Reiner Jä ger, University of Applied Sciences. Geomatics MONIKA MONIKA GNSS GNSS - Reference- Station-MONItoring Karlsruhe International Symposium on GNSS, SBAS/GBAS International Symposium on GNSS, SBAS/GBAS and and Applications Applications, Berlin, 11. , Berlin, 11.- 14. November 2008 14. November 2008 Deformation Integrity Monitoring for GNSS Deformation Integrity Monitoring for GNSS - - Positioning Positioning Services by the Services by the Karlsruhe Karlsruhe 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&Geomatik International Study Programme Geomatics (MSc) www.g.hs-karlsruhe.de Institut fü r Angewandte Forschung (IAF) Moltkestrasse 30, D-76133 Karlsruhe www.goca.info
29
Embed
Deformation Integrity Monitoring for GNSS-Positioning ...goca.info/docs/MONIKA_JAEGER_BERLIN_2008.pdfRTCM 3.1 Observations-Corrections (B,L,h)GNSS-Datum b RTCM NMEA String 3. Virtual
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
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
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
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
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
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)
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
GNSSGNSS--ServiceService –– NetworkNetwork of of ReferenceReference StationsStations+ + GNSSGNSS--NetworkingNetworking Software Software
GNSS-Services and RTCM-based 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
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
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
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
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
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
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
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
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
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
RCTM 3.1 Transformation Messages – GZTra-Server and GZTra-Client
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
GNNS Reference Station Network - MonitoringOld Classical Systems
Horizontal Horizontal PositioningPositioningITRF-based datum => Direct access byGNSS (Old datum: GNSS online trafo)
=> Same => Same capacitycapacity asasMillionsMillions of of TrigTrig. . PointsPoints
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
GNSS GNSS –– ReferenceReference StationscoordinateStationscoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
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“)
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
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
GNSS GNSS –– ReferenceReference--StationsStations--CoordinateCoordinate -- MONIMONItoringtoringAccordingAccording to to thethe KAKArlsruherlsruhe Approach (Approach (MONIKAMONIKA))
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
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
GNSS GNSS –– ReferenceReference--StationsStations--CoordinateCoordinate -- MONIMONItoringtoringAccordingAccording to to thethe KAKArlsruherlsruhe Approach (Approach (MONIKAMONIKA))
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
GNSS GNSS ––ReferenceReference--
StationsStationsCoordinateCoordinate
-- MONIMONItoringtoringAccordingAccording to to thethe
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
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
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
MONIKA Step 1GNSS
SINEX-Data
GNSS GNSS -- Referenzstationskoordinaten Referenzstationskoordinaten MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
jixji )t(C,)t(x
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
MONIKA Step 2
GNSS GNSS –– ReferenceReference-- StationStation--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
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
MONIKA Step 2
GNSS GNSS –– ReferenceReference-- StationStation--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
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
GNSS GNSS –– ReferenceReference-- StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
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
GNSS GNSS –– ReferenceReference-- StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
for referencing thedeformation analysis to a common reference-time t2
MONIKA Trafos 1 MONIKA Trafos 1 -- StepStep 22
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
GNSS GNSS –– ReferenceReference-- StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Modell Modell -- MONIKAMONIKA
Considering Datum-drift and Plate-Movement Rates
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
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
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
MONIKA Step 2 – Coordinate related Referencepoint-Deformationanalysis
GNSSGNSS--ReferenceReference--StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Model Model MONIKAMONIKA
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
MONIKA Step 2 – Coordinate related Referencepoint-Deformationanalysis
GNSSGNSS--ReferenceReference--StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Model Model MONIKAMONIKA
Original GNSS Original GNSS observationsobservationsRINEXRINEX
Singular
UnknownDatum
MONIKAMONIKAFree GNSS-network
DeformationAnalysis Concept
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
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
MONIKA Step 3 – Coordinate related Reference-Point-Deformationanalysis
GNSSGNSS--ReferenceReference--StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Model Model MONIKAMONIKA
)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
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
MONIKA Step 3 – Coordinate related Referencepoint-Deformationanalysis
GNSSGNSS--ReferenceReference--StationsStations--CoordinateCoordinate MONIMONItoringtoring KAKA Model Model MONIKAMONIKA
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 ==
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
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)
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
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