United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 THE NEW RTCM 3.1 TRANSFORMATION MESSAGES Declaration, Generation

United Nations Workshop on GNSS United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010Chisinau, 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 ChiriacAs. Prof. Dr. Vasile Chiriac4)4)

Prof. Dr. Reiner Jäger Prof. Dr. Reiner Jäger 1), 2) 1), 2) and Dipl.-Ing. (FH) Simone Kälberand Dipl.-Ing. (FH) Simone Kälber 3) 3)

1)Faculty of Geomatics, Hochschule Karlsruhe - Technik und Wirtschaft (HSKA)

University of Applied Sciences, Moltkestrasse 30, D-76133 Karlsruhe, Germany3) [email protected]

4)Technical University of Moldova (TUM)

2)2) Member of RTCM Working Group Transformation Messages 2004 - 2007Member of RTCM Working Group Transformation Messages 2004 - 2007

Member of FIG WG 5.4 GNSS-Networks, since 2008

EMail: [email protected]

URLURL: www.dfhbf.de ; www.geozilla.de ; ; www.moldpos.eu; ; www.goca.info; ; www.monika.ag


GNSS - SystemsGNSS - Systems

GNSS for Global Positioning in ITRF/ECEF FramesGNSS for Global Positioning in ITRF/ECEF Frames

GPSGPS

GALILEO 2011-2012 ?GALILEO 2011-2012 ?

GLONASSGLONASS COMPASSCOMPASS

„„BeiDou-1/2“ BeiDou-1/2“ 14-April-07 14-April-07

Space Segment

User Segment Control Segment


„„Monthly Coordinate Files“ Monthly Coordinate Files“ ETRS89 =: ITRF1989ETRS89 =: ITRF1989_01-1989_01-1989

<_1_cm Consistency!<_1_cm Consistency!

ITRF/ECEF - Datum <= International GNSS Service (IGS)ITRF/ECEF - Datum <= International GNSS Service (IGS)

„„Monthly Coordinate Files“ Monthly Coordinate Files“ ETRS89 =: ITRF1989ETRS89 =: ITRF1989_01-1989_01-1989

<_1_cm Consistency!<_1_cm Consistency!


RTCM-RTCM-Phase CorrectionsPhase Corrections cm -Solutionscm -Solutions

____________________________________________________________________________________

• SASAPOSPOS® + ® + ascosascos®® SWISWIPOSPOS® + ® + SwissSat®SwissSat®

::SwePos®SwePos®CzePos®CzePos®LatPos®LatPos®

ASG-EUPOS®ASG-EUPOS®CroPOS®, CroPOS®, HePos®HePos®

… … HungaryHungary, , Slowenia,Slowenia,Romania, Moldavia,…Romania, Moldavia,…

(East European(East European States, Russia)States, Russia)

• ...many others worldwide!...many others worldwide!

GNSS-Services and RTCM-based Positioning

„„ITRF-related“ITRF-related“e.g. ETRF89e.g. ETRF89




GNSS-Service – Network of Reference StationsGNSS-Service – Network of Reference Stations+ GNSS-Networking Software + GNSS-Networking Software



1. Area Correction Parameters (ACP)1. Area Correction Parameters (ACP)2. Master-Auxiliary (MAX2. Master-Auxiliary (MAX)

fRe,ObservedfRe,truet,SATREFSat

fRe )tt(])z,y,x(;)z,y,x[()tt(

fRe,ObservedRfRe,truet,SATREFRSat

fReR )tt(])z,y,x(;)z,y,x[()tt(

Basic GNSS-Data collected at the GNSS-Reference-Stations at a Time t-∆tBasic GNSS-Data collected at the GNSS-Reference-Stations at a Time t-∆t

GNSS-Networking Software

SatfR

SatRovR

correctedSatRovR

ttt

t

ReObserved,

,

)( - )(

)(

RTCM 3.1

Observations-

Corrections

(B,L,h)(B,L,h)GNSS-DatumGNSS-Datum

bb

RTCMRTCM

NMEANMEAStringString

3. Virtual Reference Station (VRS)



Many Commercial Hard- and Software with NTRIP-embedding see

http://igs.ifag.de/index_ntrip.htm

Trend at many new servicesTrend at many new servicese.g. ine.g. in

PolandPolandSloveniaSlovenia

(TCP/IP-based, e.g. via(TCP/IP-based, e.g. viaInternet, GPRS – NTRIP)Internet, GPRS – NTRIP)



ITRF / ETRF89 - Datum Old Classical Systems

Transformation Problems and Reference TransformationsTransformation Problems and Reference Transformations

1.) Horizontal Datum Transition from (B,L) 1.) Horizontal Datum Transition from (B,L) GNSS,ITRF GNSS,ITRF

to Classical Datum (B,L)to Classical Datum (B,L)ClassicalClassical

Strict andStrict and

GeneralGeneral

TRAFOTRAFO

(Enabled &(Enabled &GNSS-practiceGNSS-practice


1. Plane Problem - Karlsruhe Reference Transformation

3D Similarity Transformation Related to (B,L,h)3D Similarity Transformation Related to (B,L,h)

t

t

t

sMoldenski

v

v

v

)

h

L

B

h

L

B

h

L

B

(

z

y

x

z

y

x

i,)h,L,B(

ih

L

B

i

1)b,a(,)b,a(

)b,a(,)b,a(

)b,a(,)b,a(

2

1

21

21

21

)Bsin()Lsin()Bcos()Lcos()Bcos(Wah0)Lcos()Bcos()Bsin(eN)Lsin()Bcos()Bsin(eN

0)Bcos()hN(

)Lcos(

)Bcos()hN(

)Lsin(01

)Bcos()hN(

)h)e1(N()Lsin()Bsin(

)Bcos()hN(

)h)e1(N()Lcos()Bsin(hM

)Bcos(

hM

)Lsin()Bsin(

hM

)Lcos()Bsin(

hM

eN)Bcos()Bsin(0

hM

hWa)Lcos(

hM

hWa)Lsin(

22

22

2

Reference-TransformationReference-Transformation(Data / Parameters / Algorithms)(Data / Parameters / Algorithms)

Source CRS Target CRS

(B,L,h)GNSS => (B,L)Classical (B,L,h)GNSS => (B,L,H)Classical


1. Plane Problem - Karlsruhe Reference Transformation

DFLBF_DBTransformation Parameters & Residuals

Reference-TransformationReference-Transformation(Data / Parameters / Algorithms)(Data / Parameters / Algorithms)

Source CRS Target CRS

(B,L,h)GNSS => (B,L)Classical (B,L,h)GNSS => (B,L,H)Classical


H = h - N(B,L,h)

GNSS Heighting„H from h- GNSS“

HRSHRShh

HH

hhNN

Geoid (HBF)Geoid (HBF)EllipsoidEllipsoid

+/- 70 m+/- 70 m

2. Height Problem / HRS Transition - Karlsruhe Reference Transformation

Reference-TransformationReference-TransformationSource CRS Target CRS(B,L,h)GNSS => N


hGNSS+ v = H + fT p - hGPS· m

H + v = H

NG‘j + v j = fT p + NG(d j)

j + v = - fBT

/ M(B) p + (d,) j

j + v = - fLT/(N(B)cos(B)) p + (d,)

j

)(4 Ba g·S()dσ + v = NFEM(p)= fT p

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

)1)k(n(

r

avg

0k

k

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

1)k(n

rLGVgrav d

NFEM(p)N(pk)

0k

k

0m

jm),k(nm),k(nm),k(n

1)k(n

Q

jm),k(nm),k(n

jGPM

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

a(

1

)(N)S,C(NvN

d

d

)hm()'S,'C(Nv0 Tm),k(nm),k(nN pf



DBDB


OfficialOfficialState State

DatabasesDatabases

e.g.e.g.

in Germanin GermanCountriesCountries

......DFHBF-DB




Present Use of Reference Transformations Online on GNSS - ControllersOnline on GNSS - Controllers

1.1. „„Gridding“ the Reference Transformation („Gridfactories“)Gridding“ the Reference Transformation („Gridfactories“)2.2. Direct Access to Reference TransformationDirect Access to Reference Transformation


DFLBF / DFHBF

Present Use of Reference Transformations on GNSS - Controllers




DFLBF / DFHBFDFLBF / DFHBF



Gridding of Reference Transformations

PPi i [(B,L,h)[(B,L,h)GNSS GNSS ]]

Virtual Fitting Points Pi

Source CRS - Grid

Reference

Transformations

PPi i [(B,L)[(B,L)Class Class ]]

Virtual Fitting Points Pi

Target CRS - Grid

PPi i [(B,L,H)[(B,L,H)Class Class ]]

PPi i [N[N ]] PPi i [H=[H=hhGNSSGNSS - N- N ]]

z

x

x

i,GNSS/Sourceiz

y

x

i,etargTT

T

T

t

t

t

z

y

x

s

r

r

r

z

y

x

R

Gridding

1.]

2.]

7 ParameterTrafo

Geoid/HRSGrid

7 Parameters7 Parameters3 Residual Grid3 Residual Grid

Grid of NGrid of Nii


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)NMEA-based request to RTCM-Transformation Messages Server)


Area of validity for 7P transformation (origin and extension) + 16 Grid-Points

RCTM 3.1 Transformation Messages – Defintion and Examples



Message 1021 or 1022

GridLocation&Size

7 Parameters

Ellipsoid ParametersSource / Target

Geoid-Grid or not


Message 1023Message 1023 Message 1024or

Height Indicator = 1 „dhi„ = Physical Heights‘ Residuals dHi

Height Indicator = 2 „dhi„ = Geoid / HRS Heights Ni (dNi)

Residuals P14

Residuals P15

Residuals P16

:: ::



UsingReference

Transformations

to compute

a country-wide

„STATIC GRID“

RCTM 3.1 Transformation Messages – Message Generation


Using Reference Tranformations to compute grids dynamically online on NMEA-request by virtual fitting points

„Dynamic Grid“


1.) No preceeding „Gridding“ Discetization Error2.) Smaller Residuals - Smaller Interpolation errors3.) “ “ - Interpolation method in GNSS-Rover not so relevant

Advantages of „Dynamic Grid“


Using Reference Tranformations to compute grids dynamically„Dynamic Grid“


4.) Direct use of Original Reference Transformations

)(cosP)msinSmcosC()

r

a(1(

r

GM),,r(W nmnmnm

n

2n

n

0m

80GRS

NhGNSS

UW))z,y,x((N

))u,,ß(|)M,,,a(UU REF

sinu

sincosu1u

cosßcosu1u

z

y

x22

i

22i




5.) „Combined Messages Generation“ in case of ITRF-Operation Mode




5.) „Combined Message Generation“

[(B,L,h)[(B,L,h)ITRF-relatedITRF-related]]ii [(B,L)[(B,L)TT , H , HTT or N)] or N)]ii

[(B,L,h)[(B,L,h)ITRF-relatedITRF-related]]ii [(B,L,h)[(B,L,h)GNSS,ITRFGNSS,ITRF]]ii

Part 1Part 1 - Plate Models- Plate Models

Part 2Part 2 - - Standard Reference TransformationsStandard Reference Transformations

Virtual Fitting-PointsVirtual Fitting-Points

Virtual Fitting PointsVirtual Fitting Points

Dynamic Message Set up by local 7PT Gridding


RCTM 3.1 Transformation Messages – „Full Service“ GNSS-Transformation Services


RCTM 3.1 TransformationMessages

General ConfigurableGeneral ConfigurableRTCM TransformationRTCM Transformation

Messages ServerMessages Server

All kind of Reference Transformations

in so calledTransformationTransformation

ModulesModules

Dynamic & Combined & Static Messages

______________________

CommuicationDesign

in case of passing RTCM Transformation

Messagesthrough GNSS-Networking

Software


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

Reference TransformationsDFHBF Florida

DFHBF Bavaria DFLBF Bavaria

www.geozilla.de

Documents

United Nations Workshop on GNSS Session 2 - Jäger / RTCM Messages Chisinau, 17-May-2010 THE NEW RTCM 3.1 TRANSFORMATION MESSAGES Declaration, Generation