baltic qgeoid computation as height ...gips-3 rtcm transformation messages provision msc ghadi...

MSc Ghadi Younis – Baltic QGeoid Computation as Geodetic Infrastructure for GNSS-Services in Baltic Stat esBAASP 2012, 7-8 May, Ventspils/Latvia

BALTIC QGEOID COMPUTATION AS HEIGHT COMPONENT OF THE

GEODETIC INFRASTRUCTURE FOR GNSS-POSITIONING-SERVICES IN THE

BALTIC STATES

MSc. Ghadi YounisProf. Dr.-Ing. Reiner Jäger

Hochschule Karlsruhe – Technik und Wirtschaft Faculty of Informationmanagement and Media

Institute for Applied Research (IAF)D-76133 Karlsruhewww.moldpos.eu

Dr. Sc. Janis KaminskisProf. Dr. Janis StrauhmanisRiga Technical University (RTU)

LV-2020 Riga


GNSS GNSS PositioningPositioning ServicesServicesandand

GeodeticGeodetic InfrastructuresInfrastructures


GNSS GNSS -- SystemsSystems

GNSS GNSS forfor Global Global PositioningPositioning in ITRF/ECEF in ITRF/ECEF FramesFrames

GPSGPS

GALILEO 2014GALILEO 2014

GLONASSGLONASS COMPASSCOMPASS

„„ BeiDouBeiDou --1/2“ 1/2“ 1414--AprilApril --07 07

Space Segment

User Segment Control Segment

< 50 < 50 (2010)(2010)

105! 105! (2014)(2014)


12

3

4

TRIMBLE VRSNOW

RegionalRegional PrecisePrecise GNSSGNSS--PositioningPositioning Services Services e.ge.g. Germany. Germany

(B,L,h) ITRF-related

Accuracy: 1-3 cm!!!


•• SSRSSR--basedbased : Abs. : Abs. PrecPrec . OPPP. OPPP•• Starfire™GPSStarfire™GPS --CorrectionsCorrections•• StarfireStarfire Receiver (Receiver ( leftleft ))•• Global Global AccuracyAccuracy : „dm“: „dm“

OSR (= Observation-)related: Networked, scalabe („dm – cm“ ) DGNSS RTCM Correction (VRS-Concept)

• RTCM-Standard =>Open for any Rover- and Software-Type

Global Satellite-/Internet-based GNSS Position-Services

Abs. GNSS = „Non-DGNSS “No Reference-Stations

But : NAVCOM Roverclients!


e.g www.moldpos.eu

www.geozilla.de

www.dfhbf.de

www.monika.ag www.goca.info


GIPSGIPS--3 3

RTCM Transformation RTCM Transformation MessagesMessages

ProvisionProvision


„Gridding“ of Reference Transformations by Virtual Fitting Po ints

GIPS-3: RTCM Transformationmessagesand Setup from Reference Transformations - Karlsruhe Ap proach

New standard:RTCM-Transformation Parameters from GNSS-Positioning Service


Message 1021 or 1022

GridLocation&Size

7 Parameters

Ellipsoid ParametersSource / Target

Geoid-Grid or not



MessageMessage 10231023 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

:: ::



New standard:RTCM-Transformation Parameters from GNSS-Positioning Service

HS Karlsruhe BMBF-Project 2010-2011: www.moldpos.eu


Reference TransformationsDFHBF Florida

DFHBF BavariaDFLBF Bavaria

www.geozilla.de



GIPSGIPS--2 2

HeightHeight ReferenceReference SurfaceSurface

((QGeoidQGeoid//GeoidGeoid))

forfor

GNSSGNSS--basedbased HeightHeight PositioningPositioning


-- DataBaseDataBase

GIPSGIPS--22:: HeightHeight ReferenceReference SurfaceSurface (HRS) (HRS) QgeoidQgeoid //GeoidGeoid (N) (N) forfor TransitionTransition hhGNSS,ITRFGNSS,ITRF to to PhysicalPhysical HeightsHeights H = hH = h--N N -- Karlsruhe Approach (DFHBF) and Karlsruhe Approach (DFHBF) and DFHBFDFHBF--DBComputationDBComputation

Quasi-Geoid N QG Quasi-Geoid N G

Hg

NN QGG ⋅γ

γ−+=

Hg

NN QGG ⋅γ

γ−+=


GIPSGIPS--2 2



DFHBFDFHBF--ApproachApproach

StageStage 11

„„GeometricalGeometrical Approach“Approach“


DFHRS Approach Stage 1: FEM Representation of Height Reference Surfaces (HRS) by Polynomials

( )( )

⋅=⋅=

=nm2,1,0

Tk021120011000

22k

Tk

;C

...]|p p p|p p|p[...]|yx x y| xy|1[NNFEM

pp

pfp

Result: Continuous FEM HRS by Polynomials: NFEM(p)

GIPS-2: Height Reference Surface (HRS) QGeoid/Geoid (N) for Transition hGNSS,ITRF to Physical

Heights H = h-N - Karlsruhe Approach (DFHBF) and DFHBF-DBComputation


Software 4.2Software 4.2SreenshotSreenshot

•• IdenticalIdentical„Fitting“„Fitting“PointsPoints

((B,L,h;HB,L,h;H))

•• MeshesMeshes

www.dfhbf.dewww.dfhbf.de




hGNSS+ v = H + NFEM(p) - hGPS·∆∆∆∆ m

H + v = H

NG‘ j + v j = NFEM(p) + ∂NG(d j)

ξj + v = - FB / (M(B)+h) ⋅ p + ∂ ξ (dξξξξ,ηηηη) j

η j + v = - FL/((N(B)+h)⋅cos(B)) ⋅ p + ∂ η(dξξξξ,ηηηη) j

Computation of continuous FEM HRS with Parameters (p and ∆∆∆∆ m)!

DFHRS Approach Stage 1

)(4 ∫∫σγ⋅π⋅ B

a ∆∆∆∆g·S(ψ)dσ + v = NFEM(p)

NFEM(p)

N(p j)

(Global, regional, local)

<= Sets of Deflections from Vertical

(Zenith Cameras or Geoidmodels)

<= GNSS / Levelling Fitting Points

<= Any number Geoidmodels

<= „Gravity“ by correlated Q/Geoidmodels in the sense of an 2 stepadjustment




ETRS89/EVRS„GPS-/Levelling-Points of EVN“

Fitting PointsNFEM(p) =: h - H

Used for the1st Version

< 10_cm DFHRSDatabase

for Europe2004




www.dfhbf.dewww.dfhbf.de

Geoid-Computationfor Brazil: Patches

and Meshes

Brazil 2012




GIPSGIPS--2 2



DFHBFDFHBF--ApproachApproach

StageStage 22

„„PhysicalPhysical Approach“Approach“




CapPP

DFHRS DFHRS -- StageStage 2 2 PhysicalPhysical „Approach“„Approach“

SpericalSperical CapCapHarmonicsHarmonics

(SCHA)(SCHA)

asas

CarrierCarrier FunctionsFunctionsof of thethe

GravityGravity Potential VPotential V

))'(cosP)'msin'S 'mcos'C(r

a

a

MG)',',r(V m)),k(nm),k(nm),k(n

maxk

0k

k

0m

1)k(n

θ⋅λ⋅+λ⋅∑ ∑

⋅=θλ= =

+




θ0=90°

α0 =90° α 0 = arbitrary

GlobalSpherical-Harmonics(SH)

Spherical Cap Harmonics (SCHA)

5.0)5.0,k(90

)k(nn SCHASHA −+⋅α

°≈=

SCHA „Resolution“ for „2mm QGeoid“n=7200 and u =50.000.000 Coefficients

α = 1° (=110 km area) => k-SCHA = 80 and u = 6.400

3° (=330 km area) => k-SCHA = 250 and u= 62.500α =

α = 25° (Europe) => k-SCHA = 2000 and u =4.000.000




DFHRS DFHRS -- Extension to SCHAExtension to SCHA

LAVg=

− g

0

0

Sensor-Observation at Position P(x,y,z)

1. Treatmentof Gravity

Observations

LAV

ECFLAV

ECF

z

y

x

g

0

0

),,L,B(R

g

g

g

−⋅ξη=

TLGVgrav ]

r

V,

V

'sinr

1,

'

V

r

1[

∂∂

λ∂∂⋅

θ⋅θ∂∂⋅=g

[ ]ECFlcentrifuga

ECF

z

y

xECF

gravz

y

x

g

g

g

g

'g

'g

'g

−

=

ECFgrav

LGVECF

LGV

gravr

E

N

'g),(R

g

g

g

⋅λϕ=

∑ ∑ θ⋅λ⋅+λ⋅+

=+∞

= =

+

0k

k

0mm),k(nm),k(nm)),k(n

1)k(n

rLGVgrav )'(cosP)'msin'S'mcos'C(

r

)1)k(n(

r

avg




DFHRS Extension to SCHA DFHRS Extension to SCHA –– PhysicalPhysical ApproachApproach



∑ ∑ θ⋅λ⋅+λ⋅

=θλ= =

+maxk

0k

k

0mm),k(n'm),k(nm),k(n

1)k(n

)'(cos'P)'msin'S'mcos'C(r

a)',',r(V

Q

P

Q

PrefQGNormal

T)VV(NNh

γ=

γ−

==−

PQ

pQ

QG

N

QG)

B

T(

)hM(

1T

B

1

)hM(

1

B

N

s

B

s

B

B

N

∂∂⋅

+⋅γ−=

∂∂⋅

γ⋅

+−=

∂∂

⋅∂∂−=

∂∂⋅

∂∂

−=ξ,

PQ

PQ

QG )L

T(

Bcos)hN(

1T

L

1

Bcos)hN(

1

L

N

s

L

∂∂⋅

⋅+⋅γ−=

∂∂⋅

γ⋅

⋅+−=

∂∂

⋅∂∂−=η

3. 3. VerticalVertical DeflectionsDeflections fromfrom Zenith Zenith CamerasCameras ApproachApproach (T = (V+Z) – U)

m),k(nm),k(n 'Cv'C =+ m),k(nm),k(n 'Sv'S =+.

and

2. 2. SCHASCHA--CoefficientsCoefficients computedcomputed fromfrom global SH as global SH as directdirect observationsobservations

4. Fitting 4. Fitting PointsPoints

Zenit-Cameras


GIPSGIPS--2 2



BALTIC QGEOID COMPUTATION AS HEIGHT BALTIC QGEOID COMPUTATION AS HEIGHT

COMPONENT OF THE GEODETIC INFRASTRUCTURE COMPONENT OF THE GEODETIC INFRASTRUCTURE

FOR GNSS POSITIONING SERVICES IN THE BALTIC FOR GNSS POSITIONING SERVICES IN THE BALTIC

STATESSTATES

COMPUTATIONS and RESULTSCOMPUTATIONS and RESULTS






Screenshoton the

DFHRS 4.2Software

ComputationModel

GeometricalApproach

QGeoid-ModelEGG97

(AlternativeEGM 2008)

213 IdenticalFitting Points#

(B,L,h|H)




Screenshoton the

DFHRS 4.2Software

Meshingand

PatchingDesign

10 kmMeshes

29Patches




Protocolof the DFHRSAdjustmentof the Baltic

QGeoidComputation

GeometricalApproach

DFHRS-Version4.2

ResidualsStatistical Tests

Repro-Valuesof identical

Fitting-Points(B,L,h | H)

List of height observations H after the DFHRS adjustment

Nr H v-H [m] Red NV t-Test Repro [m]:: :: :: :: :: :: ::107 9.483 0.00262 6.24 2.1 25.0 -0.042**108 16.791 0.00217 6.34 1.7 20.5 -0.034**109 112.277 0.00078 7.85 0.6 6.6 -0.010110 84.981 0.00078 13.83 0.4 5.0 -0.006111 72.252 -0.00106 12.33 0.6 7.2 0.009112 82.675 -0.00032 14.14 0.2 2.0 0.002113 83.174 -0.00202 13.24 1.1 13.2 0.015114 116.477 0.00189 12.21 1.1 12.9 -0.015115 94.802 0.00072 11.96 0.4 5.0 -0.006116 123.068 -0.00207 11.59 1.2 14.5 0.018117 117.445 -0.00351 14.87 1.8 21.7 0.024118 131.976 -0.00380 12.08 2.2 26.1 0.031**119 144.385 0.00084 11.86 0.5 5.8 -0.007120 163.986 -0.00137 10.77 0.8 9.9 0.013121 116.893 0.00429 12.59 2.4 28.9 -0.034**:: :: :: :: :: :: ::




Final Resultof the

(1-3) cmBaltic

QGeoid

IsolinePlot


ConclusionsConclusions• QGeoid for the Baltics (Estonia, Latvia, Lithuania) with Accuracy

of (1-3) cm computed as Geodetic Infrastructure for GNSS Services in Cooperation project between RTU and HSKA

• DFHRS-Database 224 KB - ready for Use on GNSS-controllersand for the Setup the RTCM Height Transformation Message

• Further Research on the Improvement of the Baltic QGeoid to a1cm Solution by the Integrated Parameterization by SphericalCap Harmonics SCHA. Introduction of Gravity Values and EGM2008 mapped to Regional Spherical Cap HarmonicsCoefficients (Cnm’, Snm’)

• Further Research on the Optimum Design and Use of GravityData and Vertical Deflections from Zenith Cameras

baltic qgeoid computation as height ...gips-3 rtcm transformation messages provision msc ghadi...

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