the International Journal Volume 15

on Marine Navigation Number 3

http://www.transnav.eu and Safety of Sea Transportation September 2021

DOI: 10.12716/1001.15.03.07

EGNOS Performance Along Finnish Coast

R. González1, E. Lacarra1, M. López2 & K. Heikonen3
1 EGNOS Satellite Services Provider, Madid, Spain
2 European GNSS Agency, Prague, Czech Republic
3 Finnish Transport Infrastructure Agency, Helsinki, Finland

ABSTRACT: The purpose of this article is on one side to inform Maritime community about the ongoing
activities adopted for the provision of EGNOS (European Geostationary Navigation Overlay Service) L1
maritime service and IEC standardisation process to produce a new IEC (International Electrotechnical
Commission) standard for SBAS maritime receivers and on the other side, to demonstrate the benefits of the
SBAS system in Europe, EGNOS (European Geostationary Navigation Overlay Service) in high latitudes to
Maritime community.

1 INTRODUCTION

Satellite Based Augmentation Systems (SBAS) are

designed to augment global navigation system
constellations by broadcasting additional signals from
geostationary (GEO) satellites. The basic scheme is to
use a set of ground monitoring stations to receive
GNSS signals that are processed in order to estimate
satellite (position and clock) and ionospheric errors
which are also applicable to users within the service
definition area. Once these estimations have been
computed, they are broadcast in the form of
“differential corrections” by means of SBAS Figure 1.SBAS architecture
geostationary satellite(s). Some integrity data are also
broadcast along with these correction messages for the EGNOS is the satellite-based positioning service
GNSS satellites that are in the view of this network of over Europe which provides better accuracy with
monitoring stations what increases the confidence that respect to GPS standalone position. In addition,
a user can have in the satellite-based positioning EGNOS provides Integrity, which can be suitable for
solution. safety critical applications in the maritime sector.

551
2 EGNOS L1 MARITIME SERVICE 3 SBAS STANDARDISATION FRAMEWORK FOR
SHIPBORNE RECEIVERS
The European Commission, EC (EGNOS owner), the
GNSS Agency, GSA (EGNOS Services Programme Currently, IALA G-1152, [2], states that “IMO
Manager), the European Satellite Services Provider, recognises GNSS as part of World Wide Radio
ESSP (EGNOS service provider) and the European Navigation System (WWRNS) only for ocean areas
Space Agency, ESA (EGNOS design agency) are where required performance levels which can be
working in close collaboration to provide an EGNOS achieved without using augmentation systems [e.g.
L1 maritime service for “Harbour entrances, Harbour IMO Circular SN.1/Circ.329]”. Besides, GNSS
approaches and Coastal waters” and for “Ocean standalone positioning such as GPS, GALILEO,
Waters” over Europe. GLONASS, Beidou and IRNSS are not suitable by
themselves for Harbour entrances, harbour
The EGNOS L1 Maritime service aims at providing approaches and coastal waters.
pseudo-range corrections, associated ranging integrity
and alert information to GPS L1 signals to let According to IALA Guidelines for SBAS maritime
shipborne receivers compute an enhanced navigation Service, G-1152 [2], SBAS systems are needed to
solution with respect to GPS standalone, meeting achieve the performance levels required (i.e. accuracy
operational requirements included in in the IMO and integrity) for harbour entrances/approaches and
Resolution A.1046 (27) for maritime navigation in coastal waters in IMO Res. A.1046(27), [9], in which
ocean waters, harbour entrances/approaches and the freedom to manoeuvre is limited. Therefore, SBAS
coastal waters over European coastal and inland systems are particularly needed where there is no
waters. EGNOS L1 Maritime service is planned by back-up infrastructure (i.e. DGPS/ DGLONASS) or in
2023 when the IEC SBAS test standard is expected to poorly covered environments.
be ready. The service will include performance
Supporting this last necessity, it has been
monitoring reporting and provision of Maritime
published that as of June 30th 2020, all Nationwide
Safety Information (MSI) as well.
Differential GPS System (NDGPS) service has been
EGNOS L1 performance (accuracy, availability, discontinued in favour of SBAS system in accordance
continuity, integrity, time to alarm, coverage) was with the Nationwide Differential GPS System
analysed concluding that EGNOS L1 meet the (NDGPS) Federal Register Notice USCG-2018-0133,
operational requirements stated in International [1]. Apart from the United States of America,
Maritime Organization (IMO) Resolution A.1046 (27) Australia and Japan have recently discontinued their
for “Harbour entrances, Harbour approaches and radio beacon DGNSS service. The United Kingdom
Coastal waters” and for “Ocean Waters” over Europe. and Ireland have stated that their DGPS service will
Assessment is ongoing to define the potential servicer cease in 2022. DGPS is no longer deemed a necessary
area for the EGNOS L1 maritime service, which plans augmentation for close harbour approach.
to cover most of European coast and inland waters.
IMO MSC.401(95), [10], and IEC 61108-4
Moreover, GNSS campaigns on board vessels (such as
(Shipborne DGPS and DGLONASS maritime radio
the one presented in section 6 of this paper) along
beacon receiver equipment), [6], allow the use of
European coasts have been carried out to demonstrate
augmentation signals in shipborne receivers but there
the EGNOS benefits in real environmental conditions
is no standard for its implementation. Most of recent
and potential and common vessels.
maritime GNSS receiver models are SBAS compatible
The service provision scheme required to but they could present important differences in their
guarantee the required service level is under performance since they are not certified according to a
definition, and was presented in the European specific test standard.
Maritime Radionavigation Forum (EMRF) to maritime
An IEC 61108 standard for SBAS receiver
authorities. This service plans to include an EGNOS
equipment should be published in order to ensure a
Maritime Safety Information (MSI) service to mariners
safe use of Satellite Based Augmentation Systems by
and a potential establishment of specific working
all shipborne receivers. IEC 61108 is a collection of
agreements between the EGNOS Service Provider and
IEC standards for "Maritime navigation and radio-
any national competent authority.
communication equipment and systems - Global
In addition, vessels should be equipped with type navigation satellite systems (GNSS)". IEC has
approved receivers for SBAS L1 in order to ensure the published International Standards for the following
required operational performance for maritime GNSS systems: 61108-1, [3], for GPS, 61108-2, [4], for
community. For that, EC requested CEN / CENELEC GLONASS, 61108-3, [5], for Galileo and 61108-5, [7],
to support the development of a test standard for BDS, and launched a new proposal 1108-6, [8], for
regarding SBAS L1 receivers for maritime IRNSS. In addition, IEC has published International
applications, which will be covered in a new part Standard 61108-4, [6], for DGPS and DGLONASS,
standard in IEC 61108 series. The IEC standardisation which are ground-based Augmentation systems based
process has started in February 2020, and is expected on an enhancement to primary GNSS constellations
to be completed by 2023. (GPS and GLONASS).
A new IEC 61108 is planned to be developed to
include the minimum performances for SBAS L1
maritime GNSS receivers to be fulfilled by the
receiver equipment in order to be compliant with the
IMO Res. A.1046(27) [9] operational requirements for
harbour entrances, harbour approaches and coastal

552
waters, along with the methods of testing and 4 MARITIME REQUIREMENTS BASED ON IMO
required test results. RESOLUTION A.1046 (27)
At this point, two initiatives are currently working
to support this standardisation process: EGNOS L1 maritime service is fully characterised by a
− First, the GNSS Space Agency (GSA) and the list of performance parameters derived from the list in
European Commission (EC) have launched the IMO Res. A.1046 (27), [9], (see Table 1) which are
MARESS (MAritime Receiver SBAS Signal Availability, Horizontal Accuracy 95%,
Standardisation) project, where ESSP, BNAE, Position update rate, Service Coverage, Service
CEREMA, University Gustave Eiffel will be Continuity and Time To Alarm for “Harbour
working during 2021 in the production of technical entrances, Harbour approaches and Coastal waters”
documentation to support the International and for “Ocean Waters”.
Electrotechnical Commission (IEC) Table 1. Operational requirements based on IMO A.1046
standardisation. (27), [9]
_______________________________________________
− Second, CEN, the European Standardisation Ocean Harbour entrances/
Committee through its Technical Committee 5 Watersapproaches and
dedicated to Space has created the Working Group coastal waters
_______________________________________________
8 (CEN/CLC JTC5 /WG 8) of SBAS receiver Horizontal 100m 10m
performance for maritime applications in Accuracy 95%
September 2020. In this group, MARESS project’s Signal Availability 99.8% 99.8%
outputs will be presented to commonly agree on Service continuity - 99.97%
the draft of IEC-61108 Part 7 for SBAS receiver (over 15min)
equipment, which will be submitted to IEC Position update rate2s 2s
Technical Committee 80 (Maritime navigation and Time to Alarm1 Maritime 10s
radiocommunication equipment and systems). Safety
Information
The New Work Item Proposal IEC 61108-7 as soon as
standard was submitted to IEC TC80 in February practicable
2021, starting the international process. The ballot is System coverage Adequate2 Adequate2
_______________________________________________
open until beginning of June 2021 and thus, National 1 Generation of integrity warnings in cases of system
bodies interested and with representation in IEC are malfunctions, non-availability or discontinuities.
encouraged to vote in favour with participation. This 2 Taking into account the radio frequency environment,
ballot will be a key milestone since it is required to the coverage of the system should be adequate to
pass the approval criteria in terms of participation and provide position-fixing throughout this phase of
navigation.
positive support in order to continue with the process.

This paper focuses in the requirements of accuracy,

signal availability and continuity. EGNOS provides a
service performance compatible with this 2s update
rate. The compliance to update rate shall be
demonstrated by the receiver/equipment
manufacturers. The receivers used in this assessment
were configured to provide an update rate of 1
second.

Figure 2. Tentative plan for standardisation process

5 GNSS PERFORMANCE ASSESSMENT ALONG
As presented in Figure 2, the approval of the New FINNISH COAST ON BOARD MASTERA OIL
Work Item Proposal (NWIP) IEC 61108-7 standard for TANKER
SBAS is expected to be approved in Q2 2021. When
the New Work Item Proposal is approved, the IEC A GNSS campaign was performed along the Gulf of
standardisation process within IEC Technical Finland in order to analyse the EGNOS performance
Committee 80 group will start. in the border of Northeast EGNOS coverage area. Two
Assuming that the NWIP is approved considering kinds of receivers were configured to use SBAS. Then,
the support expected for several countries, by June the this paper presents the results of a maritime receiver
first meeting of the European Working Group and a high-end receiver. The EGNOS performance
CEN/CLC JTC5 /WG 8 is planned to discuss the results were compared with respect to the GPS
inputs provided by MARESS Project, which would standalone solution, to evaluate the improvement of
include an outline of the IEC standard and the EGNOS for maritime community. The performance
proposal for the definition of the minimum obtained with those receivers was compared with the
performances for SBAS L1 on GNSS Maritime operational requirements defined in the IMO
receivers. Later in Q3 2021, the first meeting of IEC TC Resolution A.1046 (27), [9], (Table 1) to assess the
80 could be held presenting the draft agreed within feasibility of EGNOS for ocean waters, coastal waters
CEN/CLC JTC5 /WG 8. Finally, in 2022 a Committee and harbour entrances/approaches, being beneficial
Draft for IEC 61108-7 standard is expected to be under for maritime community over the Finnish coast.
assessment within IEC TC 80. Note that these dates
are tentative milestones; the final plan will be
scheduled by IEC TC 80.

553
5.1 Characteristics of GNSS data campaign Positioning) with the GNSS data obtained by the
receiver. Figure 5 describes the flow of data
The characteristics of this GNSS data campaign in through different tools to obtain the precise path of
maritime domain were: the Mastera vessel in order to compute GNSS
− Route: the vessel, Mastera, departed from Porvoo performance.
(Finland) to Primorsk (Russia) then until Naantali It is stressed that both high-end receivers are with
(Finland). Afterwards, the vessel went from the same configuration. One is the back-up of the
Naantali (Finland) to Primorsk (Russia) being two other one.
days stopped close to Uusimaa waiting for orders 2. SBAS Navigation solution. This was computed
(adrift) and finally arrived at Porvoo (Finland). directly with the GNSS maritime receiver. The
− Time framework: the vessel departure was on computation of the performance analysis is done
01.11.2019 and arrived on 14.11.2019 at Porvoo. using internal Analysis Tools developed by ESSP.
− Vessel: Mastera. This is a Finnish Aframax crude Figure 5 summarises the process of the
oil tanker operated by Neste Shipping. This methodology followed.
icebreaking tanker transports crude oil year-round 3. GPS-only solution. RF L1 signal recorded during
from the Russian oil terminal in Primorsk to Neste the maritime dynamic data campaign was
Oil refineries in Porvoo and Naantali. replayed in the maritime receiver to obtain GPS
https://www.neste.com/ standalone solution. It has to be stressed that this
recorded scenario only lasts five days (from
November 1st to 6th 2019).

MFMC Raw
L1 RF Raw Data
Data

Maritime
PPP tool
receiver

Figure 3. Mastera oil tanker

SBAS/GPS-
only PVT Real path
solution

Analysis Tool

C/N0 HNSE SV monitored HDOP

Figure 5. Process of GNSS PVT solution

Figure 4. GNSS data collection path 5.3 GNSS performance analysis

GNSS performance analysis is based on the position
The equipment installation consisted of two GNSS solution obtained with some GNSS receivers installed
MFMC high-end receivers and a maritime receiver in the vessel:
connected to a GNSS MF antenna. − a high-end receiver;
Additionally, a RF signal recorder was connected − a maritime receiver.
to the same GNSS MF antenna to log the same RF L1 Besides, the RF L1 signal in space recorded during
signal as the rest of the GNSS receivers. almost six days on-board was replayed in the
RF L1 signal recorded during the maritime following receivers in order to analyse their GNSS
dynamic data campaign was replayed in the maritime performance:
receiver to obtain GPS standalone solution. It has to be − a maritime receiver (to analyse GPS position
stressed that the SIS recorder capability is only of five solution);
days (from November 1st to 6th 2019). − a high-end receiver (to analyse GPS position
solution).
After the GNSS data campaign, high-end receiver’s
output files were post-processed using high precision
techniques to obtain the real followed route.
5.4 EGNOS signal in space
EGNOS signal availability refers to the percentage of
5.2 Methodology of computing time during which reliable information is provided by
the system within the specified area of service. Thus,
The activity for the GNSS performance assessment EGNOS 1046 Signal Availability assesses the
consists of three general lines: percentage of time the EGNOS signal in space is
1. Real position. It was obtained in post-processing provided by the GEOs according to messages that can
using high precision techniques (PPP, Precise Point

554
be processed by an SBAS receiver aligned with the Table 2. Position availability obtained using EGNOS and
receiver guidelines. using GPS standalone
_______________________________________________
EGNOS Position GPS standalone
EGNOS broadcasts through two operational GEO
Availability [%] Position Availability
_______________________________________________
satellites. This redundancy benefits EGNOS receivers
which can instantaneously GEO switch and therefore, DOY High-end Maritime High-end Maritime
EGNOS signal availability is calculated as the receiver receiver receiver receiver
_______________________________________________
combined signal availability of both operational 305 100 100 100 100
EGNOS GEO satellites. 306 100 100 100 100
307 100 100 100 100
EGNOS signal unavailability happens when there 308 100 100 100 100
is a simultaneous signal in space outage in both 309 100 100 100 100
EGNOS GEO satellites. 310 100 100 100 100
311 100 100 100 --
During the whole period of Mastera vessel trip 312 100 100 100 --
(November 2019) the operational EGNOS GEO 313 100 100 100 --
satellites were PRN 123 and PRN 136. 314 100 100 100 --
315 100 100 100 --
316 100 100 100 --
317 100 100 100 --
318 100 100 100 --
_______________________________________________

PRN PRN
5.6 EGNOS / GPS accuracy
136 123

Horizontal Accuracy is the 95% percentile of the

Horizontal Position Error (HPE) distribution. HPE is
the 2D radial error of the instantaneous measured
position by the GNSS receiver respect to the true
instantaneous position.

Figure 6. EGNOS operational satellites (November 2019) Table 3 compares the horizontal accuracy between
the user performance obtained using EGNOS and GPS
The EGNOS monitoring information shows that standalone.
the EGNOS signal in space availability was 100% Table 3. HPE (95%) obtained using EGNOS and using GPS
during the whole data campaign period, which meets standalone
_______________________________________________
the 99.8% EGNOS signal in space availability EGNOS HPE GPS standalone HPE
requirement. 95% percentile [m] 95% percentile [m]
_______________________________________________
The EGNOS service continuity was 100% during DOY High-end Maritime High-end Maritime
the data campaign period meeting the 99.97% over a receiver receiver receiver receiver
_______________________________________________
period of 15 minutes of IMO Res. A.1046 (27) [9], since 305 1.179 0.869 4.073 1.444
no service interruption occurred during that period. 306 0.935 0.791 3.284 1.809
307 0.970 0.792 1.653 1.222
308 0.970 0.747 2.103 1.638
309 1.023 0.835 1.738 1.307
5.5 EGNOS / GPS standalone position availability 310 0.967 0.841 2.235 2.000
311 0.950 0.907 1.832 --
EGNOS as a radio-navigation system has a 312 0.956 0.718 3.818 --
particularity which is EGNOS GEO satellites 313 0.873 0.762 3.312 --
broadcast messages over the GEO satellite footprint 314 1.000 0.786 3.527 --
(Figure 6) but EGNOS can be used only within the 315 1.057 0.808 3.860 --
Message Type 27 service area. EGNOS is a regional 316 0.911 0.784 1.208 --
augmentation system that provides ionospheric and 317 0.870 0.792 1.228 --
satellite corrections for Europe. 318 1.049 0.872 1.688 --
_______________________________________________
TOTAL 0.971 0.815 3.149 1.551
_______________________________________________
Therefore, EGNOS position availability is the
percentage of time an user is able to compute a
position based on EGNOS. Table 3 presents daily HPE (95%) quite close to 1m
when using EGNOS solution against GPS standalone,
Table 2 shows the percentage of time the receiver in particular, there is a global HPE (95%) for the 13
is computing the position solution using EGNOS and days using the maritime receiver, of 0.815m whereas
GPS standalone. the global value for the same receiver reproducing the
N. B. GPS standalone performance assessment for recorded RF L1 signal to compute GPS standalone
Maritime receivers is only between 01.11.2019 16:15 solution during 5 days is 1.551m. In contrast, the high-
UTC and 06.11.2019 19:43 UTC (5 days) due to the end receiver shows more extreme results: 0.971m of
capacity of the Signal recording equipment. HPE (95%) when using EGNOS solution against
3.149m when using GPS standalone solution.
Analysing these results, it can be concluded that:
− EGNOS position availability was 100% for both To be more precise, it can be compared EGNOS
receivers. HPE (95%) against GPS standalone HPE (95%) exactly
− No EGNOS position continuity events were for the same period (since 01.11.2019 at 16:15 UTC to
detected during the data campaign period.

555
06.11.2019 at 19:43:21 UTC) using the same Maritime GNSS receivers.
receiver and replaying the same RF L1 signal-in-space. EGNOS horizontal position accuracy is enhanced
between 54% and 103% with respect to GPS
Table 4. HPE (95%) obtained using EGNOS and GPS with
maritime receiver since 01.11.2019 at 16:15 UTC until standalone solution for the case of the maritime
06.11.2019 19:43:21 UTC receiver.
_______________________________________________
EGNOS solution GPS standalone In consequence, the EGNOS performance observed
DOY HPE (95%) Max. HPE HPE (95%) Max. HPE
_______________________________________________ on board the oil tanker, Mastera, indicates that
305 0.869 1.219 1.444 1.721 EGNOS can support “Harbour entrances/approaches
306 0.791 0.910 1.809 2.184 and coastal/ocean waters” according to IMO Res
307 0.792 1.088 1.222 1.552 A.1046 (27) [9], meeting the 10 meters confidence level
308 0.747 0.970 1.638 2.132 at 95%, the signal-in-space availability requirement of
309 0.835 1.353 1.307 1.804 99.8% and the service continuity of 99.97%.
310 0.798 1.092 2.000 2.544
TOTAL 0.800 1.353 1.551 2.544
_______________________________________________

Table 4 shows the clear improvement of EGNOS ACKNOWLEDGMENTS

horizontal accuracy between 54% and 103% for the
case of the maritime receiver against GPS standalone. We would like to express our gratitude to OSM Group AS
(Norwegian Oil Transport provider) and Väylä (Finnish
Analysing these results, it can be concluded that: Transport Infrastructure Agency) to allow ESSP to perform
− Percentiles at 95% of Horizontal position errors this GNSS data campaign in the Gulf of Finland and install
were lower than 1.2 meters for both high-end and GNSS equipment in Mastera.
maritime receivers in all days and usually lower Finally, the authors would like to acknowledge the efforts
than 1 meter. done by EC, GSA and ESA to work at programme level for
− EGNOS Horizontal accuracy (95%) was lower than the future provision of EGNOS L1 maritime service.
1.2 meters for both receivers, which is compliant
with 10 meters accuracy requirement in IMO Res.
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Waters”. 1. Federal Register Notice. , USCG-2018-0133 (2018).
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and the 100-meter requirement of “Ocean waters”
established in IMO Res. A.1046 (27), [9], with both

556