United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 THE NEW RTCM 3.1 TRANSFORMATION MESSAGES Declaration, Generation from Reference Transformations and Implementation as a Server-Client-Concept for GNSS Services As. Prof. Dr. Vasile Chiriac 4) Prof. Dr. Reiner Jäger 1), 2) and Dipl.-Ing. (FH) Simone Kälber 3) 1) Faculty of Geomatics, Hochschule Karlsruhe - Technik und Wirtschaft (HSKA) University of Applied Sciences, Moltkestrasse 30, D Karlsruhe, Germany 3) 4) Technical University of Moldova (TUM) 2) Member of RTCM Working Group Transformation Messages Member of FIG WG 5.4 GNSS-Networks, since URLwww.dfhbf.de ; URL: ; ;

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 GNSS - Systems GNSS for Global Positioning in ITRF/ECEF Frames GPS GALILEO ? GLONASS COMPASS „BeiDou-1/2“ 14-April April-07 Space Segment User Segment Control Segment

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 „Monthly Coordinate Files“ ETRS89 =: ITRF1989_ <_1_cm Consistency! ITRF/ECEF - Datum <= International GNSS Service (IGS) „Monthly Coordinate Files“ ETRS89 =: ITRF1989_ <_1_cm Consistency!

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 RTCM- Phase Corrections  cm -Solutions __________________________________________ SAPOS® + ascos® SAPOS® + ascos® SWIPOS® + SwissSat® SWIPOS® + SwissSat®:SwePos®CzePos®LatPos®ASG-EUPOS® CroPOS®, HePos® … Hungary, Slowenia, Romania, Moldavia,… (East European (East European States, Russia) States, Russia)...many others worldwide!...many others worldwide! GNSS-Services and RTCM-based Positioning „ITRF-related“ e.g. ETRF89

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 GNSS-Services and RTCM-based Positioning

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 GNSS-Service – Network of Reference Stations + GNSS-Networking Software GNSS-Services and RTCM-based Positioning

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May 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

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Many Commercial Hard- and Software with NTRIP-embedding see Trend at many new services e.g. in PolandSlovenia (TCP/IP-based, e.g. via Internet, GPRS – NTRIP) GNSS-Services and RTCM-based Positioning

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 ITRF / ETRF89 - DatumOld Classical Systems Transformation Problems and Reference Transformations 1.) Horizontal Datum Transition from (B,L) GNSS,ITRF to Classical Datum (B,L) Classical Strict and GeneralTRAFO (Enabled & GNSS-practice

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May Plane Problem - Karlsruhe Reference Transformation 3D Similarity Transformation Related to (B,L,h) Reference-Transformation (Data / Parameters / Algorithms) Source CRS Target CRS (B,L,h) GNSS => (B,L) Classical (B,L,h) GNSS => (B,L,H) Classical

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May Plane Problem - Karlsruhe Reference Transformation DFLBF_DB Transformation Parameters & Residuals Reference-Transformation (Data / Parameters / Algorithms) Source CRS Target CRS (B,L,h) GNSS => (B,L) Classical (B,L,h) GNSS => (B,L,H) Classical

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 H = h - N (B,L,h) GNSS Heighting „H from h- GNSS“ HRS h H h N Geoid (HBF) Ellipsoid +/- 70 m 2. Height Problem / HRS Transition - Karlsruhe Reference Transformation Reference-Transformation Source CRS Target CRS (B,L,h) GNSS => N

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 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) 2. Height Problem / HRS Transition - Karlsruhe Reference Transformation Reference-Transformation Source CRS Target CRS (B,L,h) GNSS => N DB

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Official State Databases e.g. in German Countries... DFHBF-DB 2. Height Problem / HRS Transition - Karlsruhe Reference Transformation Reference-Transformation Source CRS Target CRS (B,L,h) GNSS => N

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Present Use of Reference Transformations Online on GNSS - Controllers 1.„Gridding“ the Reference Transformation („Gridfactories“) 2.Direct Access to Reference Transformation

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 DFLBF / DFHBF Present Use of Reference Transformations on GNSS - Controllers

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Present Use of Reference Transformations on GNSS - Controllers

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 DFLBF / DFHBF Present Use of Reference Transformations on GNSS - Controllers

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 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

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 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)

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Area of validity for 7P transformation (origin and extension) + 16 Grid-Points RCTM 3.1 Transformation Messages – Defintion and Examples

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 RCTM 3.1 Transformation Messages – Defintion and Examples Message 1021 or 1022 Grid Location&Size 7 Parameters Ellipsoid Parameters Source / Target Geoid-Grid or not

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Message 1023 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 :: RCTM 3.1 Transformation Messages – Defintion and Examples

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Using Reference Transformations to compute a country-wide „STATIC GRID“ RCTM 3.1 Transformation Messages – Message Generation

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Using Reference Tranformations to compute grids dynamically online on NMEA-request by virtual fitting points „Dynamic Grid“ RCTM 3.1 Transformation Messages – Message Generation 1.) No preceeding „Gridding“ Discetization Error 2.) Smaller Residuals - Smaller Interpolation errors 3.) “ “ - Interpolation method in GNSS-Rover not so relevant Advantages of „Dynamic Grid“

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Using Reference Tranformations to compute grids dynamically „Dynamic Grid“ RCTM 3.1 Transformation Messages – Message Generation 4.) Direct use of Original Reference Transformations

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Using Reference Tranformations to compute grids dynamically „Dynamic Grid“ RCTM 3.1 Transformation Messages – Message Generation 5.) „Combined Messages Generation“ in case of ITRF-Operation Mode

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 Using Reference Tranformations to compute grids dynamically „Dynamic Grid“ RCTM 3.1 Transformation Messages – Message Generation 5.) „Combined Message Generation“ [(B,L,h) ITRF-related ] i  [(B,L) T, H T or N)] i [(B,L,h) ITRF-related ] i  [(B,L,h) GNSS,ITRF ] i Part 1 - Plate Models Part 2 - Standard Reference Transformations Virtual Fitting-Points Virtual Fitting Points Dynamic Message Set up by local 7PT Gridding

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 RCTM 3.1 Transformation Messages – „Full Service“ GNSS-Transformation Services

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 RCTM 3.1 Transformation Messages General Configurable RTCM Transformation Messages Server All kind of Reference Transformations in so calledTransformationModules Dynamic & Combined & Static Messages ______________________ Commuication Design in case of passing RTCM Transformation Messages through GNSS-Networking Software

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client Reference Transformations DFHBF Florida DFHBF Bavaria DFLBF Bavaria