THE NEW RTCM 3.1 TRANSFORMATION MESSAGESgeozilla.de/files/GEOSIBERIA_2008_RTCM_JAEGER.pdf ·...

GEOSIBERIA 2008GEOSIBERIA 2008 Novosibirsk, 22.Novosibirsk, 22. -- 24.04.200824.04.2008-- 44th th Int. Int. ExhibitionExhibition and and ScientificScientific Congress Congress devoteddevoted to 75to 75 th th AnniversaryAnniversary of SSGA of SSGA --

THE NEW RTCM 3.1 TRANSFORMATION MESSAGESTHE NEW RTCM 3.1 TRANSFORMATION MESSAGESDeclaration, Generation from Reference Transformati ons and Implementation as a Server-Client-Concept for GNSS Services

Prof. Dr. Reiner Jäger Prof. Dr. Reiner Jäger 1), 2)1), 2) and Dipl.and Dipl. --Ing. (FH) Simone Kälber Ing. (FH) Simone Kälber 3)3)

1)Faculty of Geomatics, Hochschule Karlsruhe - Technik und Wirtschaft (HSKA)

University of Applied Sciences, Moltkestrasse 30, D- 76133 Karlsruhe, Germany

2)2) Member of RTCM Working Group Transformation Message s 2004 Member of RTCM Working Group Transformation Message s 2004 -- 20072007

Member of FIG WG 5.4 GNSS-Networks

EMail: [email protected] 3) EMail: [email protected]

URLURL: www.dfhbf.dewww.dfhbf.de ; www.geozilla.dewww.geozilla.de


GNSS GNSS -- SystemsSystems

GNSS GNSS forfor Global Global PositioningPositioning in ITRF/ECEF in ITRF/ECEF FramesFrames

GPSGPS

GALILEO 2011GALILEO 2011 --2012 ?2012 ?

GLONASSGLONASS COMPASSCOMPASS

„„ BeiDouBeiDou --1/2“ 1/2“ 1414--AprilApril --07 07

Space Segment

User Segment Control Segment


ITRF/ECEF ITRF/ECEF -- Datum <= International GNSS Service (IGS)Datum <= International GNSS Service (IGS)

„„ MonthlyMonthly CoordinateCoordinate Files“ Files“ ETRS89 =: ITRF1989ETRS89 =: ITRF1989_01_01--19891989

<_1_cm <_1_cm ConsistencyConsistency !!


GNSSGNSS--NetworksNetworks in EURASIA: SAin EURASIA: SA POSPOS®/®/ascosascos ® , ® , SWISWIPOSPOS®/®/SwissSatSwissSat ® …. ® …. SwePosSwePos ®, ®, CzePosCzePos ® ,® ,LatPosLatPos ®, ®, ASGASG--EUPOS® ,EUPOS® ,CroPOSCroPOS ®, ®, HePosHePos ® , ® , … … HungaryHungary ,, SloweniaSlowenia , , RomaniaRomania , , MoldaviaMoldavia , , … SRPOS (… SRPOS (SiberiaSiberia ) )

... and ... and manymany othersothers worldwideworldwide !!

GNSS-Services and RTCM-based PositioningRTCM 3.1 Observation Phase and Code RTCM 3.1 Observation Phase and Code CorrectionsCorrections => => cmcm --PositioningPositioning

„„ ITRFITRF--relatedrelated ““e.ge.g. ETRF89. ETRF89


GNSS-Services and RTCM-based Positioning


GNSSGNSS--ServiceService –– NetworkNetwork of of ReferenceReference StationsStations+ + GNSSGNSS--NetworkingNetworking Software Software



1. 1. AreaArea CorrectionCorrection Parameters Parameters (ACP)(ACP)2. 2. MasterMaster --AuxiliaryAuxiliary (MAX(MAX)

fRe,ObservedfRe,truet,SATREFSat

fRe )tt(])z,y,x(;)z,y,x[()tt( ∆−ρ−ρ=∆−ρ∇ ∆

fRe,ObservedRfRe,truet,SATREFRSat

fReR )tt(])z,y,x(;)z,y,x[()tt( ∆−λ−λ=∆−λ∇ ∆

Basic Basic GNSSGNSS--DataData collectedcollected at at thethe GNSSGNSS--ReferenceReference --StationsStations at a Time at a Time tt--∆t∆t

GNSS-Networking

Software

SatfR

SatRovR

correctedSatRovR

ttt

t

ReObserved,

,

)( - )(

)(

∆−∇

=

λλ

λ

RTCM 3.1

Observations-

Corrections

((B,L,h)B,L,h) GNSSGNSS--DatumDatum

bb

RTCMRTCM

NMEANMEAStringString

3. VirtualReferenceStation (VRS)



Many Commercial Hard- and Software with NTRIP-embedding see

http://igs.ifag.de/index_ntrip.htm

Trend at Trend at manymany newnew servicesservicese.ge.g. in. in

PolandPolandSloveniaSlovenia

(TCP/(TCP/IPIP--basedbased , , e.ge.g. via. viaInternet, GPRS Internet, GPRS –– NTRIP)NTRIP)



ITRF / ETRF89 - Datum Old Classical Systems

Transformation Problems and Transformation Problems and ReferenceReference TransformationsTransformations1.) Horizontal Datum 1.) Horizontal Datum TransitionTransition fromfrom (B,L) (B,L) GNSS,ITRF GNSS,ITRF

to to ClassicalClassical Datum (Datum ( B,L)B,L) ClassicalClassical

StrictStrict andandGeneralGeneralTRAFOTRAFO

((EnabledEnabled &&GNSSGNSS--practicepractice


1. Plane Problem - Karlsruhe Reference Transformation

3D 3D SimilaritySimilarity Transformation Transformation RelatedRelated to (to ( B,L,hB,L,h ))

[ ]

t

t

t

sMoldenski

v

v

v

)

h

L

B

h

L

B

h

L

B

(

z

y

x

z

y

x

i,)h,L,B(

ih

L

B

i

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

)b,a(,)b,a(

)b,a(,)b,a(

2

1

21

21

21

∆εεε

⋅=

+

−

∆

∆

∆

−

⋅⋅⋅+⋅⋅⋅⋅⋅⋅⋅⋅−

⋅+⋅+−−

⋅++−⋅⋅⋅

⋅++−⋅⋅⋅

++⋅−

+⋅−

+⋅⋅⋅−

++⋅⋅

++⋅⋅−

)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

ReferenceReference --TransformationTransformation((DataData / Parameters / / Parameters / AlgorithmsAlgorithms ))

Source CRS Target CRS

(B,L,h) GNSS => (B,L)Classical(B,L,h) GNSS => (B,L,H)Classical


1. Plane Problem - Karlsruhe Reference Transformation

DFLBF_DBTransformationParameters & Residuals

ReferenceReference --TransformationTransformation((DataData / Parameters / / Parameters / AlgorithmsAlgorithms ))

Source CRS Target CRS

(B,L,h) GNSS => (B,L)Classical(B,L,h) GNSS => (B,L,H)Classical


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

GNSS Heighting„H from h- GNSS“

HRSHRShh

HH

hhNN

GeoidGeoid (HBF)(HBF)EllipsoidEllipsoid

+/+/-- 70 m70 m

2. Height Problem / HRS Transition - Karlsruhe Referen ce Transformation

ReferenceReference --TransformationTransformationSource CRS Target CRS(B,L,h) GNSS => N


hGNSS+ v = H + fT ⋅ p - hGPS·∆∆∆∆ m

H + v = H

NG‘ j + v j = fT ⋅ p + ∂NG(d j)

ξj + v = - fBT / M(B) ⋅ p + ∂ ξ (dξξξξ,ηηηη) j

ηηηη j + v = - fLT/(N(B)⋅cos(B)) ⋅ p + ∂ η(dξξξξ,ηηηη) j

)(4 ∫∫σγ⋅π⋅ B

a ∆∆∆∆g·S(ψ)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+∑ ∑ θ⋅λ⋅+λ⋅+

=+∞

= =

+

NFEM(p)N(pk)

∑ ∑ ∂+−θ⋅λ⋅+λ⋅

γ=

∂+=+

∞

= =

+

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



DBDB


OfficialOfficialState State

DatabasesDatabases

e.ge.g..

in Germanin GermanCountriesCountries

......DFHBF-DB




Present Use of Reference TransformationsOnline on GNSS Online on GNSS -- ControllersControllers

1.1. „„ GriddingGridding “ “ thethe ReferenceReference Transformation („Transformation („ GridfactoriesGridfactories “)“)2.2. DirectDirect Access to Access to ReferenceReference TransformationTransformation


DFLBF / DFHBF

Present Use of Reference Transformations on GNSS - Controllers


DFLBF / DFHBFDFLBF / DFHBF



RTCM 3.1I.) RTCM 3.1 Observations Corrections

&II.) 7 RTCM Transformation Messages

(International RTCM Working Group 2004 – 2007)

• 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

NMEANMEA--basedbased requestrequest to to RTCMRTCM--TransformationTransformation MessagesMessages ServerServer


Gridding of Reference Transformations

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

Virtual Fitting Points P i

Source CRS - Grid

Reference

Transformations

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

Virtual Fitting Points P i

Target CRS - Grid

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

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

+

⋅⋅=

+

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 3 Residual GridGrid

GridGrid of Nof N ii


Area of validity for 7P transformation (origin and extension) + 16 Grid-Points

RCTM 3.1 Transformation Messages – Defintion and Examp les


RCTM 3.1 Transformation Messages – Defintion and Examp lesMessage 1021 or 1022

GridLocation&Size

7 Parameters

Ellipsoid ParametersSource / Target

Geoid-Grid or not


MessageMessage 10231023 Message 1024or

Height Indicator = 1 „dh i„ = Physical Heights‘ Residuals dH i

Height Indicator = 2 „dh i„ = Geoid / HRS Heights N i (dN i)

Residuals P 14

Residuals P 15

Residuals P 16

:: ::

RCTM 3.1 Transformation Messages – Defintion and Examp les


UsingReference

Transformations

to compute

a country-wide

1.)„STATIC

GRID“(„Large Residuals“ Grid)

RCTM 3.1 Transformation Messages – Message Generation


Using Reference Transformations to compute country-widegrids dynamically online on NMEA-request by virtual fitting points


1.) No preceeding „Gridding“ Discretization Error2.) Small Residuals - Small Interpolation error3.) De facto - De facto independe nce of the residual

interpolation method in the rover

2.)„Dynamic

Grid“

Advantages


Using Reference Tranformations to compute grids dynamica lly„Dynamic Grid“


4.) Direct use of Original Reference Transformations

ϑ⋅λ+λ⋅+⋅=λϑ ∑ ∑

∞

= =)(cosP)msinSmcosC()

r

a(1(

r

GM),,r(W nmnmnm

n

2n

n

0m

80GRS

NhGNSS

UW))z,y,x((N

−γ−=

))u,,ß(|)M,,,a(UU REF λωε=

β⋅λ⋅β⋅ε+⋅

λ⋅⋅ε+⋅

=

sinu

sincosu1u

cosßcosu1u

z

y

x22

i

22i




5.) „Combined Messages Generation“ in case of ITRF-Ope ration Mode




5.) „Combined Message Generation“

[([(B,L,h)B,L,h) ITRFITRF--relatedrelated ]] ii ⇒⇒⇒⇒⇒⇒⇒⇒ [(B,L)[(B,L) TT , H, HTT or or N)]N)] ii

[([(B,L,h)B,L,h) ITRFITRF--relatedrelated ]] ii ⇒⇒⇒⇒⇒⇒⇒⇒ [[ ((B,L,h)B,L,h) GNSS,ITRFGNSS,ITRF]] ii

Part 1Part 1 -- PlatePlate ModelsModels

Part 2Part 2 -- Standard Standard ReferenceReference TransformationsTransformations

VirtualVirtual FittingFitting --PointsPoints

VirtualVirtual Fitting Fitting PointsPoints

Dynamic Message Set up by local 7PT Gridding


RCTM 3.1 TransformationMessages

General General ConfigurableConfigurableRTCM TransformationRTCM Transformation

MessagesMessages ServerServer

All kind of ReferenceTransformations

in so calledTransformationTransformation

ModulesModules

Dynamic & Combined& Static RCTM-Messages

______________________

CommuicationDesign

in case of passingRTCM Transformation

Messagesthrough GNSS-Networking

Software


RCTM 3.1 Transformation Messages – „Full Service“ GNSS-Transformation Services


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

Reference TransformationsDFHBF Florida

DFHBF BavariaDFLBF Bavaria

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