1. 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   
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 Karlsruhe

2. Situation of GNSS for a Global Positioning
GPS
GALILEO 2014
GLONASS
30 Satellites 2010
COMPASS
GNSS - Systeme
„BeiDou-1/2“
14-April-07

3. ITRS <= International GNSS Service (IGS)
„Monthly Coordinate Files“ (Internet)
ETRS89 =: ITRS1989_
<_1_cm Consistency!

4. European GNSS- Services (ITRF-based, often ETRF89)
RTCM-
Phase Corrections
cm -Solutions
__________________________________________
SAPOS® + ascos®
SWIPOS® + SwissSat® :
SwePos®
CzePos®
LatPos®
MoldPos ®
… Hungary, Poland, Slowenia,
Romania,
(East European
States, Russia)
...many others worldwide!

5. GNSS-Positioning-Services …Siberian Positioning Service (SRPOS)
„ITRF-related“
e.g. ETRF89
GNSS-Networks in EURASIA: SAPOS®/Axio-Net/VRSNow® , SWIPOS®/SwissSat® … SwePos®, CzePos® ,LatPos®, CroPOS®, HePos® , … Hungary, Slowenia, Romania, Moldavia,
…Siberian Positioning Service (SRPOS)

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

7. GNSS-Reference Station Software „GNSS-Reference Station Software“
e.g. Spider (Leica Geosystems)
GPSNet (Trimble)

8. GNSS-Services and RTCM-based Positioning
Basic GNSS-Data collected at the GNSS-Reference-Stations at a Time t-∆t
1. Area Correction Parameters (ACP)
2. Master-Auxiliary (MAX)
RTCM 3.1
Observations-
Corrections b
3. Virtual
Reference Station (VRS)
RTCM
GNSS-Networking
Software
(B,L,h)GNSS-Datum
NMEA
String
1 - 2 cm

9. 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. 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. (RTCA as „SSR“-Corretions)
Space/Satellite Based Augmentation Systems (SBAS)
….. für DGNSS-Codemessungen (DNGSS-Korrekturen. Stanadrd RTCM oder RTCA)
EGNOS
(RTCA as „SSR“-Corretions)
European WAAS
alias „GNSS1“
GNSS2 =: GALILEO
RTCA
Grid-Representations
of VTEC-Value IP IP
… WAAS (USA),CNSS (China),GAGAN/IRNSS (India),QZSS/MSAS (Japan),SDCM (Russia

12. RTCM- and RTCA Corrections via Internet - NTRIP

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

15. Precise Monitoring and Navigation of Objects

16. Precise Monitoring and Navigation of Objects

17. Precise Monitoring and Navigation of Objects
EUREF or IGS
RTCM-Corrections
NTRIP-Format
Mobile Internet (USB-Stick)
and
InterNet GNSS-Radio

18. Precise Monitoring and Navigation of Objects

19. Absolute GNSS - Precise Point Positioning „PPP“
? End of the monopole of DGNSS - Reference Station Servcices ?
Broadcast Standard
IGS-Products („SSR“) + Code/Phase + Modelling
Satellite Orbit: m
Satellite Orbit: cm
Satellite Clocks: m
Satellite Clock: ns ns
Ionosphere: m
Ionosphere: m
Troposphere: m
Troposphere: cm
State of „PPP“ in Postprocessing
24 h Observation time mm – cm
30 min observation time Beobachtungszeit: 0.5 – 1 dm
Code
Obser-
vations
± 10m

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

21. Absolute GNSS als Target: Online Precise Point Positioning „0PPP“

22. GNSS-Further Developments &Trends - LowCost
M. Becker, ZfV 10/09

23. GNSS-Further Developments &Trends - GNSS/INS Drones
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)

24. GNSS-Further Developments & Trends – Platform Orientation
Datenerfassung
mit GNSS/INS-positionierten
und orientierten Multisensor-Plattformen
Entwicklung von
Datenerfassungs-
systemen für Facilites in Thesisarbeiten
Kooperation mit der
Industrie, z.B.

25. Indoor-Positionierung (WLAN u.a.)
GNSS-Further Developments&Trends – Seamless Out-/Indoor Positioning
Indoor-Positionierung (WLAN u.a.)
Nahtlose Indoor-Outdoor-Positionierung
Entwicklungen mit der Industrie

26. Solutions – GNSS-Satellite Navigation and Mobile IT
Trends?

27. Solutions – GNSS-Satellite Navigation and Mobile IT

28. Deformation Integrity Monitoring for GNSSPositioning Services including a Scalable Hazard Monitoring by the Karlsruhe Approach
(MONIKA)

29. Classical Datum Systems and ITRF - Transformations
Modern Georeferencing: Global Reference and GNSS-based
ITRF-based Reference Systems
Srict and
General
TRAFO
(Enabled &
GNSS-practice
ITRF / ETRF89 - Datum
Old Classical Systems

30. Present Transformation Problem

31. Present Transformation Problem
Brazilien
Transformations-
Projekt
Strict and
General
TRAFO
ITRF / SIRGAS - Datum
Old Classical Systems

32. Plan Transformation Problem and Solution
PART1
Plan Transformation Problem and Solution

33. Present Transformation Problem

34. Solution of the Transformation Problem
3D Similarity Transformation Related to (B,L,h)
Advantage: 1D or 2D or 3D
identical points !!!

35. Germany West 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“

36. Marked ObservationTests
18 sets of 8 parameters („Patching“ in continuously modelled meshes) => Essential decrease of residuals => DFLBF/COPAG transformation parameter DB
Residuals
COPAG Software
Marked ObservationTests

37. DFLBF_COPAG_DB – Hungaria

38. DFLBF_COPAG_DB – Accuray Surface, Hungaria
Software

39. Height Reference Surface Representation DFHRS-DataBases (DFHRS_DB)
PART 2
Height Reference Surface Representation
(DFHRS Concept)
and
DFHRS-DataBases (DFHRS_DB)

40. Height Transformation Problem – GNSS Heighting
Geoid (HBF)
Ellipsoid
GNSS Heighting
„H from h- GNNS“ H
HRS h h N
H = h - N(B,L,h)
"Geoid" or better : HRS

41. DFHRS-Concept H = hGPS(B,L) - DFHRS(B,L,h) korr Direct - No Identical
Points -
- Online -
Postpro-
cessed
REALITY
DFHRS-DB
H = hGPS(B,L) - DFHRS(B,L,h) korr
H = hGPS(B,L) - (NFEM(p|B,L,h) + ∆m·h)

42. DFRHS – Mathematical Model

43. Extension of the DFHRS-Concept to gravity observations
hGNSS+ v = H + fT  p hGPS· m
H v = H
NG‘j + v j = fT  p + NG(d j)
NFEM(p)
N(pk)
j + v = - fBT / M(B)  p   (d,) j
 j + v = - fLT/(N(B)cos(B))  p +  (d,) j
g·S()dσ + v = NFEM(p)= fT  p

44. DFHRS Software
Identical
„Fitting“
Points
(B,L,h;H)
Meshes
Patches

45. Weak-Shapes of Classical Gravimetric „Geoid“models 0.1 – 1.5 m !
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

46. DFHRS_DB Design Parameters
Design Studies < _cm DFHRS Germany
Patch-Size (EGG97)
km for a < 1_cm DFHRS_DB
50 – 60 km for a < 3_cm DFHRS_DB
300 km for a < 10_cm DFHRS_DB
(3-5) points per patch

47. Bilateral Cooperation Partner IBS
DFHBF-Data Bases
Official
State Databases
e.g.
in German
Countries
...
Bilateral Cooperation Partner IBS

48. < 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. <(1-3)cm_DFHRS Baltics (Latvia, Estonia, Lithuania)
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. European
HRS… including
< 3cm
DFHRS_DB
Germany
10 km
FEM
Meshes

51. < 1cm DFHRS_DB Germany < 1cm DFHRS_DB Luxembourg
… including
< 1cm DFHRS_DB Germany
< 1cm DFHRS_DB Luxembourg
Official State Standard
… over years
5 km
FEM
Meshes

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

53. European HRS… including
< (1-3) cm DFHRS_DB Ungary - Masterthesis in DFHRS-Project & Cooperationproject with A. Kenyeres, Fömi, Ungary
5 km FEM
Meshes

54. DFHRS_DB USA

55. < 5 cm DFHRS_DB Florida (… Masterthesis )

56. DFLBF / DFHBF

57. DFLBF / DFHBF

59. RCTM3.0 Transformation Messages

60. 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. RCTM3.0 Transformation Messages
(φV, λV)
∆φV
∆λV
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
Area of validity for 7P transformation: origin and extension

62. RCTM3.0 Transformation Messages

63. RCTM3.0 Transformation Messages

64. Gridding of Reference Transformations
Source CRS - Grid
Target CRS - Grid
Pi [(B,L)Class ]
Reference
Pi [(B,L,H)Class ]
Transformations
Pi [(B,L,h)GNSS ]
Pi [N ]
Pi [H=hGNSS - N ]
Virtual Fitting Points Pi
Virtual Fitting Points Pi
Gridding
7 Para
meter
Trafo
7 Parameters
3 Residual Grid
1.]
Grid of Ni
2.]
Geoid/HRS
Grid

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

66. RCTM3.0 Transformation Messages
Technical Concept
by AdV Germany
and RTCM WG
GNSS-User
(to be transformed)
Available 2007
Dial-Server
GNSS-Network-SW
(Spider, GPSNet, etc.)
„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)

67. Reference Transformations
RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client
Reference Transformations
DFHBF Florida
DFHBF Bavaria
DFLBF Bavaria