development process of epn analysis - euref.eu process of epn analysis heinz habrich epn analysis...
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Development Process of EPN Analysis
Development Process of EPN Analysis
Heinz Habrich
EPN Analysis Coordinator
Federal Agency for Cartography and Geodesy,Frankfurt, Germany
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 2
StatementStatement
� EPN Analysis is a continuous effortcontinuous effort...
...of Local Analysis Centres (LACs) in European
countries
...to realize an European Reference Frame in the most accurate manner
...and thus requires to question the applied methods to question the applied methods
and strategies all the timeand strategies all the time.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 3
OutlineOutline
� Status of Local Analysis Centres
� Status of sub-network combination
� Local Analysis Centre Workshop 2006 in Padua, Italy
� Planned changes in the EPN analysis
� ITRF 2005 Densification
� TIGA co-operation
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 4
Status of Local Analysis Centres- Software Week 1369 (April 2006) -Status of Local Analysis Centres- Software Week 1369 (April 2006) -
Bernese 4.0
6%Bernese 4.2
25%
Bernese 5.0
51%
Bernese 5.1
6%
MicroCosm 2003.0
6%
GIPSY v2.5/cov2snx
6%
Bernese 4.0
Bernese 4.2
Bernese 5.0
Bernese 5.1
MicroCosm 2003.0
GIPSY v2.5/cov2snx
General Intention:
Less „strict analysis rules“, but more responsibility of LACs.
ASI MicroCosm 2003.0
BEK Bernese 4.2
BKG Bernese 5.0
COE Bernese 5.1
DEO GIPSY v2.5/cov2snx
GOP Bernese 5.0
IGE Bernese 5.0
IGN Bernese 4.2
LPT Bernese 5.0
NKG Bernese 5.0
OLG Bernese 4.2
ROB Bernese 5.0
SGO Bernese 4.2
SUT Bernese 4.0
UPA Bernese 5.0
WUT Bernese 5.0
Radome codes and FES2004 ocean loading model
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 5
Status of sub-network combinationStatus of sub-network combination
0
1
2
3
4
5
6
1290 1300 1310 1320 1330 1340 1350 1360 1370 1380
Weeks
[mm
]
North
East
Height
Week 1372
0
1
2
3
4
5
6
BEK BKG COE GOP IGE IGN LPT NKG OLG ROB SGO SUT UPA WUT
[mm
]
North
East
Height
Day to Day RepeatabilityPrecision between LACs
Indication of Precision
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 6
NoteNote
� The formal error of the least squares adjustment is not suitable as indicator of the precision in GPS analysis,
because correlations between observations are not
correctly modelled.
� We may use residuals between sub-network solutions
or day-to-day repeatability of the stations as alternativeindicator for the achieved precision.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 7
5th LAC Workshop5th LAC Workshop
� Date and Venue: University of Padua, Italy, March 15 – 16, 2006
� 37 registered participants from 15 European Nations
� 15 LACs represented, 1 LAC not represented after short-term cancellation
� 5 Working Sessions:
– Session 1: Reports from the EPN Coordination Group
– Session 2: Local Analysis Centres reports
– Session 3: Experiences with new processing strategies
– Session 4: Site, receiver and antenna issues
– Session 5: Wrap-up and closing session
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 8
„Inspiration“ from Galileo‘s Chair„Inspiration“ from Galileo‘s Chair
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 9
LAC Workshop Conclusions (1/7)- Absolute Phase Centre Variations -LAC Workshop Conclusions (1/7)- Absolute Phase Centre Variations -
� Absolute phase centre variations (APCV) will be introduced simultaneously with the IGS
� At the same time switch to ITRF2005
� APCVs will be taken from IGS ANTEX file. For Bernese Software users:
– Use converter programme to generate Bernese files from ANTEX, or
– Use Bernese satellite/receiver files as provided by CODE
� EPN will preferable use APCV from robot calibrations of GEO++ company in Hannover, Germany for stations that are missing in IGS ANTEX file.
� Use „NONE“ as ball-back for antenna without radome codes
� Perform a „preparation step“ (relative PCV, but new format and radome codes), detailed instructions will be given by CODE
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 10
RemarkRemark
� New results of APCV have been presented at the IGS workshop in May 2006:
– Frequency dependent receiver PCV for GLONASS signals
– Update of IGS ANTEX file expected!
Presented by Geo++
at IGS 2006 Workshop
�GPS – GLONASS
GLONASS-GLONASS�
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 11
LAC Workshop Conclusions (2/7)- Tropospheric Gradients -LAC Workshop Conclusions (2/7)- Tropospheric Gradients -
� Estimation of tropospheric gradients simultaneously with the introduction of APCV
� Pre-elimination of gradients before submission of TROP SINEX files (not supported by format)
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 12
LAC Workshop Conclusions (3/7)- GLONASS -LAC Workshop Conclusions (3/7)- GLONASS -
� LACs are authorised to add GLONASS observations to their GPS analysis, provided the results are not
degraded
� LACs recommend
– to replace obsolete GPS equipment with
GPS/GLONASS/GALILEO equipment and
– propose to assess the recommendation with a
EUREF symposium resolution
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 13
LAC Workshop Conclusions (4/7)- Re-Processing -LAC Workshop Conclusions (4/7)- Re-Processing -
� General agreement between LACs on EPN re-processing of all observations since the beginning of the
EPN
� Action is postponed until re-processed final IGS orbits
are available
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 14
LAC Workshop Conclusions (5/7)- Real-Time Strategies -LAC Workshop Conclusions (5/7)- Real-Time Strategies -
� Discussion about strategies for real-time (RT) data analysis postponed until RT software becomes available
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 15
LAC Workshop Conclusions (6/7)- Near Real-Time Processing -LAC Workshop Conclusions (6/7)- Near Real-Time Processing -
� Objective:
– Near real-time (NRT) processing is useful for monitoring of station coordinates.
� Concept:
– LACs already doing NRT processing submit hourly SINEX files to a „central place“
– Coordinate check and alert generation at „central place“
� Actors and details to be determined
� LACs are asked to cooperate with NMAs and to contribute with dense national networks to meteorological applications (TOUGH/E-GVAP)
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 16
LAC Workshop Conclusions (7/7)- Divers -LAC Workshop Conclusions (7/7)- Divers -
� Switch from GOT002 to FES2004 ocean loading model simultaneously with APCV and ITRF2005
� Proposal for a „rapid EPN combination product“.
– Providing coordinates with significant reduced delay
– Strict time table without waiting for missing LAC contributions
– Details to be discussed in the near future
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 17
Planned Changes in the EPN AnalysisPlanned Changes in the EPN Analysis
� APCV, ITRF2005 and tropospheric gradients simultaneously
� IGS ANTEX file as reference for APCV, but
– Completion for EPN sites required,
– Book keeping of radome types, and if necessary individual series number (with time stamps ?)
– Geo++ data base access
� Legal restrictions
� Disadvantages caused by updates
– Update of GLONASS numbers expected
– Open questions, e.g., maintenance of official EPN phase file?
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 18
Relative vs. Absolute PCV- BKG Sub-Network Week 1374 -Relative vs. Absolute PCV- BKG Sub-Network Week 1374 -
� Analysis by Peter Franke
Absolute vs. Relative PCV Site Replacemant
-15
-10
-5
0
5
10
15
20
25
30
35
MO
XA
TR
AB
BU
TE
MA
LL
AL
ME
TU
BI
GO
TH
HU
EG
IST
AT
ITZ
CL
AU
NIC
ON
EW
LB
UC
UE
VP
AZ
WE
2E
NT
ZL
AM
PW
TZ
AA
UT
1A
NK
RP
TB
BG
RE
IY
EB
ES
TA
SK
IRU
GL
SV
TR
DS
HE
LG
VF
CH
AU
RI
OS
NA
MS
EL
CO
ST
OB
E2
RE
YK
OR
IDD
AU
NM
AT
ES
OF
IH
OF
NM
OR
EF
BG
KA
RL
HF
LK
LE
IPD
ILL
NP
LD
DR
ES
WT
ZJ
ER
LA
HE
RS
VIL
0K
LO
PH
ER
TM
UE
JO
NS
AP
OT
SM
ET
SE
US
KP
FA
NG
RA
ZZ
IMM
HO
BU
FF
MJ
WR
OT
RF
BP
OU
SB
AD
HB
OR
KK
OS
GS
BG
ZS
NE
CW
TZ
RB
OR
JB
RU
SH
EL
2D
IEP
LD
B2
GO
RL
HO
L2
HO
E2
SM
IDW
AR
BU
DP
SA
SS
[mm
] North
East
Height
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 19
NoteNote
� The BKG sub-network was analysed with relative and absolute PCV numbers. The so-called „preparation
step“ for relative PCV has been carried out before.
� Nearly 50 % of the stations experience height changes
of larger than 5 mm
� It should be considered that minimum constraints have been applied to selected reference sites. This will
restrict changes for the reference site coordinates.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 20
Height Changes for Antenna Groups
-15
-10
-5
0
5
10
15
20
25
30
35
0 10 20 30 40 50 60 70 80 90
[mm
]
TRM22020.00+GP TCWD
TRM23903.00 TCWD
TRM33429.20+GP NONE
TRM33429.20+GP TCWD
TRM29659.00 NONE
TRM29659.00 TCWD
TRM29659.00 SCIS
TRM29659.00 UNAV
TRM29659.00 SNOW
TRM29659.00 GRAZ
TRM41249.00 NONE
TRM41249.00 TZGD
AOAD/M_T NONE
AOAD/M_B NONE
AOAD/M_B DUTD
AOAD/M_B OSOD
JPSREGANT_SD_E NONE
TPSCR3_GGD CONE
ASH700936C_M SNOW
ASH700936D_M SNOW
ASH700936E NONE
ASH700936E SNOW
ASH701941.1 SNOW
ASH701941.B UNAV
ASH701945B_M NONE
ASH701945C_M GRAZ
ASH701945E_M SCIS
ASH701946.2 NONE
LEISR399_INT NONE
LEIAT504 LEIS
LEIAT504 GRAZ
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 21
NoteNote
� The height changes evoked by the APCV have been ordered by antenna/dome types.
� For some types we observe common height changes, whereas other types shows several changes.
� The minimum constrained condition for the reference
stations may affect this result.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 22
Contribution of EPN to ITRF2005Contribution of EPN to ITRF2005
� December 16, 2004: Call for „weekly“ SINEX files for ITRF2004
� Combination of time series of station positions and EOPs from all techniques
� EPN contributes to GPS technique
– with weekly SINEX files
– IGS (NRCan) combines weekly solutions
– only IGS stations of EPN will be included
� EUREF was asked to check the discontinuity table used by NRCan
– Done by Ambrus Kenyeres on the part of Time Series SP
– Check will performed by Heinz Habrich (EPN AC) too
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 23
Densification of ITRF2005Densification of ITRF2005
� Initiative within IAG sub-commission 1.3 „Regional Reference Frames“ in responsibility of Zuheir Altamimi
� Time-integrated solutions (positions and velocities) of 6 regional sub-commissions have been inquired
� EPN contributes to regional European network
– computation of corresponding a multi-year solution
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 24
New EPN Multi-year Solution 2005- Strategy -New EPN Multi-year Solution 2005- Strategy -
� Conversion of all EPN weekly SINEX files into normal equations (NEQs) without option „reconstruction of original NEQ“ (coordinate=observation).
� Inconsistency file from time series SP as a-priori information, but additional editing because of singularities in ADDNEQ2.
� Minimum constraint conditions (MCC) for datum definition (2 stepapproach to store SINEX file).
� Setup of stations velocities.
� Observations of weeks 860 (30 Jun 1996) – 1355 (31 Dec 2005)
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 25
New EPN Multi-year Solution- Processing Statistics-New EPN Multi-year Solution- Processing Statistics-
Quasi FixedMCC
RMS = 0.1 mmCoordinate comparison
3 h 30 minProcessing Time for
ADDNEQ2
266266Number of stations
(+ solution numbers)
3.42 mm3.42 mmA-posteriori RMS
1596/1517581596/151758Number of
parameters/observations
0.1 mm Constraint for all sites
Minimum Constraint for 21 sites
Datum Definition
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 26
Excluded EPN Solutions (14 weeks)Excluded EPN Solutions (14 weeks)
?EUR13347.SNX
No „solution epoch“ in SINEX
EUR13117.SNX, EUR13127.SNX,
EUR13147.SNX, EUR13157.SNX,
EUR13167.SNX, EUR13177.SNX,
EUR13187.SNX
?EUR8977.SNX
Internal station number GRASEUR8737.SNX
?EUR8707.SNX, EUR8717.SNX,
EUR8727.SNX
Internal station number MATEEUR08617.SNX
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 27
Helmert Transformation- Weekly Networks vs. Combined -Helmert Transformation- Weekly Networks vs. Combined -
0
0,001
0,002
0,003
0,004
0,005
0,006
0,007
0,008
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
RM
S [
m]
RMS of Helmert TransformationSmoothed
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 28
NoteNote
� The variation of the RMS for the Helmert transformation may lead to the assumption of a changing analysis
accuracy. But it will be shown later that it depends on
the reference station selection.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 29
-0,005
-0,004
-0,003
-0,002
-0,001
0
0,001
0,002
0,003
0,004
0,005
0,006
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
Scale
[p
pm
]
Scale
Smoothed
-0,05
-0,04
-0,03
-0,02
-0,01
0
0,01
0,02
0,03
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
Y-S
hif
t [m
]
X-Shift
Smoothed
-0,06
-0,05
-0,04
-0,03
-0,02
-0,01
0
0,01
0,02
0,03
0,04
0,05
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
Y-S
hif
t [m
]
Y-Shift
Smoothed
-0,04
-0,03
-0,02
-0,01
0
0,01
0,02
0,03
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
Z-S
hif
t [m
]
Z-Shift
Smoothed
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 30
-0,0015
-0,001
-0,0005
0
0,0005
0,001
0,0015
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
X-R
ota
tio
n [
"]X-Rotation
Smoothed
-0,0012
-0,001
-0,0008
-0,0006
-0,0004
-0,0002
0
0,0002
0,0004
0,0006
0,0008
0,001
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
Y-R
ota
tio
n [
"]
Y-Rotation
Smoothed
-0,0015
-0,001
-0,0005
0
0,0005
0,001
860 910 960 1010 1060 1110 1160 1210 1260 1310
Weeks
Z-R
ota
tio
n [
"]
Z-Rotation
Smoothed
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 31
NoteNote
� The following two plots show the periods for which each reference station contributes to the datum definition of
the multiyear solution.
� New „solution numbers“ of a station become mandatory
after a coordinate change with the consequence that
ITRF2000 coordinates are no longer valid.
� The setup of new solution numbers for reference
stations leads to a loss of reference sites over the years.
� The number of reference stations for each week is
highly correlated to the RMS of weekly Helmert parameters as mentioned before.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 32
860 910 960 1010 1060 1110 1160 1210 1260 1310 1360
GPS Weeks
BOR1
BRUS
GLSV
GRAS
GRAZ
HOFN
JOZE
KOSG
LAMA
MATE
NICO
NYA1
NYAL
ONSA
POTS
REYK
VILL
WSRT
WTZR
ZIMM
ZIMM1
Sit
es
Reference Sites Contribution
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 33
Number of Reference Sites in Weekly Networks
0
2
4
6
8
10
12
14
16
18
20
860 910 960 1010 1060 1110 1160 1210 1260 1310
GPS Weeks
No
. o
f S
ite
s
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 34
AC
OR
13434M
001
BO
GI
12207M
003
-30
-20
-10
0
10
20
30
40
50
60
70
mm
Stations
East
AC
OR
13
43
4M
00
1
BO
GI
12
20
7M
00
3
-140
-120
-100
-80
-60
-40
-20
0
20
40
60
mm
Stations
Height
AC
OR
13
43
4M
00
1
BO
GI
12
20
7M
00
3
-40
-20
0
20
40
60
80
100
120
mm
Stations
North
Estimated Station VelocityEstimated Station Velocity
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 35
NoteNote
� Significant velocities for stations...
– ...not located on stable part of European plate
– ...new stations having just a little solutions
– ...other reasons??
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 36
Velocity Correction to a-priori Velocity Correction to a-priori
AJ
AC
10
07
7M
00
5
-20
-10
0
10
20
30
40
50
mm
Stations
East
AJ
AC
10
07
7M
00
5
-40
-20
0
20
40
60
80
100
mm
Stations
North
AJA
C 1
0077M
005
-140
-120
-100
-80
-60
-40
-20
0
20
40
60
mm
Stations
Height
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 37
NoteNote
� Shown are the differences between estimated station velocities and the a-priori quantities. A-priori velocities
are ITRF2000 solutions and alternatively results from
the Nuvel model.
� Velocity corrections for height components are mostly
identical to the absolute velocity estimation, because Nuvel 1A-NNR model applies only horizontal motions.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 38
ITRF2005 Densification- Next Steps -ITRF2005 Densification- Next Steps -
� Comparison of jumps and outliers with IGS (for IGS stations of EPN) and Time Series SP (for remaining
EPN sites)
� Investigation of residuals for coordinates and velocities
� Check for Remaining outliers
� Investigation of the variation of weekly Helmert transformation parameters
� Apply additional reference coordinates/velocities from ITRF2005 as soon as available
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 39
TIGA CooperationTIGA Cooperation
� GFZ started recently working on a weekly combined solution of AUT, DGF, ETG, GFT, ULR and CTA contributions.
� Problems concerning correct station names and DOMES numbers have been identified.
� Combination for the period of 2002 has been performed for test purposes.
– Slightly improvement in height component compared to single AC solution,
– but large variation in scale parameter for regional solutions (AUT, DGF and ETG).
� Magnitude of scale variation for ETG complies with quantity of most recent EPN multi-year solution.
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 40
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 41
NoteNote
Graphics of previous slight
� Upper left:
– EPN sub-network that was submitted to TIGA for week 1368 (April 2006).
� Bottom left:
– Scale parameter between individual TIGA AC and combined solution for year 2002.
� Upper right:
– Scale parameter between weekly and multi-year EPN solution
� Bottom right:
– Zoomed scale parameter for year 2002
EUREF Symposium, 14 - 17 June 2006, Riga, Latvia 42
� For any suggestions and questions related to EPN analysis please contact
Thank you