Container Positioning Technology Convention DGPS- Savcor RAAS DGPS

1. Container Positioning Technology Convention DGPS-Savcor RAAS DGPS

2. GPS Systems First systems early 90’s Mount a GPS antenna on top of a Straddle Carrier in order to track the location of containers

6. GPS Promise TOS (Terminal Operating System) optimises yard planning GPS ensures the correct execution of plan Warn driver for container pick & place errors

7. GPS Promise Report all container moves Also unplanned moves Also changes to plans ? Accurate yard inventory

8. GPS Reality GPS industry is using term ’Accuracy’ in statistical meaning, not literally The end-user could be confused

9. GPS Reality ’Sub-meter’ accuracy (s, CEP or RMS) means that 1 meter is the typical deviation. Almost half of measurements have greater error than 1 meter, even 2-3 meters

10. ’Sub-meter’ DGPS performance GPS antenna placed in the middle of container 24 hours of data (open sky) 1 of May 2006 Full visibility to sky 100 seconds carrier smoothing

11. DGPS performance in port environment Performance will be even worse Cranes will reduce the satellite visibility Multi-path reflections will degrade performance near the cranes No 100 seconds carrier smoothing when a Straddle Carrier passes under crane

12. Using a standard DGPS receiver, 2%...5% container slot errors are generated DGPS performance in port environment

13. 2%...5% Slot Errors

14. Effect to operational accuracy Assume 5000 container moves per day 2% slot errors ? 100 false container positions each day Yard inventory will not stay accurate GPS Promise not fulfilled

15. What about RTK GPS ?

16. RTK, Real Time Kinematic GPS RTK is ’centimeter-accurate’ GPS, +/- 2cm Measures wavelengths between satellite and antenna But: 2…5 minutes initialisation time

17. Each time when straddle carrier passes under the crane, GPS signal is broken and a new RTK initialisation starts

21. The straddle arrives to container stack faster than 2…5 minutes GPS is not ready when needed RTK GPS can not be used

22. The whole problem:

23. There is a solution The GPS problems are not caused (entirely) by laws of nature The conventional system is not using all data

24. There is a solution Standard GPS-receivers are designed for general use (surveying, ships, airplanes) They do not use the special informaton of port application or layout ! They try to solve ’too general’ problem

25. Conventional setup

26. Bottleneck is created !

27. GPS can be used in a more intelligent way in port applications

28. Let us remove the bottleneck !

29. The solution:integrated system RAAS, Re-Acquisition Accelerate System

30. Conventional DGPS*

31. Improvement: Container slot detection reliability improved by a factor of 100 New generation of GPS reliability

32. RAAS GPS, same data set

33. RAAS System Operates with high-quality GPS HW-platforms Increased computing power, algorithms re-designed Co-operation with selected GPS-vendors Retrofits possible

34. RAAS references First RAAS installation 2004 RAAS has been in operational use on several straddle carrier sites more than one year now Installations have been made also for top-handlers and reach stackers Patent pending

35. Conclusions Traditional DGPS-solutions have not provided the best possible operational accuracy It is possible to improve reliability by a factor of 10…100 The solution is to integrate yard and layout data in GPS-calculation ? GPS technology has moved to next level