RTCM Coördinaat Transformatie Berichten

Motivation RTCM Transformations Questions
RTCM coordinate transformation and Projection messages

Hydrographic Society BeNeLux
Alain Muls & Peter Fardeau

Royal Military Academy Department of Communications, Information, System & Sensors alain.muls@rma.ac.be peter.fardeau@rma.ac.be
A. Muls, P. Fardeau, RMACISS, RMA Mai 2012
RTCM Transformation & Projection Messages
Surveyors needs Schematics
Motivation of RTCM MT 10211027

Surveyors and Geodetic Datums
RTCM basics
GNSS-RTK positioning is based on RTCM messages 10011004 Evolution from single base station to network approach Coordinates derived from RTCM GNSS-RTK measurements are determined in the Coordinate Reference System (CRS) of the GNSS service provider surveyor needs to transform these coordinates to another local/national horizontal and vertical datum

Surveyors and Geodetic Datums
RTCM basics
GNSS-RTK positioning is based on RTCM messages 10011004 Evolution from single base station to network approach Coordinates derived from RTCM GNSS-RTK measurements are determined in the Coordinate Reference System (CRS) of the GNSS service provider surveyor needs to transform these coordinates to another local/national horizontal and vertical datum
Coordinate transformations are a necessity

currently transformation parameters, or a model, are calculated and manually transferred to GNSS receivers simpler and more convenient method needed RTCM messages that contain transformation data information about the Coordinate Reference Systems parameters for the local projection system allow the users of the RTK service to obtain their results in the desired datum without any manual operations allow for both horizontal and vertical local datum
A. Muls, P. Fardeau, RMACISS, RMA Mai 2012 RTCM Transformation & Projection Messages

Z Source Datum S M Y (, , h) (X , Y , Z ) h M h =H +N
55 60
N inverse projection M
65 75 70
X M(X , Y , Z ) 3D Helmert transformation
M(, , h) Molodenski (or regression) transformation M(E, N) and H
direct 2D/H transformation
Target Datum T Z
M Y (X , Y , Z ) (, , h) h M H =hN X M(X , Y , Z ) M(, , h) direct projection
N
150
M
140 135 130 145
E M(E, N) and H
geocentric geographic plane projection coordinates coordinates RTCM Transformation & Projection Messages A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

Transformation from ECEF Coordinate System (CS) Local CS
Datum transformation : cartesian (X , Y , Z )S cartesian (X , Y , Z )T
Coordinate conversion : cartesian (X , Y , Z ) geographic (, , h)
Cartographic projection : geographic (, ) plane coordinates (E, N)
Height transformation : ellipsoidal h orthometric H

Datum transformation : cartesian (X , Y , Z )S cartesian (X , Y , Z )T 7-parameter strict Helmert transformation 7-parameter linearised Helmert transformation 10-parameter linearised Molodenski-Badekas transformation abridged Molodenski transformation Coordinate conversion : cartesian (X , Y , Z ) geographic (, , h) known procedure Cartographic projection : geographic (, ) plane coordinates (E, N) Lambert conformal projection Mercator conformal projection ...
Height transformation : ellipsoidal h orthometric H knowledge of geoid


Datum transformation : cartesian (X , Y , Z )S cartesian (X , Y , Z )T 7-parameter strict Helmert transformation 7-parameter linearised Helmert transformation 10-parameter linearised Molodenski-Badekas transformation abridged Molodenski transformation RTCM MT 1021 & 1022 Coordinate conversion : cartesian (X , Y , Z ) geographic (, , h) known procedure classical procedures Cartographic projection : geographic (, ) plane coordinates (E, N) Lambert conformal projection Mercator conformal projection ... RTCM MT 1025, 1026 & 1027 RTCM MT 1023 & 1024 Height transformation : ellipsoidal h orthometric H knowledge of geoid RTCM MT 1023 & 1024
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027
RTCM Transformation Messages

3-D Coordinate Transformation Formulas
Generalities
M Zt
z
Zs
7 parameters needed for 3D system transformation

3 translation parameters (X , Y , Z )
y
Xs
x
O Z Yt X Ys
3 rotation parameters ( 1 scaling parameter S = 1 + 106
X, Y, Z)
Xt
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Generalities
M Zt
z
Zs

y
Xs
x
O Z Yt X Ys
X, Y, Z)
Xt
RTCM Datum Transformations

Linearised Helmert transformation (

X
Y
z
,
1 x
x y
X X 1 Y = Y + (1 + 106 ) z Z Z y
T
X Y Z
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Generalities
M Zt
z
Zs

y
Xs
x
O Z Yt X Ys
X, Y, Z)
Xt

Linearised Helmert transformation (

X
Y
z
,
1 x
x y
X X 1 Y = Y + (1 + 106 ) z Z Z y
T
X Y Z
Helmert strict formula if not (
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Molodenski-Badekas transformation with local rotation point (XP , YP , ZP ) ( X , Y , Z )
X X 1 6 Y = Y + (1 + 10 ) z Z Z y
T z
1 x
X XP XP Y YP + YP Z ZP ZP
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Molodenski-Badekas transformation with local rotation point (XP , YP , ZP ) ( X , Y , Z )
X X 1 6 Y = Y + (1 + 10 ) z Z Z y
T z
1 x
X XP XP Y YP + YP Z ZP ZP
Abridged Molodenski Transformation based on difference between ellipsoids (da, df ) determines corrections on geodetic coordinates (d, d)
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

RTCM MT 1021/1022 structure
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

RTCM MT 1021/1022 structure
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

RTCM Computation Indicator
determines which datum transformation formula to apply room for new procedures
(DF150)
RTCM Height Indicator
(DF151)
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

RTCM Computation Indicator
determines which datum transformation formula to apply room for new procedures
(DF150)
RTCM Height Indicator
(DF151)
determines whether height result is geometric (ellipsoidal) or physical (orthometric) geoid model applied either on target or source datum grid interpolation technique used
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027
RTCM Residual Messages

Generation of transformation messages
service provider calculates the transformation parameters based on a grid of n = 16 points centered around the rover position
RTCM MT 1023 based on (, ) RTCM MT 1024 based on (E, N)
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

service provider calculates the transformation parameters based on a grid of n = 16 points centered around the rover position RTCM MT 1023 based on (, ) RTCM MT 1024 based on (E, N) Two grid concepts
Static grid reference transformation of a country (or service area) applied to N points of source & target datum with N n obtain 7 (10) parameters & N residuals vector extract n = 16 grid out of national grid centered around rover position sent to rover
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Static grid reference transformation of a country (or service area) applied to N points of source & target datum with N n obtain 7 (10) parameters & N residuals vector extract n = 16 grid out of national grid centered around rover position sent to rover Dynamic grid dynamically generate n = 16 grid around rover position obtain 7 (10) parameters & n residual vectors sent to rover
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Static grid reference transformation of a country (or service area) applied to N points of source & target datum with N n obtain 7 (10) parameters & N residuals vector extract n = 16 grid out of national grid centered around rover position sent to rover Dynamic grid dynamically generate n = 16 grid around rover position obtain 7 (10) parameters & n residual vectors sent to rover
Applies also to the height component using geoid model
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Example : Parc du Cinquantenaire Brussels
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Common points: Source coordinates 23g11 4016764.5458 310230.5629 31b14 4022786.4028 299909.2424 31d07 4022324.9114 314447.7170 31d13 4023385.2314 318752.8584 31g17 4026579.7847 308408.9864 31g18 4027340.7332 309092.6684 31u16 4024002.7098 307108.2089 32d02 4022194.0961 312028.9645 Gravity center on source system Gravity 4023172.3019 309997.4011 Parameters of Affine Helmert Transform Translation [m] -66.6914 -94.7556 4.8561 Scale factor [-] 0.999957827 Rotations [rad] [arcsec] -0.000002759 -0.569153 0.000001616 0.333348 0.000005497 1.133788 Standard Deviation [m] 0.02414 4928203.5147 4924003.9429 4923485.5479 4922380.0632 4920442.3940 4919783.1311 4922578.6215 4923754.1773 | | | | | | | | | Target coordinates 4016698.0708 310135.8128 4022719.6595 299814.9517 4022258.2780 314352.7590 4023318.5904 318657.6998 4026512.9663 308314.2949 4027273.8977 308997.9441 4023935.9703 307013.5839 4022127.4508 311934.1179 4928208.1822 4924008.7406 4923490.4010 4922384.9681 4920447.3406 4919788.1083 4922583.4869 4923759.0140
4923078.9241
50.849514580
4.406104202
111.989
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027

Source datum: WGS84 Target datum: BD72 Common points Source coordinates X [m] Y [m] Z [m] Target coordinates X [m] Y [m] Z [m] Transformed coords X [m] Y [m] Z [m] delta dX [m] dY [m] dZ [m] -----------------------------------------------------------31d07 4022324.9114 314447.7170 4923485.5479 4022258.2780 314352.7590 4923490.4010 4022258.2796 314352.7773 4923490.3978 0.0016 0.0182 -0.0032 31u16 4024002.7098 307108.2089 4922578.6215 4023935.9703 307013.5839 4922583.4869 4023935.9683 307013.5720 4922583.4921 -0.0020 -0.0119 0.0052 ..... ............ ........... ............ All points Source X [m] Y [m] Z [m] Latitude [d] Longitude [d] EllH [m] Target X [m] Y [m] Z [m] Latitude [d] Longitude [d] EllH [m] ---------------------------------------------------------------------------------------------------31d07 4022324.9114 314447.7170 4923485.5479 50.855311041 4.470041389 111.374 4022258.2796 314352.7773 4923490.3978 50.856658001 4.468770965 127.586 31u16 4024002.7098 307108.2089 4922578.6215 50.842443447 4.364301206 107.334 4023935.9683 307013.5720 4922583.4921 50.843789967 4.363033603 131.593 PRK02 4024008.6759 309089.3717 4922469.7554 50.840729840 4.392339110 122.182 4023941.9452 308994.6515 4922474.6361 50.842076685 4.391070879 116.767 PRK03 4024026.0866 309083.4527 4922456.0371 50.840534133 4.392236397 122.221 4023959.3552 308988.7327 4922460.9184 50.841880986 4.390968173 116.729 PRK07 4024009.4592 308997.5423 4922471.5276 50.840783468 4.391038414 119.609 4023942.7279 308902.8259 4922476.4080 50.842130300 4.389770212 119.339 ..... ............ ........... ............ ............ ........... ........ A. Muls, P. Fardeau, RMACISS, RMA Mai 2012 RTCM Transformation & Projection Messages
MT 1021 & 1022 MT 1023 & 1024 MT 1025 & 1026 & 1027
RTCM Projection Messages
From geocentric to plane state coordinates

MT1025 projection parameters other than Lambert Conic Conformal with 2 standard parallels and Oblique Mercator MT1026 Lambert Conic Conformal with 2 standard parallels MT1027 Oblique Mercator
Questions ?

RTCM Coördinaat Transformatie Berichten

Caricato da

Informazioni sul documento

Descrizione originale:

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

RTCM Coördinaat Transformatie Berichten

Caricato da

Copyright:

Formati disponibili

Motivation RTCM Transformations Questions

RTCM coordinate transformation and Projection messages

Alain Muls & Peter Fardeau

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions

Surveyors needs Schematics

Motivation of RTCM MT 10211027

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions

Surveyors needs Schematics

Motivation of RTCM MT 10211027

Coordinate transformations are a necessity

Motivation RTCM Transformations Questions

Surveyors needs Schematics

Motivation of RTCM MT 10211027

X M(X , Y , Z ) 3D Helmert transformation

M(, , h) Molodenski (or regression) transformation M(E, N) and H

direct 2D/H transformation

Motivation RTCM Transformations Questions

Surveyors needs Schematics

Motivation of RTCM MT 10211027

Coordinate conversion : cartesian (X , Y , Z ) geographic (, , h)

Cartographic projection : geographic (, ) plane coordinates (E, N)

Height transformation : ellipsoidal h orthometric H

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions

Surveyors needs Schematics

Motivation of RTCM MT 10211027

Height transformation : ellipsoidal h orthometric H knowledge of geoid

Motivation RTCM Transformations Questions

Surveyors needs Schematics

Motivation of RTCM MT 10211027

Motivation RTCM Transformations Questions

RTCM Transformation Messages

7 parameters needed for 3D system transformation

3 rotation parameters ( 1 scaling parameter S = 1 + 106

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions

RTCM Transformation Messages

7 parameters needed for 3D system transformation

3 rotation parameters ( 1 scaling parameter S = 1 + 106

RTCM Datum Transformations

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions

RTCM Transformation Messages

7 parameters needed for 3D system transformation

3 rotation parameters ( 1 scaling parameter S = 1 + 106

RTCM Datum Transformations

Helmert strict formula if not (

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions

RTCM Transformation Messages

3-D Coordinate Transformation Formulas

A. Muls, P. Fardeau, RMACISS, RMA Mai 2012

RTCM Transformation & Projection Messages

Motivation RTCM Transformations Questions