MOLDPOS – Initial Meeting, Chisinau, 11-05-10 Precise Transformation and General Trends Prof. Dr....

MOLDPOS – Initial Meeting, Chisinau, 11-05-10 Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA

Reiner JägerHochschule Karlsruhe Technik und Wirtschaft - University of Applied Sciences

Faculty of Geomatics

Studiengang Vermessung und Geomatik & International Programme Geomatics (MSc)

Institut für Angewandte Forschung (IAF)

Moltkestrasse 30, D-76133 Karlsruhe

www.dfhbf.de www.dfhbf.de

www.galileo-bw.de; www.moldpos.euwww.galileo-bw.de; www.moldpos.eu

Precise Transformation of Classical Networks to ITRF by Precise Transformation of Classical Networks to ITRF by COPAG and Precise Vertical Reference Surface COPAG and Precise Vertical Reference Surface

Representation by DFHRSRepresentation by DFHRS

Concepts and Realisation of Databases for a Concepts and Realisation of Databases for a

User- and an RTCM-3.1 Service based GNSS-PositioningUser- and an RTCM-3.1 Service based GNSS-Positioning


GNSS - SystemeGNSS - Systeme

Situation of GNSS for a Global PositioningSituation of GNSS for a Global Positioning

GPSGPS

GALILEO 2014GALILEO 2014

GLONASSGLONASS30 Satellites 201030 Satellites 2010 COMPASSCOMPASS

„„BeiDou-1/2“ BeiDou-1/2“ 14-April-07 14-April-07


ITRS <= International GNSS Service (IGS)ITRS <= International GNSS Service (IGS)

„„Monthly Coordinate Files“ (Internet)Monthly Coordinate Files“ (Internet)ETRS89 =: ITRS1989ETRS89 =: ITRS1989_01-1989_01-1989

<_1_cm Consistency!<_1_cm Consistency!


RTCM-RTCM-Phase CorrectionsPhase Corrections cm -Solutionscm -Solutions

____________________________________________________________________________________

• SASAPOSPOS® + ® + ascosascos®® SWISWIPOSPOS® + ® + SwissSat®SwissSat®

::

SwePos®SwePos®CzePos®CzePos®LatPos®LatPos®

MoldPosMoldPos ®

… … HungaryHungary, , Poland,Poland, Slowenia,Slowenia,Romania, Romania,

(East European(East European States, Russia)States, Russia)

• ...many others worldwide!...many others worldwide!

European GNSS- Services (ITRF-based, often ETRF89)European GNSS- Services (ITRF-based, often ETRF89)


GNSS-Networks in EURASIA: GNSS-Networks in EURASIA: SAPOSSAPOS®/®/Axio-Net/VRSNowAxio-Net/VRSNow® , ® , SWIPOSSWIPOS®/®/SwissSat® … SwePos®, SwissSat® … SwePos®, CzePos® ,CzePos® ,LatPos®, CroPOS®, HePos® , … Hungary, Slowenia, Romania, Moldavia,LatPos®, CroPOS®, HePos® , … Hungary, Slowenia, Romania, Moldavia,

……Siberian Positioning Service (SRPOS)Siberian Positioning Service (SRPOS)

GNSS-Positioning-Services

„„ITRF-related“ITRF-related“e.g. ETRF89e.g. ETRF89

www.euref.eu


RTCM RTCM (for all types of corrections and accuracies)(for all types of corrections and accuracies)


GNSS-Reference Station SoftwareGNSS-Reference Station Software

„„GNSS-Reference Station Software“GNSS-Reference Station Software“e.g. SpiderSpider (Leica Geosystems)

GPSNet GPSNet (Trimble)


1. Area Correction Parameters (ACP)1. Area Correction Parameters (ACP)2. Master-Auxiliary (MAX2. Master-Auxiliary (MAX)

fRe,ObservedfRe,truet,SATREFSat

fRe )tt(])z,y,x(;)z,y,x[()tt(

fRe,ObservedRfRe,truet,SATREFRSat

fReR )tt(])z,y,x(;)z,y,x[()tt(

Basic GNSS-Data collected at the GNSS-Reference-Stations at a Time t-∆tBasic GNSS-Data collected at the GNSS-Reference-Stations at a Time t-∆t

GNSS-GNSS-Networking Networking

SoftwareSoftware

SatfR

SatRovR

correctedSatRovR

ttt

t

ReObserved,

,

)( - )(

)(

RTCM 3.1

Observations-

Corrections

(B,L,h)(B,L,h)GNSS-DatumGNSS-Datum

bb

RTCMRTCM

NMEANMEAStringString

3. Virtual Reference Station (VRS)

GNSS-Services and RTCM-based Positioning

1 - 2 cm1 - 2 cm


Space/Satellite Based Augmentation Systems (SBAS)…….. for DGNSS-Codemeasurements (DNGSS-Correction Standard RTCM or RTCA).. for DGNSS-Codemeasurements (DNGSS-Correction Standard RTCM or RTCA)

… … WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (Russia)WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (Russia)


Space/Satellite Based Augmentation Systems (SBAS)…….. for DGNSS-Codemeasurments (RTCM-2.0-Inhalt or RTCA).. for DGNSS-Codemeasurments (RTCM-2.0-Inhalt or RTCA)

… … WAAS (USA),CNSS (China),GAGAN/IRNSS (Indien),QZSS/MSAS (Japan),SDCM (Russland)WAAS (USA),CNSS (China),GAGAN/IRNSS (Indien),QZSS/MSAS (Japan),SDCM (Russland)


EGNOSEGNOS

(RTCA as „SSR“-(RTCA as „SSR“-Corretions)Corretions)

European WAASEuropean WAAS alias „GNSS1“alias „GNSS1“

GNSS2 =: GALILEOGNSS2 =: GALILEO

RTCARTCAGrid-RepresentationsGrid-Representations

of VTEC-Valueof VTEC-Value

2iIP

if

1α

cosz

IP)VTEC(t,dIon IPIP

IPIP

Space/Satellite Based Augmentation Systems (SBAS)…….. für DGNSS-Codemessungen (DNGSS-Korrekturen. Stanadrd RTCM oder RTCA).. für DGNSS-Codemessungen (DNGSS-Korrekturen. Stanadrd RTCM oder RTCA)

… … WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (RussiaWAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (Russia


RTCM- and RTCA Corrections via Internet - NTRIPRTCM- and RTCA Corrections via Internet - NTRIP


EUREP-IP and IGS as European and worlwide ReferencestationnetworksEUREP-IP and IGS as European and worlwide ReferencestationnetworksRTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements RTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements

http://igs.bkg.bund.de/http://igs.bkg.bund.de/Simple,Simple,

far reaching and low far reaching and low cost entrancescost entrances

Into preciseInto preciseDGNSS-DGNSS-

PositioningPositioning


EUREP-IP and IGS as European and worlwide ReferencestationnetworksEUREP-IP and IGS as European and worlwide ReferencestationnetworksRTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements RTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements


Precise Monitoring and Navigation of ObjectsPrecise Monitoring and Navigation of Objects


EUREF or IGSEUREF or IGSRTCM-CorrectionsRTCM-Corrections

NTRIP-FormatNTRIP-Format

Mobile Internet Mobile Internet (USB-Stick)(USB-Stick) andandInterNet GNSS-InterNet GNSS-RadioRadio

Precise Monitoring and Navigation Precise Monitoring and Navigation of Objectsof Objects


Precise Monitoring and Navigation of ObjectsPrecise Monitoring and Navigation of Objects

„M3“www.bernot.org


Satellite Orbit: 3 m

Satellite Clocks: 3 mIonosphere: 7 -10 m

Troposphere: 0.5 m

Broadcast Standard

? End of the monopole of DGNSS - Reference Station Servcices ?

± 10m

Satellite Orbit: 5 -10 cm Satellite Clock: 5 ns - 0.1 nsIonosphere: 0.25 m

Troposphere: 5 cm

IGS-Products („SSR“) + Code/Phase + Modelling

• 24 h Observation time mm – cm

Code Obser-vations

• 30 min observation time Beobachtungszeit: 0.5 – 1 dm

Absolute GNSSAbsolute GNSS - Precise Point Positioning „PPP“ - Precise Point Positioning „PPP“

State of „PPP“ in PostprocessingState of „PPP“ in Postprocessing


• Server-Client for SSR • LowCost GNSS-Sensors

Static and postprocessed (30 Min = 0.05m) Static and postprocessed (30 Min = 0.05m) Absolute („NON-DGNSS) Absolute („NON-DGNSS) Upload of DataUpload of Data

Dynamical absolute GNSSDynamical absolute GNSS„„Online PPP“Online PPP“ (RTK Modus)“ (RTK Modus)“

GNSSSSR-Provider

? 1 dm … 1 cm ?

Absolute GNSSAbsolute GNSS Present Present Standard:Standard: Precise Point Positioning „PPP“ Precise Point Positioning „PPP“

Absolute GNSSAbsolute GNSS in in Trend:Trend: OnlineOnline Precise Point Positioning „0PPP“ Precise Point Positioning „0PPP“

„C-Nav“ (55.000 Kunden)http://www.cctechnol.com/site.phpm-cm „AUSPOS (free!)“http://www.ga.gov.au/geodesy/sgc/wwwgps/„Natural Ressources Canada“www.geod.nrcan.gc.ca/products-produits/ppp_e.php

< 2 m !< 2 m !DerzeitDerzeit


Absolute GNSSAbsolute GNSS als Target: als Target: OnlineOnline Precise Point Positioning „0PPP“ Precise Point Positioning „0PPP“


GNSS-Further Developments &GNSS-Further Developments &Trends - LowCostTrends - LowCost

M. Becker, ZfV 10/09


Autonomous drones (below) for Autonomous drones (below) for documentation of the state of documentation of the state of different kind of facilitiesdifferent kind of facilities

Autonomous GNSS- bzw. GNSS/INS- Autonomous GNSS- bzw. GNSS/INS- boatsdrone for hydrological application boatsdrone for hydrological application

(right up and right down)(right up and right down)

GNSS-Further Developments &GNSS-Further Developments &Trends - GNSS/INS DronesTrends - GNSS/INS Drones


Datenerfassung Datenerfassung mit GNSS/INS-mit GNSS/INS-positionierten positionierten

und orientierten und orientierten Multisensor-Multisensor-PlattformenPlattformen

Entwicklung vonEntwicklung vonDatenerfassungs-Datenerfassungs-

systemen für systemen für Facilites in Facilites in

ThesisarbeitenThesisarbeiten

Kooperation mit derKooperation mit derIndustrie, z.B.Industrie, z.B.www.ptv.agwww.ptv.ag

GNSS-Further Developments & Trends – Platform OrientationGNSS-Further Developments & Trends – Platform Orientation


• Indoor-Positionierung (WLAN u.a.)Indoor-Positionierung (WLAN u.a.)• Nahtlose Indoor-Outdoor-PositionierungNahtlose Indoor-Outdoor-Positionierung• Entwicklungen mit der Industrie Entwicklungen mit der Industrie www.galileo-bw.dewww.galileo-bw.de www.afusoft.comwww.afusoft.com

GNSS-Further Developments&Trends – Seamless Out-/Indoor PositioningGNSS-Further Developments&Trends – Seamless Out-/Indoor Positioning


Solutions – GNSS-Satellite Navigation and Mobile IT Solutions – GNSS-Satellite Navigation and Mobile IT

GNSS GNSS Trends?Trends?


Solutions – GNSS-Satellite Navigation and Mobile ITSolutions – GNSS-Satellite Navigation and Mobile ITwww.galileo-bw.de www.galileo-bw.de


Deformation Integrity Monitoring for GNSSPositioning Services including a Deformation Integrity Monitoring for GNSSPositioning Services including a Scalable Hazard Monitoring by the Karlsruhe Approach Scalable Hazard Monitoring by the Karlsruhe Approach

(MONIKA)(MONIKA)

www.monika.agwww.monika.ag


Modern Georeferencing: Global Reference and GNSS-based Modern Georeferencing: Global Reference and GNSS-based ITRF-based Reference SystemsITRF-based Reference Systems

www.geozilla.dewww.geozilla.de

ITRF / ETRF89 - Datum Old Classical Systems

Classical Datum Systems and ITRF - TransformationsClassical Datum Systems and ITRF - Transformations

Srict andSrict and

GeneralGeneral

TRAFOTRAFO

(Enabled &GNSS-practice


Present Transformation ProblemPresent Transformation Problem


ITRF / SIRGAS - Datum

Old Classical Systems

Strict andStrict and

GeneralGeneral

TRAFOTRAFO

BrazilienTransformations-

Projekt





PART1

Plan Transformation Problem and Solution



Solution of the Transformation Problem

3D Similarity Transformation Related to (B,L,h)3D Similarity Transformation Related to (B,L,h)

z

y

x

z

y

x

i,1)h,L,B(

ih

L

B

i

12)b,a(,1)b,a(

2)b,a(,1)b,a(

2)b,a(,1)b,a(

2

t

t

t

sMoldenski

v

v

v

)

h

L

B

h

L

B

h

L

B

(

)Bsin()Lsin()Bcos()Lcos()Bcos(Wah0)Lcos()Bcos()Bsin(eN)Lsin()Bcos()Bsin(eN

0)Bcos()hN(

)Lcos(

)Bcos()hN(

)Lsin(01

)Bcos()hN(

)h)e1(N()Lsin()Bsin(

)Bcos()hN(

)h)e1(N()Lcos()Bsin(hM

)Bcos(

hM

)Lsin()Bsin(

hM

)Lcos()Bsin(

hM

eN)Bcos()Bsin(0

hM

hWa)Lcos(

hM

hWa)Lsin(

22

22

2

Advantage: 1D or 2D or 3D identical points !!!


Strict 3D-Trafo in (B,L, Strict 3D-Trafo in (B,L, (h)(h)))

Residuals GermanyResiduals Germany

Only 1 set of 7 parametersOnly 1 set of 7 parameters

(= Without „Patching“)(= Without „Patching“)

Mean Residual:Mean Residual:

1.49 m1.49 m

Max. Residual:Max. Residual:

2.43 m2.43 m Longwaved Systematic Errors „Weak Shapes“

Germany WestGermany West



ResidualsResiduals

Marked ObservationTestsMarked ObservationTests

COPAG Software

18 sets of 8 parameters18 sets of 8 parameters („Patching“ in continuously modelled meshes) => („Patching“ in continuously modelled meshes) => Essential decrease of residuals => DFLBF/COPAG transformation parameter DBEssential decrease of residuals => DFLBF/COPAG transformation parameter DB



DFLBF_COPAG_DB – Hungaria


DFLBF_COPAG_DB – Accuray Surface, Hungaria

COPAG COPAG SoftwareSoftware


PART 2

Height Reference Surface Representation(DFHRS Concept)

and

DFHRS-DataBases (DFHRS_DB)


H = h - N(B,L,h)

GNSS Heighting„H from h- GNNS“

Height Transformation Problem – GNSS Heighting

HRSHRShh

HH

hhNN

Geoid (HBF)Geoid (HBF)EllipsoidEllipsoid

+/- 70 m+/- 70 m


H = hGPS

(B,L) - DFHRS(B,L,h) korr

HH = hGPS(B,L) - (NFEM(p|B,L,h) + ∆m·h)

REALITYREALITYDFHRS-DB

Direct Direct - No - No IdenticalIdenticalPoints -Points -

- Online- Online -

Postpro-cessed

DFHRS-ConceptDFHRS-Concept


DFRHS – Mathematical ModelDFRHS – Mathematical Model


hGNSS+ v = H + fT p - hGPS· m

H + v = H

NG‘j + v j = fT p + NG(d j)

j + v = - fBT

/ M(B) p + (d,) j

j + v = - fLT/(N(B)cos(B)) p + (d,)

j

)(4 Ba g·S()dσ + v = NFEM(p)= fT p

)(dg )'(cosP)'msin'S'mcos'C(r

)1)k(n(

r

avg

0k

k

0mm),k(nm),k(nm)),k(n

1)k(n

rLGVgrav d

NFEM(p)

N(pk)

Extension of the DFHRS-Concept to gravity observationsExtension of the DFHRS-Concept to gravity observations

0k

k

0m

jm),k(nm),k(nm),k(n

1)k(n

Q

jm),k(nm),k(n

jGPM

)(N)Vref)'(cosP)'msin'S'mcos'C(r

a(

1

)(N)S,C(NvN

d

d

)hm()'S,'C(Nv0 Tm),k(nm),k(nN pf


DFHRS SoftwareDFHRS Software

• Identical Identical „„Fitting“Fitting“PointsPoints

(B,L,h;H)(B,L,h;H)

• MeshesMeshes

• PatchesPatches


EGG97European

GravimetricGeoid 1997

Mean- up to lang-wavedErrors

0.1 – 1.5 m !

=> New Concepts,more „precise“ or better: (H,h)-fitted

solutions

Weak-Shapes of Classical

Gravimetric

„Geoid“models

2

0Re

0

Re

)()(4

0

ddSgga

NN

f

f


DFHRS_DB Design Parameters

Design Studies < 5 - 10_cm DFHRS Germany

Patch-Size Patch-Size (EGG97)(EGG97)

• 30 - 40 km for a < 1_cm DFHRS_DB30 - 40 km for a < 1_cm DFHRS_DB• 50 – 60 km for a < 3_cm DFHRS_DB50 – 60 km for a < 3_cm DFHRS_DB

• 300 km for a < 10_cm DFHRS_DB300 km for a < 10_cm DFHRS_DB

(3-5) points per patch(3-5) points per patch


OfficialOfficialState State

DatabasesDatabases

e.g.e.g.

in Germanin GermanCountriesCountries

......Bilateral Cooperation Partner IBSBilateral Cooperation Partner IBS

WWW.IB-SEILER.DEWWW.IB-SEILER.DE

DFHBF-Data Bases


< 10cm DFHRS Europe – „Fittingpoint-Design“

ETRS89/EVRS

„GPS-/Levelling- Points of EVN“

Fitting Points

NFEM(p) =: h - H

Used for the 1st Version

< 10_cm DFHBFS Europe


European HRS …. includingEuropean HRS …. including

<(1-3)cm_DFHRS Baltics <(1-3)cm_DFHRS Baltics (Latvia, Estonia, Lithuania)(Latvia, Estonia, Lithuania)

10 km FEM

Meshes

MasterThesis

of Mrs.LaumaLace,Latvia

at

KarlsruheUniversityof AppliedSciences


EuropeanEuropeanHRS… HRS…

includingincluding

< 3cm < 3cm DFHRS_DBDFHRS_DB GermanyGermany

10 km FEM

Meshes


… … including including < 1cm DFHRS_DB Germany< 1cm DFHRS_DB Germany

< 1cm DFHRS_DB Luxembourg< 1cm DFHRS_DB Luxembourg

Official State Standard… over years

www.sapos.dewww.sapos.de5 km FEM

Meshes


DFHRS_DB - Product as CD-Installation of State Land Services in Germany CopyProtection inclusive


European HRS… includingEuropean HRS… including

< (1-3) cm DFHRS_DB Ungary - Masterthesis in DFHRS-Project & < (1-3) cm DFHRS_DB Ungary - Masterthesis in DFHRS-Project & Cooperationproject with A. Kenyeres, Fömi, UngaryCooperationproject with A. Kenyeres, Fömi, Ungary

5 km FEM Meshes


DFHRS_DB USADFHRS_DB USA


< 5 cm DFHRS_DB Florida (… Masterthesis )< 5 cm DFHRS_DB Florida (… Masterthesis )


DFLBF / DFHBFDFLBF / DFHBF


DFLBF / DFHBF


RCTM3.0 Transformation Messages


RTCM 3.1

RTCM 3.1 Observations Corrections &

„7 RTCM Transformation Messages“

• Transformation-Parameters (1021,1022)• Residual-Grids and/or Geoid-Representations (1023,1024)

• Projection-Information (1025,1026,1027)

sent by GNSS-Positioning-Service to

GNSS-Positioning-User

NMEA-based request to RTCM-Transformation Messages Server)NMEA-based request to RTCM-Transformation Messages Server)


(φV, λV)

∆φV

∆λV

Area of validity for 7P transformation: origin and extension


RTCM 3.0 WG

Chair: V. Wegener, LGN

Scientific Member: R. Jäger

SLS Member: L. Lijvall

Company-RepresentativesActive..Leica: Dr. Euler..Trimble: Dr. H. Landau..Geo++: Dr. WübbenaCorresponding.. Septentrio.. Thales.. TopCon... Novatel

RTCM-Commission: R. Kalafus


Gridding of Reference Transformations

PPi i [(B,L,h)[(B,L,h)GNSS GNSS ]]

Virtual Fitting Points Pi

Source CRS - Grid

Reference

Transformations

PPi i [(B,L)[(B,L)Class Class ]]

Virtual Fitting Points Pi

Target CRS - Grid

PPi i [(B,L,H)[(B,L,H)Class Class ]]

PPi i [N[N ]] PPi i [H=[H=hhGNSSGNSS - N- N ]]

z

x

x

i,GNSS/Sourceiz

y

x

i,etargTT

T

T

t

t

t

z

y

x

s

r

r

r

z

y

x

R

Gridding

1.]

2.]

7 ParameterTrafo

Geoid/HRSGrid

7 Parameters7 Parameters3 Residual Grid3 Residual Grid

Grid of NGrid of Nii


RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client



NMEA-Position

Nutzer

Einwahl-Server

Vernetzungs-Software

Trafo-Modul 1

RTCM 3.0NMEA-Position

RTCM 3.0

NMEA-PositionNutzerkennung

Trafo-Modul 2 Trafo-Modul n

NMEA-Position

RTCM Trafo-Nachricht NMEA-Position

RTCM Trafo-Nachricht

RTCM Trafo-Nachricht

GNSS-Network-SW(Spider, GPSNet, etc.)

Dial-Server

„„Your“ Reference TransformationYour“ Reference Transformation Setting up the RTCM-Message in a TCP/IP Client-Server ConceptSetting up the RTCM-Message in a TCP/IP Client-Server Concept

Dynamic Generation of RTCM-Grid (State Survey of Baden-Württemberg)

GNSS-User(to be transformed)

Technical Conceptby AdV Germanyand RTCM WG


RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client

Reference TransformationsDFHBF Florida

DFHBF Bavaria DFLBF Bavaria

www.geozilla.de

MOLDPOS – Initial Meeting, Chisinau, 11-05-10 Precise Transformation and General Trends Prof. Dr....

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Transcript of MOLDPOS – Initial Meeting, Chisinau, 11-05-10 Precise Transformation and General Trends Prof. Dr....