Geodetic Infrastructures for GNSS-Positioning-Services (GIPS) · GEOSIBERIA 2011 Novosibirsk 27-29....

Reiner Jäger, University of Applied Sciences (HSKA)

Novosibirsk 27-29. April 2011GEOSIBERIA 2011

Geodetic Infrastructures for GNSS-Positioning -Services (GIPS)

Reiner Jäger, Simone Kälber, Peter Spohn, Ghadi YounisVasile Chiriac and Andrei Iacovlev (TU Moldova)

Prof. Dr.-Ing. Reiner Jäger

Hochschule Karlsruhe – Technik und WirtschaftFaculty of Geomatics

Department Vermessung&Geomatik and GIManagementInternational Study Programme Geomatics (MSc)

www.g.hs-karlsruhe.deInstitut für Angewandte Forschung (IAF)

Moltkestrasse 30, D-76133 KarlsruheHonorary Professor of the Siberian State Academy of Geodesy (SSGA)

www.goca.info , www.monika.ag , www.dfhbf.de , www.moldpos.eu ,www.geozilla.de , www.galileo-bw.de , www.navka.de



GNSS GNSS Positioning ServicesPositioning Services



GNSS GNSS -- SystemsSystems

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

GPSGPS

GALILEO GALILEO 20142014

GLONASSGLONASS COMPASSCOMPASS

„„ BeiDouBeiDou --1/21/2““1414--AprilApril --07 07

Space Segment

User Segment Control Segment

< 50 < 50 (2010)(2010)

105! 105! (2014)(2014)



SWIPOS +SWIPOS +SWISSATSWISSAT

SWEPOSSWEPOS

““ cmcm ””��

!Code!Code -- and Phaseand Phase --Corrections Corrections !!

RTCM 3.1RTCM 3.1

Precise Differential (“cm ”) DGNSSRegional DGNSS-Services in and outside Europe

SRPOSSRPOS

SibiriaSibiriaMOLDOVA

www.moldpos.eu



12

3

4

TRIMBLE VRSNOW

SITUATION in GERMANYSITUATION in GERMANY

(B,L,h) ITRF-related



Space/Satellite Based Augmentation Systems (SBAS)DNGSSDNGSS--Corrections. Standard RTCA and RTCMCorrections. Standard RTCA and RTCM

…… WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MS AS (Japan),SWAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MS AS (Japan),S DCM (Russia)DCM (Russia)



EUREF oder IGSEUREF oder IGSRTCMRTCM--CorrectionsCorrections

NTRIPNTRIP--FormatFormat

Mobile Internet Mobile Internet (USB(USB--Stick)Stick)

andandInterNet GNSSInterNet GNSS --RadioRadio

GNSS-Internet Radio

EUREFEUREF--IP or IGSIP or IGS--IP InterNetIP InterNet--Service (NTRIP)Service (NTRIP)



Augmentation Systems (SBAS, GSM/Internet-based)........ withwith RTCMRTCM--Corrections for Precise Positioning and Navigation Corrections for Precise Positioning and Navigation

Networked RTCM Corrections



Geodetic Infrastructures for GNSSGeodetic Infrastructures for GNSSPositioning ServicesPositioning Services

see alsosee alsoR. JR. Jääger (2010): " ger (2010): " GeodGeod äätische Infrastrukturen ftische Infrastrukturen f üür GNSSr GNSS--Dienste (GIPS)Dienste (GIPS)

In: "In: " Vernetzt und ausgeglichen: Vernetzt und ausgeglichen: Festschrift zur Verabschiedung von Prof. Dr.Festschrift zur Verabschiedung von Prof. Dr. --Ing. habil. Dr.Ing. habil. Dr. --Ing. e.h. GIng. e.h. G üünter Schmitt nter Schmitt

(Band 2010.3)(Band 2010.3) , Zippelt, Karl (Ed.) , Zippelt, Karl (Ed.) Schriftenreihe des Studiengang GeodSchriftenreihe des Studiengang Geod ääsie und Geoinformatik, sie und Geoinformatik,

Karlsruher Institut fKarlsruher Institut f üür Technologie, Studiengang Geodr Technologie, Studiengang Geod ääsie und Geoinformatik sie und Geoinformatik 978978--33--8664486644--576576--5, Dec. 2010. Pages 1515, Dec. 2010. Pages 151 --169.169.

http://www.geozilla.de/files/Geodaetische_Infrastru kturen_fuer_Ghttp://www.geozilla.de/files/Geodaetische_Infrastru kturen_fuer_G NSSNSS--Dienste_%28GIPS%29.Jaeger..pdfDienste_%28GIPS%29.Jaeger..pdf



e.g www.moldpos.eu

www.geozilla.de

www.dfhbf.de

www.monika.ag www.goca.info



GIPSGIPS--11Horizontal PositioningHorizontal Positioning



„„ AllAll --overover --thethe --WorldWorld ““ ProblemProblem

)h,L,B(z

)h,L,B(y

)h,L,B(x

X und

)h,L,B(z

)h,L,B(y

)h,L,B(x

Xmit , tXRmX

2222

2222

2222

2

1111

1111

1111

112

=

=+⋅⋅=

X1

X2

Rotation Matrix3 Rotations Non-Linear Realation (see above)

3D Similariy Transformation

GIPSGIPS--1:1: Horizontal DatumHorizontal Datum --Trafo from (B,L)Trafo from (B,L) GNSS,ITRFGNSS,ITRF to Classical Datum (B,L)to Classical Datum (B,L) Classical Classical --Karlsruhe Approach (COPAG) and TrafoKarlsruhe Approach (COPAG) and Trafo --Database ComputationDatabase Computation

essermungshalbmNormalkrüm N(B)mit

Bsin)hNa

b( z

Lsin Bsin h)(N y

L cos B cosh)(N x

2

2

=

⋅+⋅=

⋅⋅+=⋅⋅+=



[ ]

∆

ε

ε

ε

⋅=

+

−

∆

∆

∆

−

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

(

Solution of the horizontal Transformation Problem

3D 3D SimilaritySimilarityransformationransformation

RelatedRelated to to ((B,L,hB,L,h ))

⋅⋅⋅+⋅⋅⋅⋅⋅⋅⋅⋅−

⋅+⋅+−−

⋅++−⋅⋅⋅

⋅++−⋅⋅⋅

++⋅−

+⋅−

+⋅⋅⋅−

++⋅⋅

++⋅⋅−

)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

Bsine1N

aW 22 ⋅−==

2

222

a

bae

−=

1D-,2D-,3D-

Identical Points

WTRANSwww.geozilla.de

GIPSGIPS--11 Horizontal Datum Horizontal Datum TransitionTransition fromfrom (B,L) (B,L) GNSS,ITRF GNSS,ITRF to to ClassicalClassical Datum Datum (B,L)(B,L) ClassicalClassical –– Karlsruhe Approach (COPAG) and TrafoKarlsruhe Approach (COPAG) and Trafo --DatabaseDatabase --ComputionCompution



ITRF / ETRF89 - Datum Old Classical Systems

StrictStrict andandGeneralGeneralTRAFOTRAFO

GNSSGNSS--practicepractice

GISTransition toITRFGNSSconsistent

frame

GIPSGIPS--1:1: Horizontal DatumHorizontal Datum --Trafo from (B,L)Trafo from (B,L) GNSS,ITRFGNSS,ITRF to Classical Datum (B,L)to Classical Datum (B,L) Classical Classical -- Karlsruhe Approach (COPAG) and TrafoKarlsruhe Approach (COPAG) and Trafo --Database ComputationDatabase Computation

Long waved deflections - „Weak shapes“



COPAG = Continuously Pa tched G eoreferencing

Continuity along theMesh Borders!

GIPSGIPS--11: Horizontal Datum: Horizontal Datum --Trafo (B,L)Trafo (B,L) GNSS,ITRFGNSS,ITRF to Classical Datum (B,L)to Classical Datum (B,L) ClassicalClassicalKarlsruhe Approach (COPAG) and Database ComputationKarlsruhe Approach (COPAG) and Database Computation



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


Hungary1-3 cm



Meshes = “Patching“ forCorrego Alegre Classical Datum

Brasil

(1 – 5) cmTransformationparameterDatabases for 3 Classical

Datum-systems





DFLBF/COPAG Databases for Moldova

www.moldpos.eu



GIPSGIPS--1.1:1.1: Horizontal Datum Transitionfrom (B,L) GNSS,ITRF to (B,L) Classical

DFLBF-Databases. Use in GNSS-Serviceson controllers and via RTCM

GIPSGIPS--1.21.2 :Horizontal Datum Transitionfrom (B,L) Classical to (B,L) GNSS,ITRF

COPAG-Databases for GIS

GIPSGIPS--11: Horizontal Datum: Horizontal Datum --Trafo (B,L)Trafo (B,L) GNSS,ITRFGNSS,ITRF to Classical Datum (B,L)to Classical Datum (B,L) ClassicalClassical

Karlsruhe Approach (COPAG) and Database ComputationKarlsruhe Approach (COPAG) and Database Computation

www.geozilla.de



GIPSGIPS--22GNSSGNSS--HeightingHeighting



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

GNSS Heighting„H from h- GNSS“

HRSHRShh

HH

hhNN

GeoidGeoid (HBF)(HBF)EllipsoidEllipsoid

+/+/-- 70 m70 m

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

www.dfhbf.de

GIPSGIPS--22:: Height Reference Surface (HRS) Qgeoid/Geoid (N) for Transition Height Reference Surface (HRS) Qgeoid/Geoid (N) for Transition hhGNSS,ITRFGNSS,ITRF to to Physical Heights H = hPhysical Heights H = h --N N -- Karlsruhe Approach (DFHBF) and DFHBFKarlsruhe Approach (DFHBF) and DFHBF --DBComputationDBComputation




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

)(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⋅+

=+∞

= =

+

)hm()'S,'C(Nv0 Tm),k(nm),k(nN ⋅∆+⋅−=+ ∆ pf

hGNSS+ v = H + fT ⋅ p - hGPS·∆∆∆∆ m

H + v = H

NG‘ j + v j = fT ⋅ p + ∂NG(d j)

IdenticaP

oints

-Existing nonfitted Qgeoid -/ Geoid GridsGrids

Deflections fo the Vertical from modern Zenith-Cameras or from Classical Geod- Astron. Campaigns

„Patching“

http://www.geozilla.de/files/Geodaetische_Infrastrukturen_fuer_GNSS-Dienste_%28GIPS%29.Jaeger..pdf

New: Global Geopotential Model (EIGEN,EGM2008)Coefficients (C nm,Snm) => Mapped to SphericalCap-Harmonic Coefficients (C‘ nm, S‘nm)

(C‘nm, S‘nm) => Introduced as direct observations



SoftwareSoftwareSreenshotSreenshot

•• IdenticalIdentical„„FittingFitting““PointsPoints

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

•• MeshesMeshes

www.dfhbf.dewww.dfhbf.de

GIPSGIPS--22: Height Reference Surface (HRS) Qgeoid/Geoid (N) f or Transition: Height Reference Surface (HRS) Qgeoid/Geoid (N) f or Transition hhGNSS,ITRFGNSS,ITRF to to Physical Heights H = hPhysical Heights H = h --N N -- Karlsruhe Approach (DFHBF) and DFHBFKarlsruhe Approach (DFHBF) and DFHBF --DBComputationDBComputation



-- DataBaseDataBase


Quasi-Geoid N QG Quasi-Geoid N G

Hg

NN QGG ⋅γ

γ−+=



www.moldpos.eu 1-2 cm Quasigeoid for MoldovaPatching of

EGG97 or EGM2008 GPMNearly same results

www.dfhbf.dewww.dfhbf.de

GIPSGIPS--22: Height Reference Surface (HRS) Qgeoid/Geoid (N) f or Transition: Height Reference Surface (HRS) Qgeoid/Geoid (N) f or Transition hhGNSS,ITRFGNSS,ITRF to to Physical Heights H = hPhysical Heights H = h --N N -- Karlsruhe Approach (DFHBF) and DFHBFKarlsruhe Approach (DFHBF) and DFHBF --DBComputationDBComputation



GIPSGIPS--33RTCM Transformation MessagesRTCM Transformation Messages

ProvisionProvision



GIPS-3: RTCM Transformationmessages and Setup from Reference Transformations - Karlsruhe Ap proach

Old standard:Trafo-Databases or„Grids“ in contollers Trimble, Leica-Geosystems, Topon, etc.



New standard:RTCM-Transformation Parameters from GNSS-Positioning Service



„Gridding“ of Reference Transformations by Virtual Fitting Points

GIPS-3: RTCM Transformationmessages and Setup from Reference Transformations - Karlsruhe Approach

New standard:RTCM-Transformation Parameters from GNSS-Positioning Service



Message 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

:: ::




UsingReference

Transformations

to compute

a country-wide

1.)„STATIC

GRID“(„Large Residuals“ Grid)




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




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

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




Reference TransformationsDFHBF Florida

DFHBF BavariaDFLBF Bavaria

www.geozilla.de




GIPSGIPS--44Monitoroing of GNSSMonitoroing of GNSS --Reference Reference Stations including GeomonitoringStations including Geomonitoring



2

k,iR

1k,iRˆˆ

Tk,iRk,i

R ˆ3

ˆ)(ˆ)ˆ(T

σ⋅

∇∇=∇

−∇∇ xQx

x

Old Classical Systems

GNSS Reference StationMONItoringby the KA rlsruheapproach and software (MONIKA )

GIPS-4: GNSS-Reference Station Monitoring and Use as Geosens or-Networksfor Geomonitoring and Hazard Mitigation – Karlsruhe Approach (MONIKA)

www.monika.ag



Additionally: Local Object – Monitoring andDeformation Analysis

MONIKACoordinate related Reference-Points Deformation Analysis

www.monika.agwww.monika.ag

Multivariate and Multi-EpochCongruency Testing




MONIKA Step 1

)t(),t( ili Cl

GNSSControl-Software

I. GNSS RINEX

Processing EnginesProcessing Engines• WA1 (Wanninger Software)• Berner GNSS-Software 5.0• RTKLIB - based

jixji )t(C,)t(x



1. Data Communication2. Processing

II. GNSS SINEX

Import jixji )t(C,)t(x



MONIKA Step 2

•• BaselinesBaselines•• EpochEpoch NetworksNetworks•• Partial Partial networksnetworks•• Daily Daily SolutionsSolutions

••EpochEpoch StatesStates

jixji )t(C,)t(x

)t(C),t(x ixi

t∆




MONIKA Step 2 – Coordinate related Referencepoint-Deformationanalysi s

EpochEpoch StatesStatesMONIKA MONIKA StepStep 22

ili )t(,)t( Cl

Original GNSS Original GNSS observationsobservationsRINEXRINEX

Singular

UnknownDatum

MONIKAMONIKAFree GNSS-network

DeformationAnalysis Concept

Helmert-Transformation d=3

)t(C),t(x ixi

0ii x )t(x:)t(x =

Tixix S)t(CS)t(C ⋅⋅=

)t(C),t(x ixi

S-Transformation d=3

MONIKA Trafo 2 MONIKA Trafo 2 -- StepStep 22

?x0

0x New

SINEXSINEX





Consideration of Datum -drift and Plate-Movement RatestxR +⋅εεε⋅∆+=

1t,ITRFyy1zyx1t,zzITRF1 )t(),,()m1()t(x

( ) ( )( ) )tt( )t()t()m( )t()t( 12t.ITRFzz1)j(Pt.ITRFzz1t.ITRFzz1t.ITRFzz2 1112−⋅⋅++⋅∆++= xRtxRxx &&&&

Use

of

IERSParameters

27cm/10y27cm/10y

MONIKA Trafos 1 MONIKA Trafos 1 -- StepStep 220t

it

Reference time

Epoch time

MONIKA Step 2 – Coordinate related Referencepoint-Defor mationanalysis




MONIKA Step 3 – Coordinate related Reference-Point-Deformationanalys is

)t( ixCand

)t(ˆ'ˆd'ˆd'))t(( ik,i

Rki

iO

iO

iR

iR)t(x

i0i i

xBxDxDvxx ∇⋅+⋅+⋅=+−

iO

iO

iR

iR)t(x

i0i ˆdˆd))t((

ixDxDvxx ⋅+⋅=+−

)t(ˆ

000

000

000

...

100

010

001

...

000

000

000

)t(ˆi

k,iR

T

ik,i

Rki xxB ∇⋅

=∇⋅

)t(xiTk

i1k

iiivv

iTkii

k,iR i

)( )t(ˆ vPBBPQPBx ⋅⋅−=∇ − andand 1kii

ivv

iTkii

k,iRˆˆ )()t( −

∇∇ = BPQPBQ

T∆




MONIKA Step 3 – Coordinate related Referencepoint-Deformationanalysi s

3r,32

k,iR

kii

ivv

iTki

Tk,iR

2

k,iR

1k,iRˆˆ

Tk,iRk,i

R

F~ˆ3

ˆ)( ˆ

ˆ3

ˆ)(ˆ)ˆ(T

−

−∇∇

σ⋅

∇⋅⋅∇=

=σ⋅

∇⋅⋅∇=∇

xBPQPBx

xQxx

3D a-posteriori Teststatistics – Significance of k,iRx∇

3r

ˆ)(ˆˆ

k,iR

1k,iRˆˆ

Tk,iR

T2

−

∇⋅⋅∇−=σ

−∇∇ xQxPvv

3.17),,'F(

ˆ)(ˆ

3r,3

k,iR

1k,iRˆˆ

Tk,iR

=βαλ=

∇⋅⋅∇

−

−∇∇ xQx

Test related to 1- α, e.g = 95% Confidence ellipsoid

Sensitivity ellipsoidα = 5 %, ß=95%

( = 1.0 accuracy , 1- α = 19.9 %error ellipsoid )

ß%-Sensitivity

Detectability of GNSSReference StationDeformations k,i

Rx∇

2.43.17f ==




GNSS-Positioning-Serviceof Rheinland-Pfalz (SAPOS)

- Volcano Monitoring -


GNSS-Reference Station Monitoring and Use as Geosensor-Networks for Geomonitoring and Haz ard Mitigation

– Karlsruhe Approach (MONIKA) -

GNSS-Positioning-ServiceGeomonitoring of Local

Objects

GNSS-Positioning-ServiceGeomonitoring of Natur

Hazard Zones



GNSS Positioning ServicesGNSS Positioning Services+ +

GIPSGIPS

Motor for New DevelopmentsMotor for New Developmentse.g. e.g.

Precise Multisensor NavigationPrecise Multisensor Navigation

! Geodetic Know How questioned !! Geodetic Know How questioned !



GNSS-Positioning Services – Precise Positioning/Geoda ta Acquisition/Navigation

MobileGIS

Mobile Services

Seamless Outdoor/Indoor NavigationMultisensor-Systems

Augemented Reality andMobile Data-Aacquisition




( ) ( ) ( )

( ) ( ) ( )

kk

kk

k

kk

kkkkkkk

kkkkkkk

k y

tyy

v

tvv

tyyvyvtyvE

tyyvyvtyvN

y

y

v

v

E

N

∆⋅+

∆⋅+

∆⋅−+∆⋅⋅+

∆⋅++∆⋅⋅+

=

+&

&

&

&

&&

&&

&

&

2

2

1

]sincos[2

1]cos[

]cossin[2

1]sin[

( ) ( ) ( )]3]t]y,0p,0r[)3([)3(y nin

pn

pip

pnp ωRωω ⋅≈≈−==&

www.navka.de

Algorithms for Precise Multisensor-Multi-Purpose Na vigation-Platforms

GNSSGNSS++

Autonomous Sensors (MEMS)Autonomous Sensors (MEMS)•• Gyroscopes Gyroscopes

•• Accelerometers, etc. Accelerometers, etc.

FieldRobots

Water-Drones Air-Drones

Joint Research Project 2011 - 2013




www.navka.de

Algorithms for Precise Multisensor-Multi-Purpose Na vigation-Platforms

Autonomous Indoor Navigation

Mobile Data Acquisition Systems

Joint ResearchProject 2011,2012,2013

Geodetic Infrastructures for GNSS-Positioning-Services (GIPS) · GEOSIBERIA 2011 Novosibirsk 27-29....

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Transcript of Geodetic Infrastructures for GNSS-Positioning-Services (GIPS) · GEOSIBERIA 2011 Novosibirsk 27-29....