united nations workshop on gnss session 2 - jäger / rtcm messages chisinau, 17-may-2010 the new...
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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
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
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
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
„„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!
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
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
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
GNSS-Services and RTCM-based Positioning
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
GNSS-Service – Network of Reference StationsGNSS-Service – Network of Reference Stations+ GNSS-Networking Software + GNSS-Networking Software
GNSS-Services and RTCM-based Positioning
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
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)
GNSS-Services and RTCM-based Positioning
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
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)
GNSS-Services and RTCM-based Positioning
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
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
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
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
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
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
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
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
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
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
2. Height Problem / HRS Transition - Karlsruhe Reference Transformation
Reference-TransformationReference-TransformationSource CRS Target CRS(B,L,h)GNSS => N
DBDB
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
OfficialOfficialState State
DatabasesDatabases
e.g.e.g.
in Germanin GermanCountriesCountries
......DFHBF-DB
2. Height Problem / HRS Transition - Karlsruhe Reference Transformation
Reference-TransformationReference-TransformationSource CRS Target CRS(B,L,h)GNSS => N
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
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
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
DFLBF / DFHBF
Present Use of Reference Transformations on GNSS - Controllers
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
Present Use of Reference Transformations on GNSS - Controllers
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
DFLBF / DFHBFDFLBF / DFHBF
Present Use of Reference Transformations on GNSS - Controllers
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
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
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
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)
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
Area of validity for 7P transformation (origin and extension) + 16 Grid-Points
RCTM 3.1 Transformation Messages – Defintion and Examples
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
RCTM 3.1 Transformation Messages – Defintion and Examples
Message 1021 or 1022
GridLocation&Size
7 Parameters
Ellipsoid ParametersSource / Target
Geoid-Grid or not
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
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
:: ::
RCTM 3.1 Transformation Messages – Defintion and Examples
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
UsingReference
Transformations
to compute
a country-wide
„STATIC GRID“
RCTM 3.1 Transformation Messages – Message 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
Using Reference Tranformations to compute grids dynamically online on NMEA-request by virtual fitting points
„Dynamic Grid“
RCTM 3.1 Transformation Messages – Message Generation
1.) No preceeding „Gridding“ Discetization Error2.) Smaller Residuals - Smaller Interpolation errors3.) “ “ - Interpolation method in GNSS-Rover not so relevant
Advantages of „Dynamic Grid“
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
Using Reference Tranformations to compute grids dynamically„Dynamic Grid“
RCTM 3.1 Transformation Messages – Message Generation
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
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
Using Reference Tranformations to compute grids dynamically„Dynamic Grid“
RCTM 3.1 Transformation Messages – Message Generation
5.) „Combined Messages Generation“ in case of ITRF-Operation Mode
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
Using Reference Tranformations to compute grids dynamically„Dynamic Grid“
RCTM 3.1 Transformation Messages – Message Generation
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
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
RCTM 3.1 Transformation Messages – „Full Service“ GNSS-Transformation Services
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
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
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
RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client
Reference TransformationsDFHBF Florida
DFHBF Bavaria DFLBF Bavaria
www.geozilla.de