deformation integrity monitoring for gnss-positioning...

Reiner Jä ger, University of Applied Sciences. GeomaticsMONIKAMONIKA GNSS GNSS -- Reference- Station-MONItoring Karlsruhe

International Symposium on GNSS, SBAS/GBAS International Symposium on GNSS, SBAS/GBAS and and ApplicationsApplications, Berlin, 11., Berlin, 11.--14. November 200814. November 2008

Deformation Integrity Monitoring for GNSSDeformation Integrity Monitoring for GNSS--Positioning Positioning Services by the Services by the KarlsruheKarlsruhe Approach (MONIKA) Approach (MONIKA)

-- Concept, Realisation and Results Concept, Realisation and Results --

Prof. Dr.-Ing. Reiner Jä ger

Hochschule Karlsruhe – Technik und Wirtschaft Faculty of Geomatics

Department Vermessung&GeomatikInternational Study Programme Geomatics (MSc)

www.g.hs-karlsruhe.de

Institut für Angewandte Forschung (IAF)Moltkestrasse 30, D-76133 Karlsruhe

www.goca.info

http://www.goca.info



GNSS GNSS -- SystemsSystems

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

GPSGPSGALILEO 2011GALILEO 2011--2012 ?2012 ?

GLONASSGLONASS COMPASSCOMPASS

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

Space Segment

User Segment Control Segment



International International TerrestrialTerrestrial ReferenceReference Frame (ITRF)Frame (ITRF)<_1_cm <_1_cm ConsistencyConsistency! „Worlds Zero! „Worlds Zero--Order Order NetworkNetwork““

⇒⇒ All ITRF All ITRF basedbased GNSS (GPS,GLONASS,...) GNSS (GPS,GLONASS,...) PositioningPositioning ServicesServices(Europe: ETRF89 =: ITRF1989_01(Europe: ETRF89 =: ITRF1989_01--1989)1989)

ITRF <= International GNSS Service (IGS)ITRF <= International GNSS Service (IGS)



GNSSGNSS--ServiceService –– NetworkNetwork of of ReferenceReference StationsStations+ + GNSSGNSS--NetworkingNetworking Software Software

GNSS-Services and RTCM-based Positioning



GNSSGNSS--NetworksNetworks in EURASIA: SAin EURASIA: SAPOSPOS® /® /ascosascos®® , , SWISWIPOSPOS® /® /SwissSatSwissSat® … . ® … . SwePosSwePos® ,® , CzePosCzePos® ,® ,LatPosLatPos® , ® , ASGASG--EUPOS® ,EUPOS® ,CroPOSCroPOS® , ® , HePosHePos® , ® , … … HungaryHungary, , SloweniaSlowenia, , RomaniaRomania, , MoldaviaMoldavia,, … SRPOS (… SRPOS (SiberiaSiberia) )

... and ... and manymany othersothers worldwideworldwide!!

GNSS-Services and RTCM-based PositioningRTCM 3.1 Observation Phase and Code RTCM 3.1 Observation Phase and Code CorrectionsCorrections => => cmcm--PositioningPositioning

„„ITRFITRF--relatedrelated““e.ge.g. ETRF89. ETRF89



1. 1. AreaArea CorrectionCorrection Parameters (ACP)Parameters (ACP)2. 2. MasterMaster--AuxiliaryAuxiliary (MAX(MAX)

fRe,ObservedfRe,truet,SATREFSat

fRe )tt(])z,y,x(;)z,y,x[()tt( ∆−ρ−ρ=∆−ρ∇ ∆

fRe,ObservedRfRe,truet,SATREFRSat

fReR )tt(])z,y,x(;)z,y,x[()tt( ∆−λ−λ=∆−λ∇ ∆

Basic Basic GNSSGNSS--DataData collectedcollected at at thethe GNSSGNSS--ReferenceReference--StationsStations at a Time at a Time tt--∆t∆t

GNSS-Networking

Software

SatfR

SatRovR

correctedSatRovR

ttt

t

ReObserved,

,

)( - )(

)(

∆−∇

=

λλ

λ

RTCM 3.1

Observations-

Corrections

((B,L,h)B,L,h)GNSSGNSS--DatumDatum

bb

RTCMRTCM

NMEANMEAStringString

3. VirtualReferenceStation (VRS)

GNSS-Services and RTCM-based Positioning



ITRF / ETRF89 - Datum Old Classical Systems

Transformation Problems and Transformation Problems and ReferenceReference TransformationsTransformations1.) Horizontal Datum 1.) Horizontal Datum TransitionTransition fromfrom (B,L) (B,L) GNSS,ITRF GNSS,ITRF

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

StrictStrict andandGeneralGeneralTRAFOTRAFO

((EnabledEnabled &&GNSSGNSS--practicepractice



ITRF / SIRGAS - Datum Old Classical Systems

Transformation Problems and Transformation Problems and ReferenceReference TransformationsTransformations1.) Horizontal Datum 1.) Horizontal Datum TransitionTransition fromfrom (B,L) (B,L) GNSS,ITRF GNSS,ITRF

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

((EnabledEnabled &&GNSSGNSS--practicepractice

BrazilBrazilTrafoTrafo

ProjectProject



OfficialOfficialState State

DatabasesDatabases

e.ge.g..

in Germanin GermanCountriesCountries

......DFHBF-DB

2. Height Problem / HRS Transition - Karlsruhe Reference Transformation

ReferenceReference--TransformationTransformationSource CRS Target CRS(B,L,h)GNSS => H = h - N



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

Reference TransformationsDFHBF Florida

DFHBF BavariaDFLBF Bavaria

www.geozilla.de

http://www.geozilla.de



GNNS Reference Station Network - MonitoringOld Classical Systems

Horizontal Horizontal PositioningPositioningITRF-based datum => Direct access byGNSS (Old datum: GNSS online trafo)

HeightHeightH(Physical) = h(GNSS) – N(GeoidN(Geoid))(75% levelling points cancelled)

200 200 GNSSGNSS--StationsStations((cmcm--PositioningPositioning.) .)

=> Same => Same capacitycapacity asasMillionsMillions of of TrigTrig. . PointsPoints



GNSS GNSS –– ReferenceReference StationscoordinateStationscoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA

TargetPermantentPermantent

ControlControlof Stationof Station--PositionsPositionsForsight

Riga, 2003

Consortium of the German Federal State Survey departements (AdV) (2006): Decisionof the Plenum No. 118/6. Monitoring and supordinate reference frame for SAPOS® -Reference-stations. Agency of the AdV/Germany.

Neccessityfrom the point of view of the

GNSS-service-providersAvD, 2006

(„officially“)



GNSS GNSS -- Referenzstationskoordinaten Referenzstationskoordinaten MONIMONItoringtoring KAKA ModellModell -- MONIKAMONIKA

State Land Service (Landesvermessungsamt)

Baden-Württemberg, Germany)

&

Karlsruhe University of Applied Sciences (HSKA)

Cooperation Project



GNSS GNSS –– ReferenceReference--StationsStations--CoordinateCoordinate -- MONIMONItoringtoringAccordingAccording to to thethe KAKArlsruherlsruhe Approach (Approach (MONIKAMONIKA))

GNSSGNSS--RINEXRINEX--DataData

PriorityPriority„Relative“„Relative“deformationdeformation networknetwork““

= Congruency state• Near-Online• Multivariate• Multi-epochal

SecondarySecondary„Objectpoint Monitoring“

CoordinateCoordinate relatedrelatedDeformation AnalysisDeformation Analysis= 2 adjustment steps

before deformationanalysis. Both steps

controlled in MONIKAConcepts• ITRF-based networks• Free networks

2

k,iR

1k,iRˆˆ

Tk,iRk,i

R ˆ3

ˆ)(ˆ)ˆ(T

σ⋅

∇∇=∇

−∇∇ xQx

x



ScalableScalable!!

CoordinateCoordinate relatedrelatedDeformation AnalysisDeformation Analysis

TimeTimeNetworkNetwork--SizeSize

AdditionalAdditional-- TransformationsTransformations„„ReductionsReductions““-- ParametricParametric

ModellingModelling

PLATEPLATEMOVEMENTSMOVEMENTS

GNSS GNSS –– ReferenceReference--StationsStations--CoordinateCoordinate -- MONIMONItoringtoringAccordingAccording to to thethe KAKArlsruherlsruhe Approach (Approach (MONIKAMONIKA))



GNSS GNSS ––ReferenceReference--

StationsStationsCoordinateCoordinate

-- MONIMONItoringtoringAccordingAccording to to thethe

KAKArlsruherrlsruherApproachApproach((MONIKAMONIKA))



MONIKA Step 1

)t(),t( ili Cl

GOCA_BEPC_PROGOCA_BEPC_PRO

GNSSGNSS--ProcessingProcessing

GNSSRINEX-Data

GNSS GNSS -- Referenzstationskoordinaten Referenzstationskoordinaten MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA

To be controlled by BPEC_PROTo be controlled by BPEC_PRO• LGO, Leica GeoOffice• WA1 (Wanninger Software)• Bernese GPS-Software 5.0

jixji )t(C,)t(x



MONIKA Step 1GNSS

SINEX-Data

GNSS GNSS -- Referenzstationskoordinaten Referenzstationskoordinaten MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA

jixji )t(C,)t(x



MONIKA Step 2

GNSS GNSS –– ReferenceReference-- StationStation--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA

•• BaselinesBaselines•• EpochEpoch NetworksNetworks•• Partial Partial NetworksNetworks•• Daily Daily SolutionsSolutions

••EpochEpoch StatesStates

jixji )t(C,)t(x

)t(C),t(x ixi

t∆



MONIKA Step 2

GNSS GNSS –– ReferenceReference-- StationStation--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA

•• BaselinesBaselines•• EpochEpoch NetworksNetworks•• Partial Partial NetworksNetworks•• Daily Daily SolutionsSolutions

••EpochEpoch StatesStates

jixji )t(C,)t(x

)t(C),t(x ixi

t∆

Automatic Automatic EpochEpoch GenerationGeneration



GNSS GNSS –– ReferenceReference-- StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA

Considering Datum-drift and Plate-Movement Rates

txR +⋅εεε⋅∆+= 1t,ITRFyy1zyx1t,zzITRF1 )t(),,()m1()t(x

( ) ( )( ) )tt( )t()t()m( )t()t( 12t.ITRFzz1)j(Pt.ITRFzz1t.ITRFzz1t.ITRFzz2 1112 −⋅⋅++⋅∆++= xRtxRxx &&&&

Use

of

IERSParameters

27cm/10y27cm/10y

MONIKA Trafos 1 MONIKA Trafos 1 -- StepStep 22 0t

it

Reference time

Epoch time





27cm/10y27cm/10y( )( ) )tt( )t( 12t.ITRFzz1)j(P 1 −⋅⋅ xR&

( )( ) )tt()t()m( 12t.ITRFzz1 1 −⋅+⋅∆+ txR &&&

Use ofIERS- and other Parameters

for referencing thedeformation analysis to a common reference-time t2

MONIKA Trafos 1 MONIKA Trafos 1 -- StepStep 22





rx ry rz [mm]KLOP 0.5 4.4 -0.1 ERLA -0.9 1.3 +0.5 KARL 0.8 -1.8 -0.4

KLOP 33U__52856.73128 5581902.06518 222.41774 KARL 33U__18340.16696 5449653.41324 182.88413 ERLA 33U_211247.94245 5500327.66422 337.83069

KLOP 33U__52856.92229 5581902.26866 222.43436 KARL 33U__18340.36383 5449653.61653 182.87433ERLA 33U_211248.13412 5500327.87162 337.83794

ETRF1989.1989.0

ITRF1997.1999.9

10 y and 6 PT10 y and 6 PT

UseUse of of thethegeodynamicgeodynamicparametersparameters

asaspriorprior

informationinformationforfor thetheBayesBayes

estimationestimationofof

DatumDatum--TransitionTransition

DatumDatumDriftDriftand and

PlatePlate--RotationRotation

27cm/10y27cm/10y

MONIKA MONIKA Trafos 1 Trafos 1 StepStep 22



MONIKA Step 2 – Coordinate related Referencepoint-Deformationanalysis

GNSSGNSS--ReferenceReference--StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Model Model MONIKAMONIKA

MONIKAMONIKAITRF-embedded

DeformationAnalysis Concept

EpochEpoch StatesStates+ + GeodynGeodyn. Trafo . Trafo MONIKA MONIKA StepStep 22

MONIKAMONIKAFree GNSS-network


)t(),t( ili ClRINEXRINEX

Singular

UnknownDatum

jixji )t(C,)t(x

)t(C),t(x ixi

SINEXSINEX





EpochEpoch StatesStates+ + GeodynGeodyn. Trafo. TrafoMONIKA MONIKA StepStep 22

ili )t(,)t( Cl

Original GNSS Original GNSS observationsobservationsRINEXRINEX

Singular

UnknownDatum

MONIKAMONIKAFree GNSS-network


Helmert-Transformation d=3

)t(C),t(x ixi

0ii x )t(x:)t(x =

Tixix S)t(CS)t(C ⋅⋅=

)t(C),t(x ixi

S-Transformation d=3

MONIKA Trafo 2 MONIKA Trafo 2 -- StepStep 22

?x0

0x New



MONIKA Step 3 – Coordinate related Reference-Point-Deformationanalysis


)t( ixCand

)t(ˆ'ˆd'ˆd'))t(( ik,i

Rki

iO

iO

iR

iR)t(x

i0i i xBxDxDvxx ∇⋅+⋅+⋅=+−

iO

iO

iR

iR)t(x

i0i ˆdˆd))t(( i xDxDvxx ⋅+⋅=+−

)t(ˆ

000000000

...100010001

...000000000

)t(ˆ ik,i

R

T

ik,i

Rki xxB ∇⋅

=∇⋅

)t(xiTk

i1k

iiivv

iTkii

k,iR i)( )t(ˆ vPBBPQPBx ⋅⋅−=∇ − andand 1k

iiivv

iTkii

k,iRˆˆ )()t( −

∇∇ = BPQPBQ

T∆

ExtendedExtended GMMGMM





3r,32

k,iR

kii

ivv

iTki

Tk,iR

2

k,iR

1k,iRˆˆ

Tk,iRk,i

R

F~ˆ3

ˆ)( ˆ

ˆ3

ˆ)(ˆ)ˆ(T

−

−∇∇

σ⋅

∇⋅⋅∇=

=σ⋅

∇⋅⋅∇=∇

xBPQPBx

xQxx

3D a-posteriori Teststatistics – Significance of k,iRx∇

3r

ˆ)(ˆˆ

k,iR

1k,iRˆˆ

Tk,iR

T2

−

∇⋅⋅∇−=σ

−∇∇ xQxPvv

3.17),,'F(

ˆ)(ˆ

3r,3

k,iR

1k,iRˆˆ

Tk,iR

=βαλ=

∇⋅⋅∇

−

−∇∇ xQx

Test related to 1-α , e.g = 95% Confidence ellipsoid

Sensitivity ellipsoidα = 5 %, ß =95%

( = 1.0 accuracy , 1-α = 19.9 %error ellipsoid )

ß %-Sensitivity

Detectability of GNSSReference StationDeformations k,i

Rx∇

2.43.17f ==



2.) Additionally: Object-Points + Tests

GNSS GNSS –– ReferenceReference--StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Model Model -- MONIKAMONIKA

MONIKA Step 3 –Coordinate related Reference-Points Deformation Analysis

3.) Additionally: Full spectrum of theDeformationsanalysis Features ofthe GOCA-software (www.goca.info)

1.) Congruency Testing

http://www.goca.info



PresentPresent resultsresults and and FurtherFurther DevelopmentsDevelopments of GOCA_MONIKAof GOCA_MONIKA

• CooperationCooperation withwith State Service of State Service of BadenBaden--Wü rttemberg Wü rttemberg BaBa--WüWü

• Accuracy of the displacements in 4 epochs and 24-hours-measurements1 - 2 mm Horizontal and 3 - 4 mm Height=> High Sensitivity

• Longterm and large area monitoring, requires geodynamical standard trends

• High need of MONIKA German AdV-Decision for GNSS-Monitoring.Worldwide Upcome von GNSS-Services

•• IncludedIncluded: : GNSSGNSS--basedbased MonitoringMonitoring of of EarthequakeEarthequake zoneszones ((e.ge.g. Basel), Landslides, . Basel), Landslides, MiningMining, , ConstructionsConstructions etc.etc.

• AGU 2007,Acapulco,G05: Large Scale Geodetic Networks for Science,Hazard Monitoring & Infrastructure

Basel• More Complex models e.g. point groups ( ) iB

France

deformation integrity monitoring for gnss-positioning...

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