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Abstract
Measuring sea-level in a global reference frame with sub-centimeter accuracy is a relevant
challenge in the context of current global warming and associated sea-level rise. Global
Navigation Satellite Systems (GNSS) can provide sea-level measurements directly
referenced in an absolute geocentric frame. We present here the results of a multi-
instruments experiment with three buoys equipped with Global Positioning System (GPS), a
radar tide gauge and a tide pole. This experiment was carried out at Aix Island (West coast
of France) on the 27-28 March 2012. The GPS buoys were evaluated against conventional
tide gauge measurements through a Van de Casteele test. The Root Mean Square Error
(RMSE) computed from the difference between the GPS-buoys and radar tide gauge data
ranges from 1 cm to 2.2 cm, which is suitable for tidal applications and offers interesting
perspectives for future sea-level variations studies.
Résumé
La mesure du niveau de la mer dans un référentiel mondial avec une précision sub-
centimétrique est un défi pertinent dans le contexte actuel du réchauffement climatique et
de l’élévation du niveau des mers qui en résulte. Les systèmes mondiaux de navigation par
satellite (GNSS) peuvent fournir des mesures du niveau de la mer directement rapportées
à un référentiel géocentrique absolu. Nous présentons ici les résultats d’une expérience
multi-instruments avec trois bouées équipées d’un système de positionnement par satellite
(GPS), un marégraphe à radar et une échelle de marée. Cette expérience a été effectuée à
l’île d’Aix (côte ouest de la France) les 27 et 28 mars 2012. Les bouées GPS ont été éva-
luées par rapport aux mesures du marégraphe conventionnel au moyen d’un test de Van
de Casteele. L’erreur quadratique moyenne (RMSE) calculée à partir de la différence entre
les données des bouées GPS et celles du marégraphe radar est comprise entre 1 cm et
2,2 cm, ce qui convient pour les applications marégraphique et offre d’intéressantes pers-
pectives pour les futures études des variations du niveau de la mer.
Resumen
La medición del nivel del mar en un marco de referencias globales con una precisión
subcentimétrica es un desafío importante en el contexto del calentamiento mundial actual y
del aumento del nivel del mar asociado al mismo. Los Sistemas Mundiales de Navegación
por Satélite (GNSS) pueden proporcionar medidas del nivel del mar directamente
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Resumen (Continuación)
referenciadas en una estructura geocéntrica absoluta. Presentamos aquí los resultados de
un experimento multi-instrumentos con tres boyas equipadas de un Sistema de Posiciona-
miento Global (GPS), un mareógrafo con sistema de radar y una escala de mareas. Este
experimento fue llevado a cabo en la Isla de Aix (Costa Occidental de Francia), los días 27
y 28 de Marzo del 2012. Las boyas GPS fueron evaluadas comparándolas con las medidas
de los mareógrafos convencionales mediante un test Van de Casteele. El Error Cuadrático
Medio (RMSE) calculado a partir de la diferencia entre los datos de las boyas GPS y los
datos de mareógrafo, oscila de 1 a 2,2 cm, lo que es apropiado para las aplicaciones de
mareas y ofrece perspectivas interesantes para futuros estudios de variaciones del nivel
del mar.
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Figure 1
Aix Island
sea level
observatory
in which the
experiment
was con-
ducted. This
observatory
includes a
radar tide
gauge, a me-
teorological
station and a
GPS station.
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INTERNATIONAL HYDROGRAPHIC REVIEW NOVEMBER 2013
The experiment and data processing will be installed. The experiment area is also located
described in section 2. Results will be pre- near the ILDX reference station of the GNSS
sented and discussed in section 3 and 4 re- Permanent Network (RGP). On March 28th,
spectively. Finally, a summary and perspec- additional sea level heights were measured
tives will be provided in section 5. manually over a tidal cycle at the tide pole and
with an optical probe. In addition, ancillary
2. Materials and methods measurements of relative and absolute grav-
ity, ocean currents and leveling were con-
2.1. The experiment ducted.
On the 27-28 March 2012, three prototypes of The three GPS-buoys collected data from 27
GPS buoys (Fig. 2) were deployed at Aix March to 28 March over about 30h (Table 1).
Island. The deployment site is a relatively The IPGP buoy record was interrupted on
sheltered 10 m depth area (Fig. 3), located March 27th between 13:28 and 14:44, due to a
approximately 100 m from the wharf where a water intrusion into the receiver module. GPS
tide pole, a pressure and a radar tide gauge data were recorded at 5 Hz for the INSU and
belonging to the SHOM-RONIM network are SHOM buoys and at 1 Hz for the IPGP buoy.
Figure 2 The three GPS buoys. SHOM (left), INSU (center) and IPGP (right).
Figure 3
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03/27/2012 between
IPGP 03/27/2012 08:34 03/28/2012 17:17 1 Hz
13:28 and 14:44
2.2. GPS data processing close to the GPS-buoy deployment zone (at
about 400 meters). This allows the use of
The GPS data were post-processed in kine- TRACK on both frequencies (L1, 1.6 GHz,
matic mode with centimeter-level precision and L2, 1.2 Ghz) separately, giving better
method with respect to ILDX fixed on-land ref- results for short baselines, than the use of the
erence station. The processing is performed in ionosphere-free linear combination (LC).
differential mode, with ambiguity fixing to inte-
ger values. It involves the use of a static refer- 2.3. Buoy characteristics
ence station at a known location that simulta-
neously collects data and reduces systematic The IPGP buoy was designed initially in the
errors, common to both the kinematic and the framework of sea-floor geodesy projects for
fixed stations, such as atmospheric delays, which accurate sea surface height measure-
satellites orbit, satellites clock and receiver’s ments are required. The sea surface heights
clock. The accuracy of the solution depends are combined with bottom pressure measure-
on the baseline length, since the use of a dif- ments and water density data to derive the
ferential method assumes that both ends of height of on-bottom geodetic points in a global
the baseline have similar ionospheric and reference frame (Ballu et al., 2010). This buoy
tropospheric conditions. Therefore, GPS buoy consists of a cylinder housing the receiver
data cannot be processed accurately too far (Topcon GB1000), electronics, ancillary sen-
from the land using a kinematic processing s or s ( t em p er at ur e , pr e ss ur e an d
method. Advances in PPP (Precise Point 6-components accelerometer) and batteries,
Positioning) methods offer an alternative on top of which sits the antenna (PG-A1 with
which will allow future measurements to be ground plane) and communication devices (X-
carried out further from the shore (Fund et al., Bee module, allowing to remotely check the
2013). receiver proper functioning at any time). The
buoyancy is provided by a commercial safety
Data processing was performed in two steps, ring. The buoy was designed to be shipped
using IGS precise orbits and a 10° elevation overseas, ready to use, and to be deployed at
cut-off angle for all stations. First, data from sea from a zodiac-type boat by one or 2 peo-
the ILDX on-land station were processed in ple. Its cylindrical shape and relatively heavy
static mode using GAMIT/GLOBK software (30 kg) weight aims at avoiding capsizing in
(Herring et al., 2010a and b) in order to com- high seas. Together with a low antenna eleva-
pute its position in the International Terrestrial tion above water (<15 cm), it is able to closely
Reference Frame 2008 (ITRF08; Altamimi et follow the motion of the water surface. A solar-
al., 2011), using the Geodetic Reference Sys- rechargeable battery container may be con-
tem 1980 (GRS80) ellipsoid. Then, the posi- nected to the main cylinder to extend the initial
tions of the buoys were estimated with respect 3-days autonomy and allow longer-term de-
to ILDX station using the differential mode ki- ployments.
nematic processing TRACK module from the
GAMIT/GLOBK suite. In our case study, the The INSU buoy was developed by the Division
ILDX on-land reference station is located very Technique of INSU/CNRS (Mellet, 2009) in
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INTERNATIONAL HYDROGRAPHIC REVIEW NOVEMBER 2013
the framework of the French Southern tide three buoys were computed using TRACK
gauges network (ROSAME; Testut et al., software. The map of the buoys’ trajectories is
2006). This buoy is a design-improved version given in Figure 3. GPS-buoys were moored at
of the GPS buoy originally developed by an about 50 meters (SHOM) and 100 meters
Australian team (Watson et al., 2003) for sat- (IPGP and INSU) from the wharf on which the
ellite altimetry validation. It was developed to radar tide gauge is installed. Each buoy was
be used in remote and/or difficult to access tied to a submerged dead weight around
areas and designed so that it can be handled which they could freely move at a maximum
by only 2 people. It is the lightest of the three distance imposed by the rope length. As the
tested buoys (Table 2) with only 20 kg for a 2 three buoys were in position for more than
m diameter and autonomy of 5 days. It is one day, they were subject to the reversing
equipped with a TOPCON GB1000 receiver, tidal currents as well as to the wind, which ex-
and a PG-A1 Antenna with ground plane. A plains the almost circular horizontal pattern.
fabric drogue is tied up between the three Currents are strong in this area and locally
ends and the center of the buoy, to improve its very variable due to the presence of the wharf.
stability. It can be noticed, that the IPGB buoy did not
describe a full circle and that the tension on
Table 2 . Buoys main features and dimensions.
the mooring line seems more constant
(Figure 3); this is likely due to a different posi-
tion with respect to the local current pattern
and suggests that hydrodynamics flow pattern
could be also locally very variable.
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experienced operators under calm sea condi- on Figure 5. The residuals between the radar
tions are reliable at the 1-2 centimeter-level gauge and the GPS measurements (ΔHe) are
(e.g., Testut et al., 2010). The standard devia- in the order of a few centimeters for the three
tion and the mean of the ΔHe time series are instruments. In a Van de Casteele test, the
respectively 1.76 cm and 0.37 cm, which is diagram displays a straight vertical line when
comparable with previous results obtained the instrument is not biased by a systematic
during maintenance operations of the French error such as a scale factor, compared to the
Réseau d'Observation du NIveau de la Mer reference instrument. In our case (Figure 5),
(RONIM) network (Martin Miguez et al., 2008) the diagrams are not perfectly straight and
and is suitable for tidal applications. vertical; however, we cannot suspect any
scale factor on the GPS data and we have
In a second step, the performances of the verified that the radar gauge is well calibrated
GPS buoys were explored. After verifying the (with respect to the tide pole, Figure 4). The
proper calibration of the radar tide gauge, we non-straight vertical line, observed for the
used it as a reference to assess the perform- three buoys, could result from dynamic topog-
ance of the buoys. GPS-data were processed raphy between the radar gauge and the buoys
at 1 Hz and then smoothed and resampled at locations. The difference between the three
1 minute, to be consistent with tide gauge buoys behavior will be further investigated in
measurements. Sea-level heights recorded the following sections.
with the tide-gauge initially referenced to the
chart datum were tied to the ellipsoid, using 3.3. Results of the comparison
leveling data between the tide gauge bench-
mark and the ILDX GPS station. Finally, Van Figure 6 shows the radar tide gauge sea level
de Casteele diagrams were outlined using the heights (He) above the GRS80 ellipsoid, and
differences between the ellipsoid referenced the time series of the residuals (ΔHe) between
radar tide gauge data and GPS buoy meas- the three GPS-buoy and the radar sea level
urements. These diagrams are represented heights. Our results show the good agreement
Figure 4. Figure 5.
Results of the Van de Results of the Van de Casteele test for GPS buoys using the radar tide gauge as a
Casteele test for the radar reference. Note the non-verticality of the three diagrams, which illustrates that the
tide gauge using tide pole residual of GPS buoys heights with respect to radar measurements are higher at low
measurements as a refer- tide than at high tide. This could be due to dynamic topography (see text for explana-
ence. tion).
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between the GPS buoys and the tide gauge clearly demonstrates the good performance of
data. Statistical values were computed on the the buoys, with cm-level accuracy. Neverthe-
residuals for the three buoys. The mean differ- less, this study reveals some differences:
ence ranges between 0.13 cm and 1.84 cm,
the standard deviation between 0.94 and 2.15 - the INSU buoy data shows a mean differ-
cm and the Root Mean Square Error (RMSE) ence of about 2 cm with the radar tide
between 0.95 and 2.18 cm (see Table 3). gauge. This “calibration” difference may
result from a real difference in water height
The differences in the statistics for the three due to dynamic topography, which cannot
buoys reflect different phenomena: be discarded in the context of the Aix Is-
land strong current environment. It may
1. the mean value of the residuals corre- also have been induced by an excessive
sponds to the accuracy of the “absolute” tension on the submarine drogue, which
referencing, which integrates any GPS could have slightly bent the buoy frame up-
processing bias, leveling errors both from wards, thus changing the antenna height;
the determination of the buoy antenna
height elevation above water surface and - the residuals between the radar measure-
the referencing of the radar tide gauge ments and the buoys seem to be correlated
above the ellipsoid (leveling between the with the tidal cycle for the three buoys,
gauge and the ILDX reference station) which translates into a slope in the Van de
and also the local difference in water Casteele diagrams (Figure 5). This behav-
height between the reference gauge (i.e. ior is exacerbated on the IPGP buoy data
radar gauge) and the GPS buoy, due to and can be seen clearly on Figure 6. In-
local dynamic topography effects; deed, IPGP buoy gives heights similar to
the radar gauge and the SHOM buoy at
2. the standard deviation reflects the noise mid and high tide, but it measures a sea-
level in each time series, which integrates, level height 2 cm higher than the radar
on the one hand the real motion of the gauge and the SHOM buoy (closer to the
buoy, and on the other hand radar and INSU buoy) during the two low-tide periods.
GPS instrumental and processing random This difference in residual variations be-
noise. As expected from their design, the tween the three buoys may reflect spatial
SHOM buoy is the most stable: it me- variations of the dynamic topography and
chanically filters the movement induced could be explained by the distance to the
by the short scale surface waves. In con- wharf in the high-energy hydrographic envi-
trast, the IPGP buoy is more affected by ronment of the Aix Island;
high-frequency waves;
- not surprisingly, the buoy design influences
3. the RMSE is a combination of both previ- their behavior at sea. The widest and
ous factors. It reflects in a single parame- heaviest SHOM buoy moves very smoothly
ter the noise in the series (including real and is not perturbed by short wave-length
motion of the buoy) and the difference in wind waves, whereas the IPGP buoy
the absolute referencing. “dances” much more at the surface, follow-
ing closely the water surface movements.
4. Discussion Due to its intermediate design (lighter but
wider than the IPGP buoy), the INSU buoy
This experiment was a practical case study for has an intermediate behavior. These differ-
testing the ability of GPS buoys of various ent behaviors may be adapted to different
designs to accurately measure sea level. The scientific purposes, depending on the sea-
comparison between the measurements pro- surface height variation frequency compo-
vided by the buoys and the radar tide gauge nents that one may want to investigate.
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Figure 6.
Radar tide gauge sea level heights (He) above the GRS80 ellipsoid are shown in black (Y axis on the right), and
residuals (ΔHe) between the three GPS-buoy height time series and radar sea level heights (He) are shown in
color (Y axis on the left).
Table 3. Statistical values obtained with the time series of residuals between GPS
buoys data and radar tide gauge data.
March 2012, during which three buoys able (from helicopter or rigid-inflatable boat).
equipped with GPS, were deployed in order to The SHOM buoy is heavier, but its massive
evaluate their performance for the measure- structure makes it more stable and robust. We
ment of sea level. These three GPS buoys are have shown that the design of the buoy has a
different prototypes developed by three inde- non-negligible impact on its accuracy and pre-
pendent institutions (SHOM, INSU and IPGP), cision. The large offset present in the INSU
whose study domain, scientific interest and GPS-buoy (18.4 mm), still under investigation,
coverage area vary. Hence the design and should warn us about the precautions to un-
technical characteristics of these GPS-buoys dertake during antenna calibration and
are different (see Table 2). The INSU and deployment.
IPGP buoys are lightweight and easily deploy-
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INTERNATIONAL HYDROGRAPHIC REVIEW NOVEMBER 2013
coastal areas.
5. Summary and perspectives
6. Acknowledgements
A multi-instrument experiment was held at Aix
Island (NW coast of France) on the 27-28 We would like to thank the staff members at
The comparison between the measurements DT/INSU (M. Calzas, A. Guillot), SHOM (Y-M.
provided by the GPS buoys and the radar tide Tanguy, R. Legouge, Y. Dupont, G. Jan, S.
gauge clearly demonstrated the good perform- Enet and J-P. Boivin), IPGP (O. Pot, B. Le-
ance of the buoys. These results show that comte and T. Gabsi), and LIENSs (P. Ti-
GPS buoys are able to measure the sea level phaneau, M. Gravelle and T. Guyot) who con-
height with cm-level accuracy, which is com- tributed to the development of the buoys and
parable to the precision of the reference radar participated in the Aix Island experiment. The
tide gauge. This proves the overall potential of authors acknowledge Xavier Bertin (LIENSs)
these buoys to measure accurately the sea for discussion on dynamic topography around
level heights directly referenced to the Aix Island and Sylvain Loyer (CLS) for discus-
ellipsoid GRS80. sion on the GPS data processing. We wish to
express our gratitude to local authorities at Aix
Conventional tide gauge measurements are, Island for their interest and logistical support.
by nature, tied to the shore, which means that The Région Poitou-Charentes is gratefully ac-
they are limited to coastal areas and that their knowledged for the 3-month visiting grant of
relevance to global and off-shore studies de- Dr. B. Martín Míguez. The SHOM buoy devel-
pends on the quality of the land motion moni- opment has been supported by the French
toring. GPS-buoy measurements are a prom- National Research Agency (CECILE project:
ising tool to calibrate coastal tide gauges or Coastal Environmental Changes: Impact of
near-shore moorings, and tie them to an abso- sea LEvel rise), under grant number ANR-09-
lute geocentric reference frame, since they CEP-001-01. The IPGP buoy has been devel-
are independent from land movements. How- oped thanks to the support of CNES through
ever, this tool still faces some practical limita- the TOSCA program and the INSU buoy
tions, both on the buoy technical aspects thanks to CNES and INSU support. The sea
(battery endurance and rugged design to re- level data of Aix Island are the property of
sist high-seas) and on the data processing. To LIENSs, SHOM, CG17 and are available on
meet these challenges for future ocean-wide the REFMAR website (http://refmar.shom.fr).
sea-level monitoring, we are currently working This experiment was carried out within the
on long-term autonomous GPS-buoy meas- framework of the SONEL project that aims at
urements, as for instance in the framework of providing quality controlled sea level data
the MoMAR (Monitoring of the Mid-Atlantic which includes the performances of tide
Ridge) sea-floor observatory (e.g. Ballu et al., gauge technologies evaluation
2012). (www.sonel.org).
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