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

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Presentation on theme: "MOLDPOS – Initial Meeting, Chisinau, 11-05-10 Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Reiner Jäger Hochschule Karlsruhe."— Presentation transcript:

1 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Reiner Jäger Hochschule 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 Karlsruhewww.dfhbf.de Precise Transformation of Classical Networks to ITRF by COPAG and Precise Vertical Reference Surface Representation by DFHRS Concepts and Realisation of Databases for a User- and an RTCM-3.1 Service based GNSS-Positioning User- and an RTCM-3.1 Service based GNSS-Positioning

2 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA GNSS - Systeme Situation of GNSS for a Global Positioning GPS GALILEO 2014 GLONASS 30 Satellites 2010 COMPASS „BeiDou-1/2“ 14-April April-07

3 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA ITRS <= International GNSS Service (IGS) „Monthly Coordinate Files“ (Internet) ETRS89 =: ITRS1989_ <_1_cm Consistency!

4 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RTCM- Phase Corrections  cm -Solutions __________________________________________ SAPOS® + ascos® SAPOS® + ascos® SWIPOS® + SwissSat® SWIPOS® + SwissSat®:SwePos®CzePos®LatPos® MoldPos MoldPos ® … Hungary, Poland, Slowenia, Romania, (East European (East European States, Russia) States, Russia)...many others worldwide!...many others worldwide! European GNSS- Services (ITRF-based, often ETRF89)

5 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA GNSS-Networks in EURASIA: SAPOS®/Axio-Net/VRSNow®, SWIPOS®/SwissSat® … SwePos®, CzePos®,LatPos®, CroPOS®, HePos®, … Hungary, Slowenia, Romania, Moldavia, … Siberian Positioning Service (SRPOS) … Siberian Positioning Service (SRPOS) GNSS-Positioning-Services „ITRF-related“ e.g. ETRF89

6 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RTCM (for all types of corrections and accuracies)

7 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA GNSS-Reference Station Software „GNSS-Reference Station Software“ Spider e.g. Spider (Leica Geosystems) GPSNet GPSNet (Trimble)

8 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA 1. Area Correction Parameters (ACP) 2. Master-Auxiliary (MAX 2. Master-Auxiliary (MAX) Basic GNSS-Data collected at the GNSS-Reference-Stations at a Time t-∆t GNSS- Networking Software RTCM 3.1 Observations- Corrections (B,L,h) GNSS-Datum b RTCM NMEAString 3. Virtual Reference Station (VRS) GNSS-Services and RTCM-based Positioning cm

9 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Space/Satellite Based Augmentation Systems (SBAS) ….. for DGNSS-Codemeasurements (DNGSS-Correction Standard RTCM or RTCA) … WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (Russia)

10 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Space/Satellite Based Augmentation Systems (SBAS) ….. for DGNSS-Codemeasurments (RTCM-2.0-Inhalt or RTCA) … WAAS (USA),CNSS (China),GAGAN/IRNSS (Indien),QZSS/MSAS (Japan),SDCM (Russland)

11 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA EGNOS (RTCA as „SSR“- Corretions) European WAAS alias „GNSS1“ alias „GNSS1“ GNSS2 =: GALILEO RTCAGrid-Representations of VTEC-Value IP IP Space/Satellite Based Augmentation Systems (SBAS) ….. für DGNSS-Codemessungen (DNGSS-Korrekturen. Stanadrd RTCM oder RTCA) … WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (Russia

12 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RTCM- and RTCA Corrections via Internet - NTRIP

13 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA EUREP-IP and IGS as European and worlwide Referencestationnetworks RTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements Simple, far reaching and low cost entrances Into precise DGNSS-Positioning

14 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA EUREP-IP and IGS as European and worlwide Referencestationnetworks RTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements

15 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Precise Monitoring and Navigation of Objects

16 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Precise Monitoring and Navigation of Objects

17 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA EUREF or IGS RTCM-CorrectionsNTRIP-Format Mobile Internet (USB-Stick) and and InterNet GNSS- Radio Precise Monitoring and Navigation of Objects

18 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Precise Monitoring and Navigation of Objects „M3“

19 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Satellite Orbit: 3 m Satellite Clocks: 3 m Ionosphere: m Troposphere: 0.5 m Broadcast Standard ? End of the monopole of DGNSS - Reference Station Servcices ? ± 10m Satellite Orbit: cm Satellite Clock: 5 ns ns Ionosphere: 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 GNSS - Precise Point Positioning „PPP“ State of „PPP“ in Postprocessing

20 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Server-Client for SSR LowCost GNSS-Sensors Static and postprocessed (30 Min = 0.05m) Absolute („NON-DGNSS) Upload of Data Dynamical absolute GNSS „Online PPP“ (RTK Modus)“ GNSS SSR-Provider ? 1 dm … 1 cm ? Absolute GNSS Present Standard: Precise Point Positioning „PPP“ Absolute GNSS in Trend: Online Precise Point Positioning „0PPP“ „C-Nav“ ( Kunden) „AUSPOS (free!)“ „Natural Ressources Canada“ < 2 m ! Derzeit

21 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Absolute GNSS als Target: Online Precise Point Positioning „0PPP“

22 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA GNSS-Further Developments &Trends - LowCost M. Becker, ZfV 10/09

23 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Autonomous drones (below) for documentation of the state of different kind of facilities Autonomous GNSS- bzw. GNSS/INS- boatsdrone for hydrological application (right up and right down) GNSS-Further Developments &Trends - GNSS/INS Drones

24 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Datenerfassung mit GNSS/INS- positionierten und orientierten Multisensor- Plattformen Entwicklung von Datenerfassungs- systemen für Facilites in Thesisarbeiten Kooperation mit der Industrie, z.B. GNSS-Further Developments & Trends – Platform Orientation

25 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Indoor-Positionierung (WLAN u.a.) Indoor-Positionierung (WLAN u.a.) Nahtlose Indoor-Outdoor-Positionierung Nahtlose Indoor-Outdoor-Positionierung Entwicklungen mit der Industrie Entwicklungen mit der Industrie GNSS-Further Developments&Trends – Seamless Out-/Indoor Positioning

26 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Solutions – GNSS-Satellite Navigation and Mobile IT GNSSTrends?

27 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Solutions – GNSS-Satellite Navigation and Mobile IT

28 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Deformation Integrity Monitoring for GNSSPositioning Services including a Scalable Hazard Monitoring by the Karlsruhe Approach (MONIKA)

29 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Modern Georeferencing: Global Reference and GNSS-based  ITRF-based Reference Systems ITRF / ETRF89 - DatumOld Classical Systems Classical Datum Systems and ITRF - Transformations Srict and GeneralTRAFO (Enabled & GNSS-practice

30 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Present Transformation Problem

31 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA ITRF / SIRGAS - Datum Old Classical Systems Strict and GeneralTRAFO Brazilien Transformations- Projekt Present Transformation Problem

32 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA PART1 Plan Transformation Problem and Solution

33 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Present Transformation Problem

34 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Solution of the Transformation Problem 3D Similarity Transformation Related to (B,L,h) Advantage: 1D or 2D or 3D identical points !!!

35 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Strict 3D-Trafo in (B,L, (h) ) Residuals Germany Only 1 set of 7 parameters (= Without „Patching“) Mean Residual: 1.49 m Max. Residual: 2.43 m Longwaved Systematic Errors „Weak Shapes“ Germany West

36 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Residuals Marked ObservationTests COPAG Software 18 sets of 8 parameters („Patching“ in continuously modelled meshes) => Essential decrease of residuals => DFLBF/COPAG transformation parameter DB

37 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFLBF_COPAG_DB – Hungaria

38 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFLBF_COPAG_DB – Accuray Surface, Hungaria COPAG Software

39 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA PART 2 Height Reference Surface Representation (DFHRS Concept) and DFHRS-DataBases (DFHRS_DB)

40 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA H = h - N (B,L,h) GNSS Heighting „H from h- GNNS“ Height Transformation Problem – GNSS HeightingHRS h H h N Geoid (HBF) Ellipsoid +/- 70 m

41 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA H = h GPS (B,L) - DFHRS(B,L,h) korr H H = h GPS (B,L) - (NFEM(p|B,L,h) + ∆m·h) REALITY DFHRS-DB Direct - No - NoIdentical Points - - Online - Online - Postpro- cessed DFHRS-Concept

42 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFRHS – Mathematical Model

43 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA h GNSS + v = H + f T  p - h GPS ·  m H + v = H N G ‘ j + v j = f T  p +  N G (d j )  j + v = - f B T / M(B)  p +   (d ,  ) j  j + v = - f L T /(N(B)  cos(B))  p +   (d ,  ) j  g·S(  )dσ + v = NFEM(p)= f T  p NFEM(p) N(pk)N(pk) Extension of the DFHRS-Concept to gravity observations

44 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFHRS Software Identical Identical„Fitting“Points(B,L,h;H) Meshes Meshes Patches Patches

45 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA EGG97 European Gravimetric Geoid 1997 Mean- up to lang-waved Errors 0.1 – 1.5 m ! => New Concepts, more „precise“ or better: (H,h)-fitted solutions Weak-Shapes of Classical Gravimetric „Geoid“models

46 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFHRS_DB Design Parameters Design Studies < _cm DFHRS Germany Patch-Size (EGG97) km for a < 1_cm DFHRS_DB km for a < 1_cm DFHRS_DB 50 – 60 km for a < 3_cm DFHRS_DB 50 – 60 km for a < 3_cm DFHRS_DB 300 km for a < 10_cm DFHRS_DB 300 km for a < 10_cm DFHRS_DB (3-5) points per patch

47 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Official State Databases e.g. in German Countries... Bilateral Cooperation Partner IBS DFHBF-Data Bases

48 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA < 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

49 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA European HRS …. including <(1-3)cm_DFHRS Baltics (Latvia, Estonia, Lithuania) 10 km FEM Meshes Master Thesis of Mrs. Lauma Lace, Latvia at Karlsruhe University of Applied Sciences

50 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA European HRS… including < 3cm DFHRS_DB Germany Germany 10 km FEM Meshes

51 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA … including < 1cm DFHRS_DB Germany < 1cm DFHRS_DB Luxembourg Official State Standard … over years 5 km FEM Meshes

52 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFHRS_DB - Product as CD-Installation of State Land Services in Germany CopyProtection inclusive

53 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA European HRS… including < (1-3) cm DFHRS_DB Ungary - Masterthesis in DFHRS-Project & Cooperationproject with A. Kenyeres, Fömi, Ungary 5 km FEM Meshes

54 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFHRS_DB USA

55 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA < 5 cm DFHRS_DB Florida (… Masterthesis )

56 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFLBF / DFHBF

57 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA DFLBF / DFHBF

58 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA

59 RCTM3.0 Transformation Messages

60 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA 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)

61 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA (φ V, λ V ) ∆φ V ∆λ V Area of validity for 7P transformation: origin and extension RCTM3.0 Transformation Messages RTCM 3.0 WG Chair: V. Wegener, LGN Scientific Member: R. Jäger SLS Member: L. Lijvall Company-Representatives Active..Leica: Dr. Euler..Trimble: Dr. H. Landau..Geo++: Dr. Wübbena Corresponding.. Septentrio.. Thales.. TopCon... Novatel RTCM-Commission: R. Kalafus

62 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RCTM3.0 Transformation Messages

63 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RCTM3.0 Transformation Messages

64 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA Gridding of Reference Transformations P i [(B,L,h) GNSS ] Virtual Fitting Points P i Source CRS - Grid Reference Transformations P i [(B,L) Class ] Virtual Fitting Points P i Target CRS - Grid P i [(B,L,H) Class ] P i [N ] P i [H=h GNSS - N ] Gridding 1.] 2.] 7 Para meter Trafo Geoid/HRS Grid 7 Parameters 3 Residual Grid Grid of N i

65 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client

66 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RCTM3.0 Transformation Messages GNSS-Net w ork-SW (Spider, GPSNet, etc.) Dial- Server „Your“ Reference Transformation Setting 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 Concept by AdV Germany and RTCM WG

67 MOLDPOS – Initial Meeting, Chisinau, Precise Transformation and General Trends Prof. Dr. Reiner Jäger, HSKA RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client Reference Transformations DFHBF Florida DFHBF Bavaria DFLBF Bavaria


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