. 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.

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Questions/Answers

Topic-3 SeismoGeodetic System Options

Presenter: Paul Passmore

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AD Converter:Type: Delta-Sigma Modulation, 24-bit output resolutionDynamic range: >138 dB @ 200 spsInput channels: 3 (Internal accelerometer)Input impedance: Matched to Internal accelerometerFull Scale Input: Matched to Internal accelerometerSampling range: 200 sps (accelerometer)Synchronous Sampling Simultaneous on all channels to within ±5 μs of the mean sampling time.Anti-Alias Filter FIRCommon Mode Rejection Greater than 70 dB within ±2.5 VDC

Gain Stability and Accuracy ≤0.5% over 0 to +40 °C ≤1% over full operating temperature range

Full Scale Offset ≤0.5% FS from 0 to +40 °CInternal Timekeeping Oscillator 0.1 ppm from 0 to +40 °CData storage: Type: USB (External, Industrial, 8, 16, or 32 GB)Data Format: MRF, BytestreamTelemetry 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: ± 4gFull scale output: ± 10V, 20 VPP Frequency Response DC - 150Hz flat response(+/-3dB)Self-noise: <1 µm/s/sCross Axis Sensitivity ≤-40 dB due to misalignment of active axis to case referenceHysteresis ≤-70 dB over a ±1g rangeSensitivity: 2.5 V/gLinearity: ≤–70 dB over a ±1g range Damping: 0.7Clip Recovery Hard Clip Recovery <10s

SG160-09 specifications:

GNSS Receiver:

Type: GNSS

Position Corrections: Trimble® CenterPoint™ RTX™ technology

Data output type (GNSS): RT27 @ 15sec, 1, 10

Data output type (displacement): 6 (X, Y, Z displacement and Ex, Ey, Ez error) @ 10 sps

GPS antenna: TNC (Tornado, Zephyr geodetic 2, Choke Ring)

Environmental:

Input Voltage: 9-24 VDC

Power Consumption: 4 watts

Material: Aluminum A380, Clear Alodine, Power Coated

Weight: 15.5 lb (7 kg)

Dimensions 7.42" (18.8 cm) H x 7,66" (19.5 cm) W x 11.43" (29cm) L

Watertight integrity: IP67

Shock and Vibration: MIL-STD-810G transportation test

Operating Temperature:

Fully meet specs -20 C to +60 C

Storage Operating Temperature -50 C to +80 C

GNSS Antenna mount: Mounting boss included on the 160-09 lid (optionally the antenna can be mounted separately)

SG160-09 specifications:

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Questions/Answers

Replica Iquique 7.6 registrada con tecnología RTX

Desplazamientos en tiempo real7.4 cm en dirección Norte, y

23.9 cm en dirección Este