Development of geodetic databases for real time MOLDPOS service

Technical University of

MoldovaAgency for Land Relations

and Cadastre (ARLC)

As. Prof. Dr. Vasile Chiriac

As. Prof. Dr. Livia Nistor

MSc. Andrei Iacovlev

As. Prof. Dr. Vasile Grama Prof. Dr.-Ing. Reiner Jäger

MSc Ghadi Younis

Dipl. Ing. Stephan Seiler

Dipl. Ing. Simone Kälber

Dipl. Ing. Peter Spohn

United Nations/Moldova/United States of America

Workshop on the Applications of Global Navigation Satellite System (GNSS)

Participating institutions

Federal Ministry of Education

and Research of GermanyAcademy of Science

of Moldova (ASM)

Technical

University of

Moldova (TUM)

Agency for Land Relations

and Cadastre (ARLC)

Memorandum of understanding between Academy of Science of Moldova and Federal

Ministry of Education and research of Germany signed on 14 March 2008

Bilateral Research Program to fund 1 year projects: 25 000 EURO from

German site and 10 000 EURO from Moldavian site.

In 2008-2009 the Technical University of Moldova and in collaboration with Karlsruhe

University of Applied Sciences had applied application on Development of a High

Capacity Real-Time GNSS Positioning Service using new RTCM 3.1 transformation

messages that can be integrated in MOLDPOS - Project launched by Agency for Land

Relations and Cadastre (ARLC) funded by Norwegian Government.

The Karlsruhe University of Applied Sciences has been:

• Developing complete infrastructure (transformation parameter concepts,

computation software and technical standards in GNSS-industry in the recent years)

• The scientific member (2003 – 2007) and fully involved into the international RTCM

working group on transformation messages

• The second German partner has been involved as link between state and private

GNSS-services, GNSS-industry and GIS and university into the developments

The Agency of Land Relation and Cadastre has experience in:

• Installation, maintenance and operation of EPN GNSS reference station

• GNSS network measurement and processing

The Technical University of Moldova has experience in:

• Installation, maintenance and operation of EPN GNSS reference station

• GNSS/RTK measurements and processing

• Generation and distribution of differential corrections

Participating institutions

Project objectives • Development of a communication architecture for providing RTCM 3.1

transformation messages

• Development of a general geodetic transformation databases concept

• Analysis and further scientific developments of bilateral approaches for

the Height Reference Surface (HRS) modeling methods and numeric

conversion procedure of ellipsoidal heights into normal heights

• Study of possibilities of Digital Finite Element Height Reference Surface

(DFHRS) concept Implementation in MOLDPOS data-base

• Study of possibilities of concept and software Implementation in

MOLDPOS to monitor permanently the coordinate integrity of the GNSS

reference stations

• Testing out of the final DFHRS and COPAG/ DFLBF databases based on the

Karlsruhe state of the art of the mathematical models

Preconditions for new geodetic infrastructure devel opmentIntroduction of New Reference Systems and Map Project ions

ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89ETRS 89

ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97ITRS 97

WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84WGS 84

GRS80GRS80GRS80GRS80GRS80GRS80GRS80GRS80GRS80GRS80GRS80GRS80

SC 42SC 42SC 42SC 42SC 42SC 42SC 42SC 42SC 42SC 42SC 42SC 42

KrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowskyKrasowsky WGS84WGS84WGS84WGS84WGS84WGS84WGS84WGS84WGS84WGS84WGS84WGS84

Ellipsoids

Map projections

UTMUTMUTMUTMUTMUTMUTMUTMUTMUTMUTMUTM TMMTMMTMMTMMTMMTMMTMMTMMTMMTMMTMMTMMGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss Kruger Gauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss KrugerGauss Kruger

MOLDREF991:500 - 1: 10 000

6°°°° zone1: 25 000 – 1.500 000

6°°°° zone1: 10 000 – 1.500 000

3°°°° zone1: 500 – 1:10 000

Vertical reference systems:

Baltic Sea 1977 - EVRS2000

Development of the National GPS Network

EUREF sites (5)

second-order sites (418)

first-order sites (72)

OTACI

UNGHENI

CHELTUITORULNOU

PALANCA

GIURGIULESTI

GPS measurements (1999-2002)

Preconditions for new geodetic infrastructure devel opment

Reconstruction of the National Leveling Network

4699

231

5128

8138

356

1652

8712

244

4875

3554 L E G E N D

1-st order leveling

2-nd orderleveling

96

336

38

2586

Reconstruction and integration in ULEN•1st polygon (350 km) closed in 2008• 2nd polygon (429 km) performed 202 km in 2009• 3rd polygon (116 km) performed 30 km in 2008• 4th polygon (267 km) to be performed in 2010-2011

1

2 3

4

Preconditions for new geodetic infrastructure devel opment

Development of The National Gravity Network

3 absolute gravity stations (2006) with RMS < 5 µµµµGal

• 17 first order gravity stations (2006) with RMS < 10 µµµµGal

• 112 second order gravity stations (2007-2008) with RMS < 20 µµµµGal

• 271 third order gravity network performed (2008-2009) with RMS < 40 µµµµGal

• 1511 third order gravity network to be performed (2010-2011)

Total: 2012 gravity stations (4x4 km)

Absolute gravity sites

1st order gravity sites

2nd order gravity sites

3rd order gravity sites

Legend:

BRICENI

CHISINAU

GIURGIULESTI

Preconditions for new geodetic infrastructure devel opment

Preconditions for new geodetic infrastructure devel opment

Starting from August 2006 CTIG station

in Technical University of Moldova was

installed in the frame of educational

project JEP-24243-2003, TACIS-TEMPUS

(http://ctig.utm.md/?module=projects&

action=1&project_id=6);

Installation and maintenance of the permanent GNSS reference station in Technical University of Moldova

Preconditions for new geodetic infrastructure devel opment

IGEO Starting from August 2007 the Agency of Land Relations and Cadastre in collaboration with BKG installed and jointly operate a GNSS permanent tracking station IGEO (Chisinau) integrated into EPN and will be integrated in MOLDPOS (www.ingeocad/igeo )

Installation and maintenance of the EPN GNSS reference station

GPS “passive” network (1999-2002) GNSS “active” networ k (2010)

0 order (EUREF)

2nd order(400 sta ţions)

1st order (78 stations)

OTACI

UNGHENI

CHELTUITORULNOU

PALANCA

GIURGIULESTI

0 order (5 EUREF

stations)

2nd order (400 staţions)

1st order (78 stations)

Legend

Decision of GNSS Permanent Network Establishment

Preconditions for new geodetic infrastructure devel opment

CORS stations

Geodetic databases development

Control Center

GPS NAVSTAR/GLONASS

GALILEO

MOLDPOS

Server

RTCM

Server

Distribution

Post processing

data

FTP/WWW server

Real time applications

GSM router

Raw data

Raw data

RTCM messages

Geodetic Data bases

COPAG DFLBF DFHRS

x,y (SC-42) -> x,y (MOLDREF99) x,y (MOLDREF99 -> x,y (SC-42) h (GNSS) -> H (norm)

Communication architecture for providing RTCM 3.1 transformation messagesMOLDPOSserver

RTCM server

GSM-modem

MOLDPOSdata

RTCM 3.1

NMEA Position message

NMEA Position message

RTCM 3.1

Geodetic data base (transformations parameters, map projections, quasigeoid model, etc)

Monitoring by the Karlsruhe approach (MONIKA) servic e

Testing out of geodetic databases

Absolute gravity sites

1st order gravity sites

2nd order gravity sites

3rd order gravity sites

GPS/leveling

Legend:

BRICENI

CHISINAU

GIURGIULESTI

•Computation of quasigeoidmodel and HRS for testing zone using gravity and GPS/leveling measurements

•2D Transformation parameters computation using GNSS measurements on the old network SC-42

•Generation of RTCM 3.1 transformation messages and testing the accuracy of RTK measurements using existing permanent GNSS stations

•Testing of MONIKA software on the planned MOLDPOS permanent GNSS stations

• The new RTCM 3.1 transformation messages allows the GN SS service to provide their users with all necessary inf ormation for 2D positioning and GNSS-based height computation rel ated to the national HRS

• Improvement of normal height determination accuracy from GNSS measurements and organizing the MOLDPOS service to generate and distribute differential corrections and he ight anomalies generated from the high precision quasigeoid model

• Transformation Parameters data bases can be used by a l arge spectrum of users (geodetic works, cadastral surveying , GIS applications, mapping and boundary marking, etc.)

• MONIKA Monitoring system can be the basis of support of scientific applications (landslide and floods monit oring, environmental research, geohazard prediction, geodynamic investigations etc.)

Conclusions

Thank you for attention

United Nations/Moldova/United States of America

Workshop on the Applications of Global Navigation Satellite System (GNSS)

Technical University of

MoldovaAgency for Land Relations

and Cadastre (ARLC)