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-76133 Karlsruhe www.dfhbf.de www.galileo-bw.de; www.moldpos.eu

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

ITRS <= International GNSS Service (IGS) „Monthly Coordinate Files“ (Internet) ETRS89 =: ITRS1989_01-1989 <_1_cm Consistency!

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!

GNSS-Positioning-Services …Siberian Positioning Service (SRPOS) www.euref.eu „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)

RTCM (for all types of corrections and accuracies)

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

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

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)

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)

(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

RTCM- and RTCA Corrections via Internet - NTRIP

EUREP-IP and IGS as European and worlwide Referencestationnetworks RTCM3.1 OSR-Correction-Data for Code- and Phasenmeasurements http://igs.bkg.bund.de/ Simple, far reaching and low cost entrances Into precise DGNSS- Positioning

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

Precise Monitoring and Navigation of Objects

Precise Monitoring and Navigation of Objects

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

Precise Monitoring and Navigation of Objects www.bernot.org

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: 3 m Satellite Orbit: 5 -10 cm Satellite Clocks: 3 m Satellite Clock: 5 ns - 0.1 ns Ionosphere: 7 -10 m Ionosphere: 0.25 m Troposphere: 0.5 m Troposphere: 5 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

Absolute GNSS Present Standard: Precise Point Positioning „PPP“ Static and postprocessed (30 Min = 0.05m) Absolute („NON-DGNSS) Upload of Data „C-Nav“ (55.000 Kunden) http://www.cctechnol.com/site.phpm-cm „AUSPOS (free!)“ http://www.ga.gov.au/geodesy/sgc/wwwgps/ „Natural Ressources Canada“ www.geod.nrcan.gc.ca/products-produits/ppp_e.php 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 !

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

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

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)

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. www.ptv.ag

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 www.galileo-bw.de www.afusoft.com

Solutions – GNSS-Satellite Navigation and Mobile IT Trends?

Solutions – GNSS-Satellite Navigation and Mobile IT www.galileo-bw.de

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

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

Present Transformation Problem

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

Plan Transformation Problem and Solution PART1 Plan Transformation Problem and Solution www.geozilla.de

Present Transformation Problem

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

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“ www.geozilla.de

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 www.geozilla.de

DFLBF_COPAG_DB – Hungaria

DFLBF_COPAG_DB – Accuray Surface, Hungaria Software

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

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

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)

DFRHS – Mathematical Model

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

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

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

DFHRS_DB Design Parameters Design Studies < 5 - 10_cm DFHRS Germany Patch-Size (EGG97) 30 - 40 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

Bilateral Cooperation Partner IBS DFHBF-Data Bases Official State Databases e.g. in German Countries ... Bilateral Cooperation Partner IBS WWW.IB-SEILER.DE

< 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

<(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

European HRS… including < 3cm DFHRS_DB Germany 10 km FEM Meshes

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

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

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

DFHRS_DB USA

< 5 cm DFHRS_DB Florida (… Masterthesis )

DFLBF / DFHBF

DFLBF / DFHBF

RCTM3.0 Transformation Messages

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)

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

RCTM3.0 Transformation Messages

RCTM3.0 Transformation Messages

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

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

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)

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