ILA 32: Boulder, Colorado November 3 - 7, 2003

1. ILA 32: Boulder, Colorado November 3 - 7, 2003 • Contemporary Enhanced Loran Technology: • GPS/Loran-C/Eurofix EnvironmentGLEE- Demonstrator - • by • Carsten Collrep, Michael Haberland, Bernd Hagemann, Andree Opt’Hof, ATLAS Elektronik • and Linn Roth, Locus Inc. PR-Standard_e 2003_07_001 / 1 / 1/2/2020 10:42 AM

2. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • GLEE’s Project Background: • A cooperative investment by ATLAS ELEKTRONIK and Locus, Inc. • Locus: - provided SatMate receiver and antenna technology • ATLAS: - major service/system provider to German Navy - integrated GPS and SatMate systems - developed improved Kalman-filter - performed sea trials • Both companies contributed to system optimization and data analysis

3. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE History of Sea Trials: • Primary objective to evaluate performance of Kalman-filtered Loran in area of GPS denial • German Bight, Helgoland - September and October, 2001 • Tested navigation filter and control system in a variety of maneuvers • Results reported at 3rd International Symposium on Integration of Loran-C/Eurofix and EGNOS/Galileo, Munich 11.-12. June 2002 • Baltic Sea and Kiel Canal – April and August 27, 2001 • Results reported at ILA meeting in Paris, 2001 • Baltic Sea Trials - September 25, 2003 • Important Qualification to Results of All These Trials: • The European Loran infrastructure is incomplete, so capabilities demonstrated here will improve when the system is completed.

4. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Overview of Helgoland Project • Main vessel remotely controls 4 drone vessels • System must function independently if GPS denied

5. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Helgoland Sea Trials Overview • Drone Vessels

6. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Overview of Helgoland Project • Three types of trials: • 1. Single Track Steering - one drone, commanded to go between 2 waypoints at set speed, then into a waiting circle. • 2. Transit Steering - system automatically controls speed, course, and specified separation of 4 drones along a single track either in front of or behind the main vessel. • 3. Multi-track Steering - system automatically controls speed, course, and specified separation of 4 drones and main vessel along parallel tracks. Multi-track steering performance is the critical system test. • Drones run in “waiting” circles prior to test for system calibration and drone positioning.

7. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • System Overview of GLEE • GLEE is intended to operate as an independent DGPS/Loran-C Navigation Sensor • The main task of its real-time software is to avoid position jumps by issuing a system position to an external interface, derived from DGPS-position data and raw Loran-C-position data • Its first mode of operation is DGPS (GPS data + corrections via Eurofix) • Its backup mode of operation is Loran-C (in optimized Loran-C data) • After DGPS is switched of by a software switch, raw Loran becomes the only sensor to provide input to the real-time software and external interface • System functions automatically, i.e. without human intervention

8. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • System Block Diagram of GLEE: • This system uses H-field antenna in • contrast with earlier prototype that • utilized e-field antenna.

9. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Current GLEE Demonstrator

10. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • GLEE Demonstrator ECDIS Display with Overlay - • Combined GPS/Loran Mode: • Example display showing • transit from Bremen to • Vegesack on Weser River

11. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • GLEE Demonstrator Software Switch - • Loran Only Mode (GPS disabled):

12. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Baltic Sea test area and location of Loran-C transmitters:

13. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

14. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

15. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

16. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Sea Trial Data from 9/25/03, Track Steering with Waiting Circle

17. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Next steps of GLEE • Additional sea trials taking place November 4-6, 2003 • Demonstrate GLEE capabilities are independent of vessel class • Develop a single unit GLEE system (i.e. encorporate display and sensors into single enclosure) • Expect prototype within 2 months

18. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE • Preliminary GLEE Demonstrator Conclusions: • a Kalman-filtered DGPS/Loran-C system meets necessary performance requirements for automated operation • former sea trials demonstrated the capabilities of the system, and optimization of the navigation filter will improve the performance further • the system can operate independent of GPS if that system is denied • ASF corrections and a complete Loran infrastructure would generate even better results

19. Contemporary Enhanced Loran Technology:GPS/Loran-C/Eurofix Environment - GLEE And this concludes the presentation of GLEE. Thank you for your attention! Questions?