Total Propagated Uncertainty Computation

Within CARIS HIPS and SIPS, it is now possible to utilize the computed Total Propagated Uncertainty for many different sonars within the incorporated CUBE functionality.

The computation of TPU is based on the user's setup of the HIPS Vessel File with estimates of the accuracy of each individual sensor. In the TPU section of the HVF, each sensor accuracy value must be entered as 1-sigma. With the use of the TPU values in the Vessel File the user is now able to compute TPU so as to create a CUBE surface to aid in the processing of hydrographic data based on statisitical comparisons.

The sensor accuracy values provided in these pages were taken or derived from published manufacturer specifications between March 2004 and July 2004. The manufacturer reserves the right to change equipment specifications without notice.

The use of these published accuracy values should be re-evaluated periodically, as the user gains experience with the sensors and the TPU calculations.

Click here for Computation and common values of 1-sigma.


Manufacturer	Model	Manufacturer Accuracy	HIPS Value	Setting/Comments



Applanix	POS MV 220	0.02m - 0.10m RMS	0.1	RTK
		0.5m - 4.0m RMS	4.0	DGPS


	POS MV 320	0.02m - 0.10m RMS	0.1	RTK
		0.5m - 4.0m RMS	4.0	DGPS



C & C Technologies	C-NAV 2000 RM	0.10m	0.07	Real-time StarFire DGPS

	C-NAV 2050	< 0.10m	0.07	Real-time StarFire DGPS
		Centimeter Level	0.01	RTK



CODA Octopus	F180 Attitude and Position System	0.02m CEP	0.13	RTK
		0.5m - 4.0m CEP	1.84	DGPS



CSI Wireless	Mini Max	< 1m 95% confidence	0.51	DGPS
		< 5m 95% confidence	2.55


	PowerMax	< 1m 95% confidence	0.51
		< 5m 95% confidence	2.55


	GBX-12	2 to 3m (2DRMS)	1.1


	GBX Pro	1m (2DRMS)	1.1



Ixsea	PHINS	5 to 15m	15	With standalone GPS aiding
		2 to 5 cm	0.05	With RTK differential GPS aiding
		0.5 to 3m	3.0	With differential GPS aiding



Kongsberg Seatex	Seapath 20	1.5m RMS or 3.3m (95% CEP)	1.5	DGPS


	Seapath 100	2.2m RMS or 5m (95% CEP)		DGPS


	Seapath 200	0.7m RMS or 1.5m (95% CEP)	0.7	DGPS
		0.01m + 1.6ppm RMS	0.01+ 1.6ppm	RTK


	DPS 100	1m (95% CEP)	0.64	DGPS


	DPS 102	1m (95% CEP)	0.64	DGPS


	DPS 200	1m (95% CEP)	0.64	DGPS


	DPS 116	< 2m (95% CEP)	0.9	with SBAS Service
		1m (95% CEP)	0.64	Multiref



Thales navigation	3011 GPS Compass	0.5 to 1m RMS	1.0	DGPS HF Mode


	Aquarius	< 0.01m	0.01	Real-time Accuracy


	Aquarius²	< 0.01m	0.01	Real-time Accuracy


	Sagitta	< 0.01m	0.01	Real-time Accuracy


	DG14	3m CEP 5m 95%	1.59	Autonomous
		0.9m CEP 1.6m 95%	0.87	Differential (Beacon)
		1.8 CEP 3.85m 95%	1.24	Differential (SBAS)


	DG16	3m CEP 5m 95%	1.59	Autonomous
		0.1m CEP 0.9m 95%	0.58	Differential (Local Base Station)
		0.9m CEP 1.6m 95%	0.87	Differential (Beacon)
		1.8m CEP 3.85m 95%	1.24	Differential (SBAS)



Trimble	AgGPS 132	sub-meter differential	1	static (year-to-year)
		0.10 to 0.30m RMS	0.3	dynamic (pass-to-pass)


	MS860	0.01m + 2ppm	0.01 + 2ppm	Synchronized RTK
		0.02m + 2ppm	0.02 + 2ppm	Low Latency RTK
		< 1 m	1.0	DGPS


	DSM 312	< 1m RMS	1.0	DGPS


	DSM 12/212	< 1m RMS	1.0	DGPS



NavCom Technology, Inc.	NCT-2000D	± 0.5m RMS	0.5	Enhanced SBAS (WAAS/EGNOS)
		± 0.01m + 1ppm RMS	0.01 + 1ppm	RTK Positioning < 10kms
		± 0.12 m + 2ppm RMS	0.12 + 2ppm	Code Differential GPS Positioning < 200kms


	NCT-2030M	± 0.5m RMS	0.5	Enhanced SBAS (WAAS/EGNOS)
		± 0.01 m + 1ppm RMS	0.01 + 1ppm	RTK Positioning < 10kms
		± 0.12 m + 2ppm RMS	0.12 + 2ppm	Code Differential GPS Positioning < 200kms


	SF-2040G	< 0.10 m RMS	0.1	Real-time StarFire Accuracy
		0.5m RMS	0.5	Enhanced SBAS (WAAS/EGNOS)
		0.12 m + 2ppm RMS	0.12 + 2ppm	Code Differential GPS Positioning < 200kms


	SF-2050	< 0.10 m RMS	0.1	Real-time StarFire Accuracy
		0.5m RMS	0.5	Enhanced SBAS (WAAS/EGNOS)
		0.12 m + 2ppm RMS	0.12 + 2ppm	Code Differential GPS Positioning < 200kms


	RT-3010S	0.5m RMS	0.5	Enhanced SBAS (WAAS/EGNOS)
		0.01 m + 1ppm RMS	0.01 m + 1ppm	RTK Positioning < 10kms
		0.12 m + 2ppm RMS	0.12 + 2ppm	Code Differential GPS Positioning < 200kms


	RT-3020	0.5m RMS	0.5	Enhanced SBAS (WAAS/EGNOS)
		0.01 m + 1ppm RMS	0.01 m + 1ppm	RTK Positioning < 10kms
		0.12 m + 2ppm RMS	0.12 + 2ppm	Code Differential GPS Positioning < 200kms


Manufacturer	Model	Manufacturer Accuracy	HIPS Value	Setting/Comments



Applanix	POS MV 220	0.05°	0.05	4m baseline (RTK/DGPS)
		0.1°	0.1	2m baseline (RTK/DGPS)


	POS MV 320	0.01°	0.01	4m baseline (RTK/DGPS)
		0.02°	0.02	2m baseline (RTK/DGPS)



CDLtd	MicroGyro-S	±0.07° RMS Secant Latitude		Dynamic (at Sea)
		±0.07° RMS Secant Latitude		Dynamic (at Sea)

	MiniPOS-S	0.169° Secant Latitude	0.169


	MiniPOS	0.169° Secant Latitude	0.169



CODA Octopus	F180 Attitude and Position System	0.025°	0.025	4m Baseline (RTK/DGPS)
		0.05°	0.05	2m Baseline (RTK/DGPS)
		0.1°	0.1	1m Baseline (RTK/DGPS)



Ixsea	Octans III	±0.1°RMS Secant Latitude		Gyrocompass


	PHINS	0.01° RMS Secant Latitude		with GPS aiding
		0.02° RMS Secant Latitude		with DVL aiding only
		0.05° RMS Secant Latitude		with no aiding



Kongsberg Seatex	Seapath 20	0.2° RMS	0.2	Static
		0.3° RMS	0.3	Dynamic


	Seapath 100	0.2° RMS	0.2	1m baseline


	Seapath 200	0.05° RMS	0.05	2.5m baseline
		0.05° RMS	0.05	RTK


	MRU 4	0.05° RMS	0.05	Static (no magnetic vehicle influence, < 60° latitude


	MRU 40	1.2° RMS	1.2	Dynamic (at optimal magnetic conditions,< 60° latitude


	MRU 6	0.3° RMS	0.3	Static (no magnetic vehicle influence, < 60° latitude


	MRU 6	1: RMS	1.0	Dynamic (at optimal magnetic conditions,< 60° latitude



Thales navigation	3011 GPS Compass	0.5° RMS	0.5


	Aquarius²	0.2°xD RMS	0.2xD	D = Baseline Length in meters


	Sagitta	0.2°xD RMS	0.2xD	D = Baseline Length in meters



Trimble	MS860	0.01m + 2ppm	0.01 + 2ppm	Synchronized RTK
		0.02m + 2ppm	0.02 + 2ppm	Low Latency RTK
		< 1 m	1.0	DGPS



VT TSS	MAHRS Surface	±0.1° RMS Secant Latitude	0.5	Dynamic


	Meridian Standard	±0.6° RMS Secant Latitude	0.2xD	Dynamic


	Meridian Surveyor	±0.2° RMS Secant Latitude	0.2xD	Dynamic

Manufacturer

Model

Manufacturer Accuracy

Heave

Heave % Amplitude

Setting/Comments

Applanix

POS MV 220

5cm or 5%

0.05

whichever is higher (RTK/DGPS)

POS MV 320

5cm or 5%

0.05

whichever is higher (RTK/DGPS)

OCDA Octopus

F180 Attitude and Position System

5cm or 5%

0.05

whichever is higher (RTK/DGPS)

Ixsea

Octans III

5cm or 5%

0.05

whichever is higher

PHINS

5cm or 5%

0.05

whichever is higher

Kongsberg Seatex

Seapath 100

5cm or 5%

0.05

whichever is higher

Seapath 200

5cm or 5%

0.05

whichever is higher

Seapath 200 RTK

5cm or 5%

0.05

whichever is higher

MRU 4

5cm or 5%

0.05

whichever is higher

MRU 5

5cm or 5%

0.05

whichever is higher

MRU 6

5cm or 5%

0.05

whichever is higher

MRU H

5cm or 5%

0.05

whichever is higher

VT TSS

DMS-05

5cm or 5%

0.05

whichever is higher

DMS 10

5cm or 5%

0.05

whichever is higher

DMS 25

5cm or 5%

0.05

whichever is higher

HS 50

5cm or 5%

0.05

whichever is higher

MAHRS Surface

5cm or 5%

0.05

whichever is higher


Manufacturer	Model	Manufacturer Accuracy	HIPS Value	Setting/Comments



Applanix	POS MV 220	< 0.05° RMS	0.05	RTK
		0.05° RMS	0.05	DGPS


	POS MV 320	< 0.01° RMS	0.01	RTK
		0.02° RMS	0.02	DGPS



CDLtd	MicroGyro-S	0.05°	0.05


	MicroGyro	0.05°	0.05


	MiniPOS-S	0.028° RMS	0.028


	MiniPOS	0.028° RMS	0.028


	MiniTilt	0.05°	0.05


	MicroTilt	0.5° RMS	0.5	to ±30° at maximum update rate (approx 40 updates / second)
		0.2° RMS	0.2	to ±30° at maximum update rate (approx 2 updates / second)



CODA Octopus	F180 Attitude and Position System	< 0.025°	0.025	RTK/DGPS



Ixsea	Octans III	±0.01° RMS	0.01	for ± 90° ampllitude


	PHINS	0.01° RMS	0.01



Kongsberg Seatex	Seapath 100	0.1° RMS	0.1	for ± 5° ampllitude


	Seapath 200	0.02° RMS	0.02	for ± 5° ampllitude


	MRU 2	0.1° RMS	0.1	Static
		0.15° RMS	0.15	Dynamic (for ±5° amplitude)


	MRU 4	0.05° RMS	0.05	Static
		0.1° RMS	0.1	Dynamic (for ±5° amplitude)


	MRU 5	0.02° RMS	0.02	for ± 5° ampllitude


	MRU 6	0.02° RMS	0.02	for ± 5° ampllitude


	MRU H	0.05° RMS	0.05	Static
		0.1° RMS	0.1	Dynamic (for ±5° amplitude)



VT TSS	DMS-05	0.04° RMS	0.04	at ± 30° amplitude


	DMS 10	0.07° RMS	0.07	at ± 30° amplitude


	DMS 25	0.2° RMS	0.2	at ± 30° amplitude


	DMS RP25	0.25° RMS	0.25	at ± 30° amplitude


	MAHRS Surface	0.01° RMS	0.01	at ± 90° amplitude


Entry in Device Models	Description	Units



Applanix	POS MV 220	< 0.05° RMS
		0.05° RMS