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MOLDPOS – Initial Meeting, Chisinau, 11-05-2010 GOCA Prof. Dr. Reiner Jäger, HSKA GNSS/LPS based Online Control and Alarm System (GOCA) Mathematical Models.

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Presentation on theme: "MOLDPOS – Initial Meeting, Chisinau, 11-05-2010 GOCA Prof. Dr. Reiner Jäger, HSKA GNSS/LPS based Online Control and Alarm System (GOCA) Mathematical Models."— Presentation transcript:

1 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GNSS/LPS based Online Control and Alarm System (GOCA) Mathematical Models and Technical Realization of a Scaleable System for Natural and Geotechnical Monitoring Analysis Mathematical Models and Technical Realization of a Scaleable System for Natural and Geotechnical Monitoring Analysis Prof. Dr.-Ing. Reiner Jäger Hochschule Karlsruhe Technik und Wirtschaft (HSKA) - University o Applied Sciences Fakultät für Geomatik und Institut für Angewandte Forschung (IAF) reiner.jaeger.web.de

2 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Targets of GOCA-Project and of the GOCA-Software and -System  Scaleable Online 3D Monitoring - permanent or non-permanent - using GNSS and LPS (and physical sensors)  Online 3D georeferencing of object-point time series x O (t) in the datum (coordinate system) defined by the reference points x R as holding for a Classical Absolute Geodetic Deformation Network  Online Deformation Analysis and forecasting based on the object point time series x O (t)  Integrated Deformation Analysis  Automatical Alarming Scaleable Multi-Sensor Observation Related Geodetic Monitoring GOCA

3 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Scaleable Multi-Sensor Observation Related Geodetic Monitoring System (GOCA) Regional & Local Frame - Applications Part I: Natural Hazards

4 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Dam Monitoring Vibrations of Buildings Buildings´ Monitoring Statics & Kinematics Scaleable Multi-Sensor Observation Related Geodetic Monitoring System (GOCA) Regional & Local Frame - Applications Part II: Structural Monitoring Monitoring of buildings e.g. in Mining Areas Present GOCA Geodetic Building Monitoring Project Robert Bosch Hospital Stuttgart

5 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Scaleable Multi-Sensor Observation Related Geodetic Monitoring GOCA 3D Displacements in a Unique Coordinate System GOCAEarth

6 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Deformation Analysis Software Open GKA Interface RINEX-Interface 1. Scaleable Usability => Open I/O Interfaces GOCA TPSControl TPSControl GNSSControl GNSSControl TCP/IP Communi- cation Box. WLAN, LAN, GSM, GPRS, NTRIP, Satellite Communication ®VMT&GOCA-Project

7 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA 2. Scaleability Any Monitoring Design - Local Groups in unique Coordinate System => Network Adjustment based

8 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA 2. Scaleable GOCA - Network Design and Local Areas

9 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA PURELPSARRAYPURELPSARRAY ? 3. Scaleability: No Sensor-Design Restrictions (GOCA)

10 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA 4. Scaleability : Model – Integration, Virtual Sensor Models TPSControl GNSSControl VMT&HSKA 2009/2010

11 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA 5. Scaleability: Due to „Integrated Deformation Analysis“ Displacements u Damage ∆p Physical Parameter

12 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA 5. Integrated System Analyis-based Modeling - FEM (Static) K(p,∆p) System- Equations K·u = f FEM-Elements = N E =Shape-Functions Stiffness Matrix p = Material Parameters ∆p= Changes (Damage, Fissure) Geodetic Displacements u geod u geod E∙uE∙u E= (0,1)-Matrix => Geod. Design (FOD) =

13 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA 5. Scaleability due to Integrated System Analysis- FEM (Static) FEM- / System- Parts (Static) & Parameter-Integration Geod. Monitoring & Network Adjustment Sensor-Integration Local Extensiometers, Strain Local pressure, stress and und and u geod E geod and · Diss. TU Graz, Lienhart 2007

14 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA University of Federal Forces & TU München Early Warning Systems in Earth Management „alpEWAS“ GOCA – Example

15 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA – Alarm. GOCA module for Displacement Estimation, Moving Average,KALMAN-Filtering, Deformation-Prediction

16 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Installation Example: Hydropower Station GNSS&LPS

17 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Installation Example: Vattenfall Europe (GNSS) S+H Systemtechnik (Trimble Competence Centre) Open Cast Coal Mining Trimble Receivers (right, up) GOCA-Centre with GOCA-Software =>

18 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Installation Example : A62 – Landslide (Low Cost GNSS developed by GeoNav)

19 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Dam Installation, Aizkraukle, Latvia, 1999

20 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Absolute Deformation Network y = (x Absolute Deformation Network y = (x R,x o (t)) Geodetic Network Adjustment Standard Sensors l=l(x) GPS/GNSS, Total Stations Optical and Hydrostatic Levels Integration Common Adjustment of redundant sensor observations l(x,t): Unique set of 3D-coor dinates per object point and per epoch t Sensor- Mathematical Models of Observation related Geodetic Monitoring Software and System GOCA - Functional Models 1D/2D/3D

21 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Observation based Geodetic Monitoring (GOCA) Mathematical Model: Relation between the Observation Data (l) und Object State Parameters y. Stochastical Models C l of the Observation Errors ε at two general observation times (epochs) t 1 and t 2 ; ; Parameter- Estimation (after linearisation with approximative parameters y 0 ) Result = State vector of Parameters y(t) Approach: Choice of the Estimation Principle: (…)

22 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Observation related Geodetic Monitoring (GOCA) Stepwise Adjustement Concept  Adjustment – Step1:  Adjustment – Step1: Initialization = Determination of Reference Points * Related additional Feature: Stastical Control of Stability of Referencepoints by means of Adjustment Techniques  Adjustment - Step 3 : GOCA - Deformationanalysis  Online Displacement Estimation, Statistical Testing and Alarm Setting  Adjustment - Step 2: Continuous Adjustment of Object Point Positions in the Reference Point Datum and Visualization of Objectpoint Time Series in Graphical Window.  Online-Estimation of Displacement, Velocity and Acceleration based on a Kalman-Filtering. Computation of Alarm Probability for each Object Point.  Online Moving Average Displacemets Running as Parallel Processes

23 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA = y = (x R ; x 0,1; x 02 ) – Coordinates x(t) Least Squares Adjustment Discrete State Parameters y x o (t) - Object point coordinates u o (t,x i ) - Object point displacements Step 1: Initialization of the Reference Frame

24 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Standard Congruency of Network between 2 different time spans I and II Extended GMM Step 1: Including the Check of (? instable?) Reference-Points

25 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Test for the detection of significant deformations  R of i-th reference-point All quantities can be related to the non-extended original GMM Dimension of the network, b=2: plan, b=1:height estimated deformation at the reference-point x R Cofactor-Matrix of the deformation reduced a posteriori variance-factor b Teststatistics GOCA – Checking of (? Instable ?) Reference-Points

26 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA  Least Squares Estimation of Object Point Coordinates based on the GNSS and LPS Observations in a given Time Interval  Visualisation of Object Point Series (Displacements) in a Graphics Window  Actualisation Rate, Zoomfactor, Fading out of different Co- ordinate Components  Displacements as an Interface for FEM- Packages GOCA – Adjustment Step 2 : Georeferencing of Object Points in the Datum of Stable Points

27 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Step 3 – MVE – Least Squares and Robust Estimation with

28 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA – Step 3 OnlineDisplacementEstimation

29 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Step 3 – Online Displacement Estimation

30 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Step 3 : GOCA-Deformationsanalysis Benefits of permanent monitoring: Looking ahead to hazard event.. and Mining Subsidence - GOCA Example 3 E1 E2 E2 L1-Norm High precise epoch states (many data) …. … and robust epoch states

31 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Descriptive Modelling – Simple Kalman-Filter Systemanalysis-Modell – Extended Kalman- Filter E.g. at Eigenvibrations: - Kalmanfiltering („KAL-Files“) GOCA Step 3 - Kalmanfiltering („KAL-Files“) Research Topic in „System Analysis“ or „Integrated Deformation Analysis“ Displacements + Velocities + Accelerations State Vector: Displacements + Velocities + Accelerations

32 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA-Dam Installation - Kops-Dam, Austria Installation of a GPS- Rover as Stable Reference-Point X r Red: GPS-Rover as Object-Point-1 in the Centre of the Dam Yellow: GPS-Base-/Referenc-Station as Object-Point-2 in artificial Counter Bear

33 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Kops Dam with GPS-Baseline Observation Design 2 Object Points: Center of the dam (GPS-Rover) and Artifical Counter Bear (GPS-Base Station). Stable Reference Point: (Rover) left on a bunker. Dam Example Monitoring of Kops Dam, Austria - Situation -

34 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Objekt Point (GPS Base Station) in the domain of the articficial counter bear GOCA Example Monitoring of Kops Dam, Austria - Installation -

35 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Example Monitoring of Kops Dam, Austria GOCA-Kalman-Filter: 2 min GPS-Baseline Data. 1 day filtering-steps) GOCA-Kalman-Filter: 2 min GPS-Baseline Data. 1 day filtering-steps) Estimation with Robust L1 Norm over 1 month

36 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA GOCA Example Monitoring of Kops Dam - Results of Measurement Processing - Comparison of classical plumb wire measurements and GOCA Displacement Estimation by MVE Object-Point in the Center of the Dam Coincidence < 1mm

37 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Present GOCA-Projects 2009 / 2010

38 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Present GOCA Projects 2009 / 2010 GOCA Monitoring Robert Bosch Krankenhaus Stuttgart GOCA Monitoring Old Town of St. Petersburg

39 MOLDPOS – Initial Meeting, Chisinau, GOCA Prof. Dr. Reiner Jäger, HSKA Present GOCA SW Developments 2009/2010 – „VirtualGOCA®“ 2.) Realtime GNSS&TPS Data Generation (GKA-Format) in Geometry and Gravity Space VirtualGOCA Software 1.) Virtual Monitoring Array Generation and Visualisation using GoogleEarth® GOCA- Software 3.) GKA- Data Processing & Analysis‘ with GOCA- Software: Array Design Planing, Accuracy & Sensi- tivity Analysis! A priori Quality Assurance for Moni- toring Concepts and Arrays! Efficient Monitoring Software Development & Evaluation! No costs for Physical Test Arrays. SW Benchmarktest!...) VirtualGOCA Software


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