Professional Documents
Culture Documents
Hermann Drewes
International Association
of Geodesy
Munich
Germany
SIRGAS President
Claudio Brunini
Universidad Nacional de La Plata,
Consejo Nacional de Investigaciones
Cientficas y Tcnicas
La Plata
Argentina
SIRGAS Vice-President
Laura Snchez
Deutsches Geodtisches
Forschungsinstitut der
Technishen Universitt
Mnchen
Mnchen, Germany
Aperture
Registration
Coffee break
Lunch
Coffee break
Types of coordinates
Celestial Reference System and Frame
Rotation and tides of the Earth
08:30-09:00
09:00-10:30
10:30-11:00
11:00-12:30
12:30-14:00
14:00-15:30
15:30-16:00
16:00-17:30
Contents:
2.1 Types of coordinates and transformations
(Cartesian, ellipsoidal, topocentric, plane)
2.2 Definition of reference systems and frames
2.3 Celestial (inertial) reference system and frame (ICRS, ICRF)
2.4 Rotation and tides of the Earth
(nutation, polar motion, length of day, tides)
2.5 Terrestrial reference system and frame (ITRS, ITRF)
2.6 Regional and national reference frames
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Pole
Greenwich
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
T1 0 R3 R2 X
X
X
0 R1 * Y M * Y
Y T2 R3
Z ( P ) T3 R2 R1 0 Z ( P )
Z ( P )
R2 X
T1,T2,T3: Translations in X, Y, Z
T1 1 M ' R3
Ri: Rotations around X-,Y-,Z-axes
T2 R3 1 M ' R1 * Y
R1 1 M ' Z ( P ) M: Factor of unit measures (scale)
T3 R2
X, Y, Z: origin coordinates
of the initial in the new system.
RX, RY, RZ : Rotations of axes.
X'P, Y'P, Z'P: Average of point
coordinates in the initial system.
M: Factor of measures (scale).
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
X
Y
Z
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
sin X cos O
r sin X sin O
cosX
cos M cos O
r cos M sin O
sin M
a b
a
a2 b2
a
X
Y
Z
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
a
p
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Eccentricity:
Polar flattening:
&
r
X
Y
Z
Zp
Q
p
Yp
( N h) cos M cos O
( N h) cos M sin O
2
((1 e ) N h) sin M
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Q
p
Yp
Zp
7RDYRLGWKHLWHUDWLRQRQHFRPSXWHVE\
atan>=EVLQ3q) / (p e2 a cos3q)]
H2 / (1 e2)
b = a(1 f)
p = (X2 + Y2)0.5
q = atan[(Z a) / (p b)]
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
10
11
Z x (n)
Local topocentric coordinates refer
y (e)
to a local reference system related to
P
the Earths gravity field: The origin
is the observer (topocentre P), the
orientation is given with respect to
Zp
the local vertical (zenith, plumb line):
Y
p
The
z-axis points to the zenith,
rectangular to the plane x, y;
p Yp
The x-axis points to the north of the
X
meridian;
Topocentric coordinate systems The y-axis points to the east, thus
are typically used in astronomy forming a left-hand system.
(horizontal coordinates, heights x, y, z are equivalent to denotations
north (n), east (e) and up (u).
and azimuths).
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
12
u
Point Pi is described w.r.t. the origin P
P
i
E\WKHJHRGHWLFD]LPXWKWKH]HQLWK
DQJOHDQGWKHGLVWDQFHV
7KHJHRGHWLFD]LPXWKLVGHILQHGDV
the angle in the horizon plane between
e
n
the meridian plane of P and the plane
formed by the normals in P and Pi.
7KH]HQLWKDQJOHLVPHDVXUHGLQWKH
P
vertical plane between the ellipsoidal
vertical and the connecting line P- Pi,
counted positive from the zenith.
The topocentric systems are
fundamental for connecting The distance s is only used in local
measurements of different
geodetic systems (not in astronomic
techniques (local ties).
systems).
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Meridian of Greenwich
=0
Geocentric origin
=0, =0, h=-a
X=Y=Z=0
E X 0
R 1 * N Y0
U Z 0
with:
R 1
RT
Ecuador
=0
sin O0
cos O0
0
V (north)
cos M 0
sin M 0
13
Topocentric origin
=O, = O, h=hO
X=Xo, Y= Yo , Z= Zo
U=V=W=0
U (east)
W (height)
X
Y
Z
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Transversal
14
15
Cylindrical
Conical
Secant
16
Alemania
3400000
2600000
3500000
4400000
3600000
4500000
5400000
4600000
5500000
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17
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Azimuthal
Plane coordinates
Plane coordinate systems enable representing the ellipsoidal (or
spherical) surface in a plane through mathematical or geometrical
specifications, e.g. by projections.
As the representation of a curved surface in a plane is not possible
without distortion, one has to decide on a representation distorting
less the angles, the distances or the areas, respectively.
In principle there are three types of projections:
Projections onto a cone,
Projections onto a cylinder,
Projections onto a plane.
The orientation of the surfaces can be
normal (axis of the surface parallel to the
Earths rotation axis),
transversal (axis parallel to the equator),
oblique (axis in an arbitrary direction).
Projections
Oblique
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Normal
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Cylindrical
Conical
Azimuthal
2500000
18
19
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20
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VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Geodetic datum
Geodetic datum: Parameters fixing the origin, orientation and scale
of a coordinate system w.r.t. the Earth (e.g., in a global 3D Cartesian
system: the origin is realised in the geo-centre, the orientation is
realised by the position of the Earth rotation pole and the direction of
one conventional reference longitude at a defined epoch, the scale is
realised by the metre unit based on the speed of light in vacuum).
Important:
1. Reference systems cannot be determined by measurements, but
they are defined conventionally; i.e., the geodetic coordinates and
directions are not estimable but need a defined coordinate system.
2. Reference frames must realise the reference system strictly
according to its definition (e.g. geocentric and not crust fixed).
3. The geodetic datum must be given unambiguously. 3D-systems
require 7 parameters. There must not be fixed more coordinates.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Denomination
Principal vectors
Application example
Observation
line-of-sight Q
measurement of
system (local)
gravity J
directions & distances
Horizon system gravity J
terrestrial networks
(regional)
(DUWKURWDWLRQ
Equator system Earth URWDWLRQ
satellite geodesy
(global)
celestial origin b
Celestial system celestial origin b
radio astronomy
(extragalactic)
celestial reference pole
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
The ITRF serves also for the precise orbit determination of the GPS
satellites by the International GNSS Service (IGS).
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VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
IDS
IVS
ILRS
IGS
Technique Centres
(External Services)
Electr. Interfaces
Central Bureau
Data Centre
Documents
Users
10
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
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11
12
13
14
15
DORIS stations
co-located
with
other techniques
(http://ids-doris.org)
IDS
Tracking
Network
(http://id
(http://ids.cls.fr)
ds.cl
ls.fr)
Internat. Terrestrial
Refer. Frame (ITRF)
16
International Celestial
Reference Frame (ICRF)
(www.dgfi.badw.de)
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VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
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VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
1. Observation
Simultaneous recording of the
signals from the same Quasars.
2. Correlation
Calculation of the maximum
correlation by delaying the
signal of one receiver: o 't.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
3. Corrections of VLBI
observations
- Ionospheric refraction
- Tropospheric refraction (dry
and wet)
- Time (clock) correction
- Telescope calibration
(deformations, eccentricities,
Correlators (IGG Bonn, Germany)
signal travel time within the
(today there are no tapes but files!)
telescope to electronic centre)
One correlator is needed for each
The corrections are similar to
baseline. Today we have broadband
GPS because the frequencies
data transmission (e-VLBI) and near are similar.
real-time computer correlation.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
5. Adjustment
Computation of the Quasar
coordinates () relative to
the terrestrial reference frame
by simultaneous adjustment
of all observations.
ICRF2
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
0()
0()
C- mean first
last
Nexp Nobs
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Equator
Ecliptic
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10
11
12
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13
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Z-axis = Celestial
Intermediate Pole
(CIP)
Celestial
Intermediate System
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Symmetry axis
14
ZCT
CTP
GAST
YCT
Instantaneous
(true) pole
Conventional
equator
xp
-yP
zT
CTP = Conventional
Terrestrial Pole
GAST = Greenwich Apparent Sidereal Time
Greenwich
mean time
meridian
XCT
yT
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Celestial
intermediate system
Conventional
Terrestrial System
(CTS)
Instantaneous (true)
equatorial system
Z-axis = Celestial
Intermediate Pole
(CIP)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
dH/dt + Z H = L
The solution of the Liouville equation results (in the same way as the
Euler equation) in the period and the amplitude of the circular motion
of the Earth rotation pole. This is for an elastic Earth:
1/V = 435 days (Chandler period)
p + dp
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
vg
p + dp
vg
CH
p + dp
CH
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Humboldt
0.6
0.5
0.4
0.3
0.2
0.1
1990
1990
0.004
[sec]
0.003
0.002
0.001
0.000
-0.001
1992
1992
1994
1994
1996
1996
1998
1998
2000
2000
2002
2002
2004
2004
1988
1988
2006
2008
2008
IERS C04
LOD
10
11
x annual
y annual
2010
x Chandler
y Chandler
2010
-0.002
1982 1984 1986 1988 1990 1992 1994 1996 1998 2000 2002 2004 2006 2008 2010
El Nio effect
1986
2006
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
1986
1984
1984
0.0
1982
-0.1
-0.2
-0.3
0.6
0.5
0.4
0.3
0.2
0.1
0.0
1982
-0.1
-0.2
-0.3
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
YP
0.5
0.4
0.3
0.2
0.1
1986
y annual
y AAM mass
1988
1990
1992
1994
1996
1998
2000
2002
2004
2006
2008
1984
0.0
1982
1990
1992
1994
1996
LOD
AAM motion z
1998
2000
2002
2004
2006
2008
2010
ac
ag
ag
ac
ag
Centrifugal acceleration
ac = Z2* (r* - R cos\)
Gravitational acceleration
ag = GM* / (R2 + r2* - 2Rr* cos\)
ac
M* : MEarth
1 : 81,3
332946 : 1
R : r*
1 : 60
1 : 23481
D*
2,628 m/s
1,208 m/s
K1
S0
M0
Symbol
24,07
25,82
23,93
Period [h]
144,6
310,6
436,9
47,7
102,9
S principal wave
L principal wave
S constant flattening
L constant flattening
Origin (Lunar/Solar)
O1
S2
M2
12,66
12,00
12,42
71,9
174,8
375,6
L ecliptic orbit
S principal wave
L principal wave
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N2
Semidiurnal components
Diurnal periods
P1
Amplitude [Pms-2]
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Celestial body *
Moon
Sun
1988
1986
0.003
1984
2010
12
13
0.002
0.001
0.000
-0.001
1982
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15
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
W = gravitational potential
Vm = tidal potential
Vd = deformation potential
16
17
19
Superconducting Gravimeter
18
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Observed angle
Horizontal pendulum
Rotation axis
Zllner
principle
Verbaandert-Melchior
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Principle of
a tide gauge
rule zero
rule height
zero
mark
BM
well
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21
i 1
(X
Si
X ' Pi ) 2
Sz
Station
(XP, YP, ZP)
X
Y
22
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Celestial
Intermediate
System
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Z Z
Z Z
Y
X
X
A scale factor of a 2 ... 3 10-7 per metre difference in the reference
systems enters into the baselines (18 m polar motion: a 5 mm/km)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
N (, )
Coordinates (angles)
of the Quasars (ICRF)
Precession-Nutation
Polar motion,
DUT variation
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VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Rsta
dobs
Rsat
True
orbit
Kepler
orbit
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VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
PCFC
SOAM
NOAM
COCO
NAZC
CARB
AFRC
ARAB
INDI
EURA
AUST
ANTA
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13
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11
Station
(XP, YP, ZP)
Geo-centre
1996
2000
2002
2004
WGS84
ITRFyyyy
2006
2008
1998
Earthquake
Arequipa,
Peru 2001
Antenna
change
Hfn 2001
Iceland
82.80
82.75
82.70
82.65
82.60
2000
2000
1095
1147
2002
1200
2003
2003
1252
2004
2004
1304
2005
2005
1356
2006
2006
1408
2007
2007
1460
1147
2002
1200
2003 1252
2004
1304
2005 1356
2006 1408
2007
1460
2008
1513
2008 1513
2008
2002
2001
2001
2001
Height
2000
Height
1043
82.55
[m]
1106.04
1106.03
1106.02
1106.01
1106.00
1105.99
Week 1043
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Seasonal
variation,
Brasilia,
Brasil
1095
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17
16
1994
1992
1990
14
The IERS Product Centre for the ITRF (IGN Paris) releases a call to
the IAG Services (IVS, ILRS, IGS, IDS) to provide weekly (in case
of VLBI session-wise) solutions of their analysis centres including
3D station position coordinates (X, Y, Z) and daily Earth Orientation
Parameters (EOP) combined by their combination centres to one
technique solution preferably in terms of datum-free (alternatively
ORRVHO\FRQVWUDLQHGLH 1 m) normal equations.
35.0
[cm]
30.0
25.0
20.0
15.0
10.0
5.0
0.0
1988
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
15
regional densifications
Weekly solutions
(LOD)
24 h sessions, free
normal equations
Weekly solutions
(LOD)
Data: epochs,
weekly series
Weekly solutions
(LOD)
1993 - 2008
1980 - 2008
1983 - 2008
1997 - 2008
Interval
ILRS CC
ASI Matera
IVS CC
GIUB Bonn
IDS CC
CLS Toulouse
Service
Technique
Analysis Centre
IGS AC
NRC Ottawa
GPS
SLR
VLBI
DORIS
Total
18
19
GPS
n. eq. week 1
n. eq. week 2
n. eq. week n
...
SLR
n. eq. week 1
n. eq. week 2
n. eq. week n
...
VLBI
n. eq. week 1
n. eq. week 2
n. eq. week n
...
DORIS
Multi annual
X, v, EOP
Multi annual
X, v, EOP
Multi annual
X, v, EOP
20
(IGN did not use normal equations but combined by Helmert transformation)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
21
X
The reliability of the local measurements may be evaluated by
- comparing them with the estimated 3-D coordinate differences,
- comparing the velocities obtained from the different techniques,
- comparing EOPs obtained from the different techniques (DGFI only)
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23
22
DGFI: The input data are (made to) datum free normal equations.
IGN: The individual solutions are stacked by Helmert-transformation
The datum parameters are introduced in the final combination:
The ITRF2008 datum refers to the epoch 2005.0 by
- 3 translations given by SLR: coordinates origin = geo-centre,
- 3 rotations by the ITRF2005: orientation according to BIH1984,
- 1 scale by SLR and VLBI: speed of light corrected by atmosphere,
- 3 velocities of translations by SLR: velocity origin = geo-centre,
- 3 velocities of rotation (with EOP): by NNR condition:
IGN: geophysical model NNR NUVEL-1A;
DGFI: geodetic model APKIM (see chapter 6);
- 1 drift of the scale by SLR and VLBI (only IGN).
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
WGS84 in ITRF2008
WGS84 was designed for satellite orbit determination and single point
positioning (PPP). 11 stations are not sufficient for a reference frame.
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24
1991 EUREF-EAST/Hun/Slov/Czech
1992 EUREF-Poland/Baltic/Bulgaria
1993 EUREF-Cyprus/Iceland/D/NL
1994 EUREF-Lux/Slov/Croa/Roman.
1995 EUREF-Ukraine/Slovenia
1996 EUREF-FYROM/Bosnia
1998 EUREF-Serbia/Monte./Albania
1999 EUREF-Moldavia
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
South American
Reference Frame
Sistema de Referencia
Geocntrico para
Amrica del Sur
(SIRGAS)
58 stations observed for
10 days in May 1995
(see chapter 5)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
The Americas
Reference Frame
Sistema de Referencia
Geocntrico para las
Amricas (SIRGAS)
184 stations observed
for 10 days in May 2000
extending the reference
frame to all Americas.
The continental frames
are further densified by
national reference frames
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Peru
Argentina
Venezuela
1998
Colombia
Ecuador
1994
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
When using the reference frame for practical positioning one has to
occupy simultaneously the reference stations in addition to the new
stations by other receivers (more GPS receivers required).
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
SIRGAS network of
continuously observing
stations (SIRGAS-CON)
(> 300 stations)
11
10
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Colombia (MAGNA-ECO)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
The IGS08 core network consists The IGS08 full network consists
of 91 stations and forms the basis of 232 stations and is the basis
for the regional densifications.
for the orbit determinations.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
12
13
15
14
SIRGAS velocities
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
NAREF velocities
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Transformation t0 o ti
X(ti)
Re-transformation ti o t0
Calculation of
coordinates
Y (new)
16
GPS observation
at epoch ti in the
reference system tk
Archive
of coordinates X
for epoch t0
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Sponsored by:
International Union of Geodesy and Geophysics IUGG
International Association of Geodesy IAG
International Association of Geomagnetism and Aeronomy IAGA
International Association of Seismology and Physics of the Earth's Interior IASPEI
Pan-American Institute for Geography and History PAIGH
Geocentric Reference System for the Americas - SIRGAS
GNSS positioning
Outlook:
1. Introduction
2. Mathematical foundation
3. Pseudo range measurement
4. Models to reduce error sources
5. Point and differential positioning
6. Network computation
7. Ambiguity resolution
1) introduction
Quickly was recognized that the problem could be reversed: calculate the position
of the measuring point from a satellite of known orbit.
That initiated the Navy Navigation Satellite System (NNSS) program of the US
Army, which spawned the first GNSS known as TRNASIT.
The TRANSIT constellation was composed by 5 satellites and operated from 1960
to 1996, being opened to civil users in 1967.
Block II-RM
Block IIIA
Block IIR
GPS constelation
Navigation principle
A world-wide infrastructure
composed by tracking stations,
terrestrial and ground-to-satellites
data links and operational
centres, monitor and control the
constellation.
2) mathematical foundation
X R Y S YR Z S Z R X RS
U RS
S
where X R stands for all the unaccounted errors.
U RS
X
Y
Y
Z
Z
X R Y S YR Z S Z R X RS
X 1R
X R Y 2 YR Z 2 Z R X R2
X R Y 3 YR Z 3 Z R X R3
1
R
U R2
U R3
U RS
X
S
X R Y S YR Z S Z R X RS
X R ,0 Y S YR ,0 Z S Z R ,0
# U RS ,0 cos D RS ,0, X 'X R cos aRS ,0,Y 'YR cos aRS ,0, Z 'Z R X RS
X R X R ,0
U RS ,0
X S X R ,0
A n u 3
x 3 u 1
v n u 1
XR
U Rn ,0 cos aRn ,0,e 'eR cos D Rn ,0, n 'nR cos aRn ,0,v 'vR X Rn
U R2 ,0 cos aR2 ,0,e 'eR cos D R2 ,0,n 'nR cos aR2 ,0,v 'vR X R2
U 1R ,0 cos a1R ,0,e 'eR cos D 1R ,0,n 'nR cos a1R ,0,v 'vR X 1R
E = satellite elevation
A = satellite azimuth
U RS ,0 cos aRS ,0,e 'eR cos D RS ,0,n 'nR cos aRS ,0,v 'vR X RS
U 1R
U R2
U Rn
U Rn U Rn ,0
L n u 1
measured approximated
receiver satellite range
1
2
qnn
V 2 qen
qvn
qne
qee2
qve
1
A AT L
anv
geometrical configuration
of the measured satellites
i 1
Xi2
n 1
V 2 AT A
v L A x
C
x
measurement errors
eR
n R
vR ,0 'vR
eR ,0 'eR
nR ,0 'n R
V v V qvv
V e V qee
V n V qnn
vR
V PDOP
V qnn2 qee2
vertical
V qvv V VDOP
V HDOP
VV
good (PDOP<3)
Poor (PDOP>6)
X R ,0 Y S YR ,0 Z S Z R ,0
Error sources
3) pseudo-range measurement
GPS carriers
Electromagnetic waves are formed by a carrier and different modulations.
The carrier is pure sinusoidal wave mathematically described by 3 parameters:
c
wavelength
299792,458 km/s
s (t ) a sin(2 S f t I )
a = amplitude
f = frequency
I = phase
GPS codes
f0 =10.23 MHz
GPS satellites broadcast 2 carriers: L1 and L2 (Block II-F also L5), whose
frequencies and wavelength are:
L1: f1 = f0 x 154 = 1575.42 MHz; O1 =19.05 cm
L2: f2 = f0 x 120 = 1227.60 MHz; O2 =24.45 cm
Repetition interval
Chip length
1 ms
~300 m
L1 and L2
1 week
~30 m
P (Precise)
Modulate on
No
CA (Coarse acquisition)
Encrypted
c W
c W
1 ns 30 cm!
PRS c 'T S U RS ,0
c 'e
R
X 1R
cos aRS ,0,e 'eR cos D RS ,0, n 'nR cos aRS ,0,v 'vR c 't R X RS
A n u 4
Error sources
x 4 u1 v n u1
'vR
n
cos D Rn ,0,e cos aRn ,0, n cos aRn ,0,v c 't R X R
PRn
L n u 1
Behaviour
1 m
1m
CA
Measurement
3 m
Error source
Multipath
Error sources
U I,
O N O c 't 'T
an integer number
lR1 U 1R ,0 c 'T 1
lR2 U R2 ,0 c 'T 2
lRn U Rn ,0 c 'T n
In matrix form:
'nR
L
't R
Ax v
'vR
n measurements
ambiguities
an integer number
N Rn
0 0
O 0
O
N R1 N R2
cos aRn ,0,e 'eR cos D Rn ,0, n 'nR cos aRn ,0,v 'vR c 't R O N Rn X Rn
'eR
n
n
n
1.5 hours
L1 or L2
30 cm 2 mm
CA
1 m
1m
Error source
Measurement
3 m
10 mm
Multipath
ambiguity
Error sources
Behaviour
continental drift
crustal deformation
seismic and volcano activity
Earth tides
Earth orientation and irregular
rotation
post-glacial rebound
ocean, hydrological and
atmospheric loading
neutral atmosphere
(~0-50 km)
clock
antenna phase center
instrumental biases
multipath
measurement errors
Posicionamiento preciso
1 V
r
2 c
tS tR
tR
Error ionosfrico
UR US
c2
Relativistic correction
Vr = relative velocity
US = satellite potential; UR = receiver potential
tS = satellite time; tR = receiver time
tS tR
tR
E = eccentric anomaly
a = semi-major axis
e = eccentricity
'U REL
2
P E e a sin E
c
f E # 10.2299999954 u106 Hz
Constant parts
))))))& )))))&
S
S
'U PCM
GU PCV
variable part (Phase Center Variation)
))))))&
S
'U ECC
constant part
Values are different for L1 and L2 and change if a radome is on the antenna.
'I
d ' d
sign G 'u G arccos
d' d
d x [ u \
d ' x ' [ ' u \ '
Instrumental biases
c
v
refraction index; n=1 in vacuum.
1
1 dr
c
0
refractivity
1
n 1 dr
c
0
106 N dr
Ionospheric error
n 1 dr
0
W'
W W '
dr 1
W
n dr
v c 0
0
(neglecting the bending)
and the difference:
'W
c 'W
'U
NI
40.3 u 106
ED
f2
40.3
ED dr
f 2 0
40.3 u 1016
TEC
f2
L2: 1,22760E+09
L1: 1,57542E+09
frequency
0,267 m
0,162 m
error (1 TECu)
The ionosphere extends from ~50 km above the Erath surface and is characterized by the
presence of free electrons (electrons dissociated from atoms and molecules).
Its mass is lower than 0.1% of the total atmospheric mass, but free electrons interact with
electromagnetic waves changing its speed of propagation.
f = frequency (Hz);
ED = electron density (electrons/m3)
- for carrier / + for code
'U I
l2
1.5457
f 22
40.3
TEC
U 'U I ,2 O2 N 2 X2
,
l1
TEC
U 'U I ,1 O1 N1 X1
,
f12
40.3
l3
2.5457
f12
f 22
l
l2
1
f 2 f 22
f12 f 22
1
2.5457 2 V 12 1.5457 2 V 22 # 3 V 1 # 3 V 2
2.5457 N1 O1 1.5457 N 2 O2
2.5457 X 1.5457 X2 V 3
1
b3
N D NW
4
hD
Error troposfrico
'U D , z
height variability
'UW , z
11000
hD
hW
Tropospheric error
dry component
hD ~ 40 km
wet component
hW = 11 km
106
N D ,h 0 hD
5
106
NW ,h 0 hW
5
Tropospheric correction
106 NW (h) dh
106 N D (h) dh
hW
height variability
p h h
77.64 S
T hD
0
NT
N ( h)
D
N D ,h
NW ,h
e
e hH h
N ( h)
12.96 3.718 105
2
T
T
hW
hD and hW = scale height (m)
p = atmospheric pressure (mb)
T = temperature (K)
e = partial water vapor pressure (mb)
all reduced to h=0.
'U D , z 0 mD ( z ) 'UW , z 0 mW ( z )
The total tropospheric delay (dry + wet) for a zenith distance z, is given by:
'UT ( z )
mD /W ( z )
a /W
D
1
b
1 D /W
1 c D /W
a D /W
cos( z )
bD /W
cos( z ) cD /W
cos( z )
Empirical correction
'U T , z 0 GUT , z
Models are not accurate enough to correct the tropospheric error (specially the wet
component.
Errors affects mostly the estimation of the height.
An empirical correction is added to account for the unmodeled correction:
'UT , z
Zenith delay
Modeled value
An empirical correction is estimated together with the station coordinates, the receiver
clock and the ambiguities.
Typically one correction per hour is estimated.
Unmodeled
tropospheric
correction
Correction to
receiver clock
cos aRS ,0,e 'eR cos D RS ,0,n 'nR cos aRS ,0,v 'vR c 't R
Ionosphere-free combination of
carrier phase measurements
Corrections to the approximate
receiver coordinates
Receiver-satellite range computed
Receiver-satellite
from satellite ephemerides and
direction cosines
approximate receiver coordinates
l3 SR U RS ,0 'U RS
Ionosphere-free bias
(including satellite and
receiver instrumental
biases and wind-up).
Troposphere wet
mapping function
b3 SR mW z RS GUTR X3 SR
Corrections:
satellite clock
relativity
satellite and receiver
antennas phase centers
troposphere (dry + wet)
coordinate variations (solid
tides, ocean loading, EOP, etc.)
Time
dependence
Constant
Varying
none
none
none
None
relative
Type of
constraint
unknown
Updating
interval
Receiver clock
Vr
Va
Tropospheric correction
V
is
the
standard
deviation
for the
a
absolute value
V
is
the
standard
deviation for the
temporal variation
r
2
l1,2
Single differences
l11 l21
1
1
l12 l22
Double difference
1
2
l1,2
l1,2
l1,1,22
1
l1,2
satellite 2
Posicionamiento preciso
satellite 1
receiver 2
receiver 1
X
2
satellite 2
cos a22
2
1
cos a
receiver 2
cos a12
Posicionamiento preciso
satellite 1
cos a
1
1
X1
receiver 1
satellite 2
Posicionamiento preciso
satellite 1
2
1
1
1
1,2
l1,2
1
2
cos a1 cos a1 X 1
1
2
1
1
b12 b22
1,2
l1,2
1
1
1
2
b b
1
1
2
1
2
b1 b1 b2 b2
1
2
1
2
m1 m1 GU1 m2 m2 GU 2
1, 2
b1,2
m GU m GU
1
1
b22 ; m22 GU 2
b ; m GU
2
1
b21 ; m12 GU 2
b11 ; m11 GU1
receiver 2
receiver 1
receiver 2
l
l
l
l
l
l
1
2
2
2
1
3
2
3
1
1
2
1
l l
l l
l l
l l
l l
l l
1
1
2
1
1
2
2
2
1
3
2
3
A0 / S
1 0 1 0 0 0 l11
0 1 0 1 0 0 l12
0 0 1 0 1 0 l21
0 0 0 1 0 1 l22
1 0 0 0 1 0 l31
0 1 0 0 0 1 l 2
3
A 0 / S AT0 / S
2
0
1
0
2
0
0
2
0
l11 l21
l12 l22
l21 l31
l22 l32
1
0
2
1 0 1 0
0 1 0 1
2 0 1 0
1
1,2
2
1,2
1
2,3
2
2,3
1
3,1
2
3,1
C SD
0 1 0 2
1 0 1 0
0 1 0 1
receiver 3
receiver 1
1
1,2
2
1,2
1
l2,3
2
l2,3
A S / D A0 / S
l11
l12
1 1 1 1 0 0 l21
0 0 1 1 1 1 l 2
21
A0 / D
l3
l32
l11
l11
1 0 1 0 0 0 l12
0 1 0 1 0 0 l21
0 0 1 0 1 0 l22
0 0 0 1 0 1 l1
32
A0 / S
l3
l
l
C DD
1,2
1,2
1,2
2,3
l
l
l
l
2
1,2
2
2,3
5 0 4 0
0 5 0 4
4 0 5 0
0 4 0 5
1
l1,2
2
1 1 0 0 l1,2
0 0 1 1 l1
2,3
2
AS / D
l2,3
A 0 / D AT0 / D
1
1,2
1
2,3
Lets assume that the red and green independent baselines are chosen (more
measurements, short lengths, other criteria):
1,2
l1,2
1,2
l2,3
l12
l1
22
l2
l31
l32
6) network computation
Sampling rate
24 h (86400s)
1/15s
50
Observations
Observation period
Receivers
Equations of observation
Receiver clocks
50 x 24 = 1200
Just an example
Tropospheric corrections
50 x 31 x 2 = 3100
3 x 50 = 150
unknowns
Biases
292450
Receivers coordinates
Total
Assuming 2 continuous
satellites arcs per day (no
cycle slips).
L = Ax + v
Nx = b
AT L1 /
Normal system
N = T L1 $
L Ax ,
v t 6 L1 v
,and the variancenm
N 1 .
Weighted solution
Combination of solutions
After L. Snchez
6) ambiguity resolution
X5
b5
l1
f12
TEC
l5
f 22
TEC
U 'U I ,2 O2 N 2 X2
,
l2
3.5294
f1
f2
D
D
TEC
TEC
f1 f 2 f12
f1 f 2 f 22
1.3
f O
'U I ,1
f1 D
TEC
f 2 f12
,
c
N1 N 2
f1 f 2
N5
O5 = 0.8619 m
4.52942 V 12 3.52942 V 22 # 6 V 1 # 6 V 2
f1
f2
l
l2
1
f1 f 2
f1 f 2
4.5294
U 'U I ,1 O1 N1 X1
,
f12
f 22
N
N 2 O2
1 O1
f12 f 22
f12 f 22
c
f1 N1 f 2 N 2
f12 f 22
f1
f2
N
N 2 O2
1 O1
f1 f 2
f1 f 2
'U I ,5
4.5294 X1 3.5294 X2 V 5
b3
2
2
f1 f 2 f1 f 2
O3 = 0.1070 m
1. Calccompute a ionos-free
solution (float biases);
c
f N f N f N f N
1
1
2
1
2
1 2 2
f12 f 22
0
c f2
c
N N
f1 f 2 N1
1
2
f f
f12 f 22
2
1
2
2
c f2
c
N
N1
5
f f
f1 f 2
2
1
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-1
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-2
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-3
GM
a2 b2
2 b2
a
arctan
1 Z 2 a2
3
e' 2
a 2 b2
, m
b2
Z 2 a 2b
GM
f
GM
e' 2 n
1
1 1
m
b
2n 1 3
n 1
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 4
Dependence of h on
the ellipsoid
parameters (form
and size)
Dependence of h on the
orientation and position
of the ellipsoid
Source: www.sirgas.org
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-5
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 6
dhX
dt
U X const.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-7
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-8
CP
W0 WP
'WP
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4-9
CP
g
0
W WP
g
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 11
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 12
CP
g
W0 WP
g
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 13
g ; dW g dn
dW
dn
B
gG n
A
g H B H A W A WB
dW
A
i.e. the level difference dn between two points (A, B), located on the Earths surface
and on two different equipotential surfaces, corresponds to:
W A WB
dn BA H B H A
g
is the mean gravity value between the two equipotential surfaces WA and WB
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 14
W0 W B
dn z 0
g G n # g dn
0
W W
CB
0
B
HB
g
g
Note: g and are different values!
dn z H B
Levelled height differences are not the same as physical height differences!!
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 15
dn k
The levelled height differences must be converted into potential differences or into
physical height differences to satisfy the loop misclosure condition of zero, i.e.
dW
Afterwards they are adjusted by the method of condition equations or by the method
of parameter variation. k is known as the gravity correction (or reduction) to levelling.
gA gB
2
In practice, the potential difference from geometric (spirit) levelling between two
bench marks I and II is given by:
'WII , I
g AB
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 16
1
sdn
1 / 16
Rkm
Rkm
Rkm
Rkm
C
C
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 19
Minimum accuracy of
gravity values for the
determination of
geopotential numbers
mg for R = 2 km
[10-5 m s-2]
mg for R = 1 km
[10-5 m s-2]
566
283
189
141
113
400
200
133
100
80
81
57
28
11
10
20
30
40
50
57
40
20
8
8
4
2
Height [m]
70
100
200
500
4
2
1
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 20
1000
2000
4000
pdn
r 2 Rkm mm
s
s
r 3 Rkm mm
s
mm
mm
mm
r 2 6 Rkm mm
r 2 2
r 2 3
r 2 5
First-order
s
r 5 Rkm mm
Second-order:
s
s
Third-order:
Fourth-order:
R: length in [km] of the levelling line associated with the measured height difference.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 17
4mm Rkm
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 18
DYN
'H AB
DYN
'n AB k AB
; J
1
HN
HN
J dH
N
B
g J o45
J A J 45
J B J 45
G n m 45 o H AN m 45 o H BN
J o45
Jo
Jo
N
N
'H AB
'n AB k AB
J oM
B
B
g J o45
g J o45
DYN
k AB
A J o45 G n A J o45 dn
J oM Normal gravity for the surface of the level ellipsoid at certain latitude M, normally 45.
C
m
Normal heights:
From potential differences:
HN
Jm
N
k AB
A
Z 2 a 2b
GM
N
N 2
H
H
2
N 2
M
2
H J o 1 1 f m 2 f sin M a a 2 [ms ]
o
Mean normal gravity along the normal plumb line between telluroid and ellipsoid (analytically
J m estimable, iterativ)
Jm
1 wJ
1 w 2J
N
Jo
H
2 wH o
2! wH 2
LA MATA
LA MATA
Perfil topogrfico [m]
CORDILLERA
ORIENTAL
BOGOTA
ALTO DE SANTURBAN
CUCUTA
VALLE DEL RO
CATATUMBO
Courtesy
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 21
BARRANCABERMEJA
PUERTA DE HIERRO
CORDILLERA CENTRAL
MEDELLIN
BARRANCABERMEJA
CORDILLERA CENTRAL
LA MATA
-450
3000
-900
1000
2000
BOGOTA
VALLE DEL RO
MAGDALENA
CORDILLERA
ORIENTAL
MEDELLIN
-600
-1200
4000
2000
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 22
50
CALI
VALLE DEL RO
CAUCA
CALI
IBAGUE
MEDELL
CORDILLERA CENTRAL
VALLE DEL RO
MAGDALENA
BUENAVENTURA
(Maregrafo)
CORDILLERA ORIENTAL
QUIBDO
CORDILLERA CENTRAL
CORDILLERA
MEDELLINOCCIDENTAL
CORDILLERA CENTRAL
MEDELLIN
LADERA DE LA CORDILLERA
CENTRAL
4000
2000
CORDILLERA
OCCIDENTAL
-15
1500
2250
BUENAVENTURA
(Maregrafo)
HO
g dH
J o45
g J o45
Gn
O
O
'H AB
'n AB k AB
O
k AB
J o45
g mA J o45
H AO
J o45
Courtesy
g mB J o45
; gm
1
HO
H BO
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 23
750
BOGOTA
C
g
Orthometric heights:
From potential differences:
HO
gm
Mean real gravity along the plumb line between Earths surface and geoid. It can only be
estimated by means of hypotheses about the (unknown) Earths internal mass distribution and
the (unknown) vertical gravity gradient. Each different hypothesis produces a different type of
orthometric height.
gH 2
O
1
g p g 0 g p 3,086 0,83818 U p 10 6 H p
2
2
Helmert:
n
O
1
g p g 0 g 0 g 0AP H O ; H O 1 H iO
2
Hp
ni1
gm
First method of Ramsayer:
HO
1 n
1
g i 3,086 x 10 6 H iO 2 3,086 x 10 6 2p
n i1
gm
Ledersteger:
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 24
QUIBDO
VALLE DEL RO
MAGDALENA
CORDILLERA CENTRAL
MEDELLIN
Courtesy
Ledersteger [cm]
BUENAVENTURA
(Maregrafo)
Baranov [cm]
CORDILLERA ORIENTAL
BOGOTA
IBAGUE
CORDILLERA
MEDELLINOCCIDENTAL
CORDILLERA CENTRAL
Ledersteger [cm]
CALI
CORDILLERA CENTRAL
VALLE DEL RO
CAUCA
Baranov [cm]
MEDELLIN
LADERA DE LA CORDILLERA
CENTRAL
Helmert [cm]
50
-50
4000
2000
CORDILLERA
OCCIDENTAL
BUENAVENTURA
(Maregrafo)
CALI
Helmert [cm]
-20
2250
1500
750
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 25
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 26
Definition of
Description
Dynamic heights
to
height
Orthometric heights
units
gm
1
HO
C
gm
g dH
Nomal heights
; Jm
1
HN
J mA J o45 N J mB J o45 N
HA
HB
J o45
J o45
J dH
HN
Jm
geoid and P)
HN
Gn
N
'n AB k AB
J o45
g J o45
N
'H AB
N
k AB
Magnitude: mm ... dm
O
k AB
Jm is estimable univocally.
h ]
HN
univocally,
only x
estimated
H O h N
B
g J o45
g A J 45
g B J 45
G n m 45 o H AO m 45 o H BO
Jo
Jo
J o45
O
O
'H AB
'n AB k AB
Magnitude: mm ... dm
HO
HO
(scaled Distance, along the plumb line, between the surface Distance, along the normal plumb line, between the
J N : constant normal gravity value at an arbitrary gm: Mean real gravity value along the plumb line Jm: Mean normal gravity value along the normal
o
conversion
Simple
J oM
B
g J 45
J o45 o dn
geopotential numbers)
H DYN
DYN
'H AB
Magnitude: < 20 m
DYN
'n AB k AB
Correction
(for levelling)
DYN
k AB
g J o45
Gn
J o45
No geometrical meaning
wg
be
Uniqueness
Heights values shall be univocally determinable, i.e. they shall not
depend on the levelling path.
Orthometric
Normal
Remarks
cannot
approximately.
gm
Zero-height surface
with physical meaning and independent of the heights (i.e. the zeroheight surface shall not change if heights change).
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 27
Geometric meaning
Heights shall represent the vertical distance between two points (one
on the Earths surface and one on the reference surface)
Height type
Units of length
Heights shall be given en units of length (or distance), i.e. in metres.
Dynamic
Characteristics
Use of hypotheses
The use of hypotheses shall be avoided. If hypotheses are improved, the
height system must be changed totally.
/
/
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 28
For orthometric
heights: the geoid.
For normal heights:
the quasi-geoid.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 29
g P0 J P0
Gg
g P0 J Q0
Gravity anomaly:
'g
Gg
1 wJ
T
J wh
wT 1 wJ
T
wh J wh
T
J
Bruns equation:
N
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 31
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 32
Hypotheses:
No hypotheses are required.
'g g P J Q
P: on the Earths surface
Q: on the telluroid
Gravity anomalies:
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 33
1
S \ 'g dV
4SR Earth
T
S \
G1
Tk
0
R2
2S
h hp
R2
3G
] 0 dV |
'g
2R
2S
l 03
l 03
h hp
'g dV
\
\
1
\
6 sin 1 5 cos\ 3 cos\ ln sin sin 2
sin \ / 2
2
2
2
1
S \ ( 'g G1 G2 ...)dV
4SR Earth
Disturbing potential:
Disturbing potential:
S \
l 0 2 R sin
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 34
N ]
g J
HO
H N HO
mean normal gravity value along the normal plumb line between ellipsoid and
telluroid (or between Earths surface and quasi-geoid)
g mean real gravity value along the plumb line between Earths surface and geoid.
This relationship allows the determination of the geoid from the quasi-geoid (or
viceversa). Its hypotheses correspond to the Helmert theory for the determination
of orthometric heights.
-76
-73
-70
-67
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 35
-79
36 [m]
12
32
-67
30
12
24
24
18
16
-70
12
-2
-73
-6
-10
-12
-18
-18
-76
-24
-3
-26
-3
-79
-34
Courtesy
(Snchez 2003)
http://www.igac.gov.co/
-42
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 36
-70
NG
-67
-79
-76
-73
-70
-67
middle wavelength NL
-79
-76
-73
-70
-67
short wavelength NT
Since the gravity anomalies derived from the local terrestrial gravity data contain the
contribution of the global gravity model and of the topography, it is necessary to
remove these two contributions from the local anomalies: 'g= 'gL- 'gG- 'gT . They
are restored again, when the (quasi-)geoid undulations are computed.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 39
-73
http://www.igac.gov.co/
-2
100 200 300 400 500 600 700 800 900 1000 1100 1120 [Pms ]
122
121
121
120
120
119
119
118
118
117
117
116
116
115
115
114
114
113
113
112
112
111
111
110
110
109
109
108
108
107
107
106
106
105
105
104
104
103
103
102
102
101
101
100
100
99
99
98
98
97
97
96
96
95
95
94
94
93
93
92
92
91
91
90
90
89
89
88
88
87
87
86
86
85
85
84
84
83
83
82
82
81
81
80
80
79
79
78
78
77
77
76
76
75
75
74
74
73
73
72
72
71
71
70
70
69
69
68
68
67
67
66
66
65
65
64
64
63
63
62
62
61
61
60
60
59
59
58
58
57
57
56
56
55
55
54
54
53
53
52
52
51
51
50
50
49
49
48
48
47
47
46
46
45
45
44
44
43
43
42
42
41
41
40
40
39
39
38
38
37
37
36
36
35
35
34
34
33
33
32
32
31
31
30
30
29
29
28
28
27
27
26
26
25
25
24
24
23
23
22
22
21
21
20
20
19
19
18
18
17
17
16
16
15
15
14
14
13
13
12
12
11
11
10
10
9
9
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
0
-1
-1
-2
-2
-3
-3
-4
-4
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 40
EGM2008 coefficients
EGM96 coefficients
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 37
-76
long wavelength
-79
12
-67
12
-70
12
-73
12
-76
12
-79
12
36 [m]
-67
30
31
24
23
18
15
-70
12
-2
-73
-6
- 10
-12
-76
- 18
-18
-24
-26
-79
-34
-42
36 [m]
-67
30
30
24
22
18
-70
12
14
-2
-73
-6
-3
-10
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 38
-12
-3
- 18
-18
-3
-76
-24
-3
-26
-3
-79
-34
(Snchez 2003)
-3
-42
Courtesy
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 42
Terrestrial and
marine gravity
anomalies of
high-frequency,
topography
Gravity field
satellite missions
Orbit analysis
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 41
de
dt
1 e 2 wR
1 e 2 wT
na 2 e wM
na 2 e wZ
da
dt
d:
dt
n
2 wT
na wM
1
wT
na 2 1 e 2 sin i wi
1 e 2 wR
2 wT
na 2 e we na wa
dM
dt
Measurements:
Orbit analysis
Distances, differences of distance, and directions to
satellites (Satellite Laser Ranging - SLR)
Principle:
Comparison of the non-perturbed orbit (normal o
Keppler orbit) with the real orbit described by the
satellites. Discrepancies are caused by gravitational
effects of anomalous masses (non-homogeneous
distribution).
Method:
The variation of the orbit (Keplerian) elements are
represented as a function of the anomalous potential. After
invertion, this potential is estimated:
dZ
dt
cos i
1
wT
wT
na 2 1 e 2 sin i wZ na 2 1 e 2 sin i w:
cos i
1 e 2 wT
wT
na 2 e we
na 2 1 e 2 sin i wi
di
dt
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 43
Design:
http://www.gfz-potsdam.de/pb1/op/champ/
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 44
Principle:
http://www.gfz-potsdam.de/pb1/op/grace/index_GRACE.html
http://www.goce-projektbuero.de/
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 45
Principle:
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 46
GPS receiver
Accelerometer
Star sensors
15.07.2000 19.09.2010
Height: 454 km -> 300 km
Inclination: 87
GPS receiver
Accelerometer
Star sensors
Distances by microwaves
17.03.2002 -
Height : 485 km -> 300 km
Inclination: 89
GPS receiver
Gradiometer
Star sensors
17.03.2009-13.11.2013
Height : 259 km -> 224 km
Inclination: 96,5
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 47
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 48
Taken from An Earth Gravitational Model to Degree 2160: EGM2008, Pavlis, et al. EGU 2008.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 50
Differences between the GOCE combined model (TW01 up to degree 210 and
terrestrial data) and EGM2008 up to degree 2190 (Cortesy M. Sideris 2011)
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 51
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 52
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 53
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 55
Earths crust
In general, the time-depending tidal effects caused by Sun and Moon are
reduced from geodetic observations. The treatment of the permanent
deformation defines the so called tide systems, there are two concepts for
Earths geometry (surface, crust or topography) and three concepts for the
Earths gravity field (gravity, geoid, physical heights).
(Quasi-)geoid
Deformed crust
Non-deformed crust
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 56
retained
time-dependent
(periodic)
retained
retained
retained
retained
It reflects the constant effects caused
by Sun and Moon on the Earth
(gravity/potential field and geometry)
It is the reality
Characteristics
instantaneous
removed
Tide effects
time-independent
(permanent)
direct
indirect
mean-tide
retained
removed
removed
removed
removed
zero-tide
removed
tide-free
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 57
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 58
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 59
Heights of SLR stations in conventional tide free, tide free and mean tide systems
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 60
N mt N nt
0.099(3sin 2 T 1)
Gt N
N zt N nt
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 61
Mkkinen (2008)
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 62
Direct and indirect permanent tide effects remain the most important
issue:
- Ellipsoidal heights referred to the IERS/ITRF are in the conventional tide
free system (nominal Love numbers, anelastic response to semidiurnal
frequencies);
- Sea surface heights are in mean tide system and mean geoids are
needed for the computation of DT;
- Geopotential numbers are in general in mean tide system. If tide
effects are reduced, they can be in tide free (fluid Love numbers) or zero
tide (indirect effect restored);
- Terrestrial gravity is give in:
- Mean tide system for IGSN71 values until 1979
- Tide free system between 1979 and ~ 1988 (International Absolute
Gravity Base-station Network - IAGBN)
- Zero tide system since 1988
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 63
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 64
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 65
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 66
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 67
Problem 3: secular sea level changes are not taken into account. The
reference level depends on the time covered for averaging.
When the vertical datum was established, the mean sea level was 7
cm higher.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 68
1954
1964
1969
1959
1974
1979
1984
1989
7.35
7.15
7.25
7.05
6.95
6.85
1949
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 69
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 70
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 71
Source: www.sirgas.org
In practice H and N
assumed invariant
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 72
Source: www.sirgas.org
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 73
Source: http://www.bkg.bund.de/geodIS/EVRS/
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 74
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 75
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 76
Basic idea
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 77
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 78
2) Coordinates of points
attached to the solid surface
of the Earth are given by
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 79
geocentric Cartesian
coordinates X (and their
changes with time dX/dt) in
the ITRS.
1) geometrical component
h(t0,X); dh(X)/dt
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 80
1
n
i 1
W0(i )
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 81
Definition:
Physical component
Geometrical component
Definition:
Realization:
Coordinates: C X, t W0 W X, t ; dC X dt
Reference level: W X W0 const.
Realization:
Coordinates: h X, t ; dh X dt
Reference level:U 0 U X const.
1) referred to the ITRS/ITRF
2) conventional ellipsoid
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 83
Conventional W0 value
corresponding to a
conventional global geoid
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 84
Solution by
combined
least squares
adjustment.
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 85
Coastal approach
(direct at tide gauges)
h GNSS positioning;
Ci = 0;
Ti satellite only GGM +
terrestrial gravity data +
terrain model
Continental approach
(reference stations on land)
h GNSS positioning;
Ci levelling + gravity
reductions;
Ti satellite only GGM +
terrestrial gravity data +
terrain model
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 87
H N ,i 1 P H N ,i P qGW0i 1 GW0i
P , Pk
V S \ dV
i
0
indirect effects
(negligible)
j 1
iz j
f P GW P
1
2SJ
vertical datum
discrepancies
(to be determined)
h P H N ,i P q'W E ] P e i P GW
f 0i P :
'W0 W0 U 0
GNSS positioning on
land and satellite heights from geop.
altimetry on sea
height anomalies
numbers on land
surface around tide
from GBVP
and sea surface
gauges
[GGM (n=200) +
topography around
terrestrial gravity +
tide gauges
terrain models]
1
q : , ei P : q f 0i P ,
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 88
q'W0 E ] P
N ,i 1
P H N ,i P @
w\ x wx
P
@ >H
x b v \ x0 A x ; A
Observation equations
N ,i
>hP H
GW j ; j 1 J
1, 1 , q, q, e j , f 0i
Unknowns (vector x )
Solution: v
b \ x
A x b \ x0 A x l
x x0 x
l
0
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 89
Trend from
satellite altimetry:
2,4 r 0,8 mm/a
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 91
Geometrical heights on
land areas
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 92
Height anomalies
Normal heights
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 93
Ellipsoidal heights
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 94
Residuals
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 95
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 96
L. Snchez (2015): VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 4- 97
Epicentre
tF
Focus
(Hypocentre)
tB
A Observatories
Origination of earthquakes
Earthquakes are caused by the release
of accumulated stress along faults.
The released energies propagate as
elastic waves in the solid Earth.
Principle of seismology
tA
vS
S-waves
< 0.1
18
80
60
44
20
25
80
- Granite
50
37
Water
1.3
0.3
Gum
- Lime rock
Crustal rocks
- Gabbro
Steel
- Peridotite
Material
Seismic waves
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
O 2P
U
P-waves
vP
P
U
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Depth
2.0 2.9
3.0 3.9
4.0 4.9
5.0 5.9
6.0 6.9
7.0 7.9
Magnitude
45%
No.
300000
49000
6200
800
120
18
Events/year
12 %
85 %
Energy
<< 1 %
<1%
1%
3%
10 %
35 %
50 %
Energy
3%
30 %
25%
0 70 km
300 720 km
70 300 km
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
v1
;
v2
v1
v2
sin D
sin E1
r1 sin E1
r2 sin E 2
sin D
sin(180q E1 )
r1
r2
sin D
sin E 2
const.
r sin E
v(r )
Inner
no S-waves
in the outer
core: = 0,
i.e. fluid!
Focus
no direct waves
arrive in the
shadow zone
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Propagation of waves
Outer
Core
Mantle
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Pressure
Inner
core boundary
Density
Shear module
Compression module
Gravity
Derived parameters
Discontinuity
Velocity in km/s
Lower
mantle
Outer
core
Inner
core
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
LVZ (LID)
Transition Zone
Lower Mantle
Outer Core
Inner Core
Denomination
Radius
2,60
2,90
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Lower Crust
1,02
Density [g/cm3]
Upper Crust
... 1222
Oceans
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Depth in km
10
11
12
Lithosphere
part of the
geoid from
an inversion
into 4 layers
of the Earth
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
13
(Wikipedia)
14
Heat flow:
Q = -JUDG7
[J m-1s-1K-1] = heat conductivity
GLY4 FdT/dt
c [J g-1 K-1] = specific heat
/DSODFHRSHUDWRU
WKHUPDOGLIIXVLYLW\
0.14
[106 m2 s-1]
4.2
c [J m-1 K-1]
0.55
0.6
0.8
170
0.8 1.8
1.1
0.23
0.8 1.2
1
2.5
410
24
[106 g m-3]
Glas
10.5
2.2 3.2
Water
Material
Silver
Rocks
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
15
[mWm-2]
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Depth [km]
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Lithospheric thickness[km]
40
160
40
20
160
80
160
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
60
40
60
Temperature [C]
17
16
Principle of palaeomagnetism
The magnetic dipole field
Magnetism of rocks
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Geomagnetic reversals
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
18
19
21
20
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
upper
lower crust
upper mantle
transition
zone
lower mantle
outer core
inner core
continent
lithosphere
(depth
ocean
lithosphere
asthenosphere
asthenosphere
Summary of the
Earths structure
22
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Geodynamic processes
A principal dynamic
process in the Earth
is the convection in
the viscous mantle.
23
Masses heated by
the Earths core are
rising in the mantle
and spreading aside
when cooled beneath
the lithosphere. The
streams separate the
lithosphere forming
diverging ridges.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Trench
Atlantic
Mantle
Core
24
The Mid Atlantic Ridge is a spreading zone between America and Africa
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
+ Slab pull
Collision
+ Drag
+ Ridge push
Resistence
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
POLE OF
SPREADING
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
2d
One determines the age of the magnetic stripes (normal or inverse),
measures the distance between those of the same age and computes
the velocity v = d/t.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
N
A
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Compression
Compression
Dilatation
Inverse faulting
Oblique faulting
Strike-slip faulting
Normal faulting
Dilatation
The first P-wave move of the seismograph indicates the direction of motion
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Plate name
50.5740
62.9943
45.2329
33.8532
25.0052
24.4856
50.6195
45.5102
-2.4280
47.8005
-63.0451
-25.3483
) >@
286.0407
244.2353
355.5436
33.1708
266.9898
244.2414
247.7258
0.3436
274.1002
259.8728
107.3271
235.5830
/>@
0.2909
0.2383
0.5455
0.6461
0.2143
1.5103
0.2337
0.5453
0.2069
0.7432
0.6409
0.1164
Z>/ Ma@
10
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
NAZC
CARB
COCO
NOAM
SOAM
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
11
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
277 extensions, 121 fault azimutes, 724 spreading rates = 1122 in total
12
13
Integration: 6 6 v1u1 o 0
no net rotation compatible with EOP
(dO/dt)k
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
14
Velocity
0.2909
0.3079
0.2384
0.5929
1.2102
0.6462
0.2912
0.2337
0.5454
1.1971
0.2069
0.7432
0.2359
0.6408
0.1164
0.3478
0.4755
0.3928
PB2002
Longitude
-73.9481
-98.3803
-115.7365
-6.1940
27.2489
33.1689
-87.5775
-112.2750
0.3448
139.5455
-85.8946
-100.1303
-97.7137
107.3246
-124.4300
-93.2661
-73.1976
-150.4806
Latitude
50.5643
44.3353
62.9970
46.6691
40.9338
33.8554
34.0376
50.6311
45.5120
15.1572
-2.4098
47.8041
31.8492
-63.0448
-25.3247
49.7622
45.1695
66.8484
15
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
16
From en.wikipedia.org
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Long-term deformations
(a) Plate rotations
(b) Intra-plate deformation
(c) Inter-plate deformation
(c1) Sea floor spreading
(c2) Ocean plate subduction
(c3) Continents collision
(c4) Shear strain (strike-slip)
(d) Other deformations
(d1) Isostatic adjustment
(d2) Sediment basins
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Diagram
V-H or H-t
V0
Relative strain
at V = const.
Mantle convection,
long-term deformation of lithosphere
models of rigid
plates
(e.g. NUVEL)
H = V/E
H = (V/K) t
Modelling as
a deformable
continuum
Defining the
used material
property is the
most important
prerequisite for
an adequate
approximation
of reality.
H=0
for all V
Rock rheology
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Mechanical
analogon
elastic
(Hook
material)
viscous
(Newton
material)
plastic
(St. VenantMaterial)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Diagram
V-H or H-t
V0
where t1 = K/E1
H = V/E+(V/K )t
for V > V0
processes of
mountain building
flexure of plates in
subduction zones
general lithosphere
(incl. mantle)
H V / E (1 e t / t ) Earth tides,
Chandler wobble
of polar motion
Rock rheology
visco-elastic
(Kelvin-Voigt
material)
elasto-viscous
(Maxwellmaterial)
Mechanical
analogon
elasto-plastic
(Prandtlmaterial)
De-nomination
elasto-viscoplastic
(Bingham-mat.)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
1 F
; H
EQ
1
p
E
F / Q)
G = shear modulus
W G J (W
'r 'l
V
:
(0 d V d 0,5)
r l
V = Poissons ratio (number)
Volume
deformation:
'V
p K
V
K = compressive modulus
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
E
3 (1 2V )
2
K G
3
E
2 (1 V )
E
2 (1 V )
1/ 2 K 1/ 3 G
K 1/ 3 G
3 K G
K 1/ 3 G
E V
(1 V ) (1 2V )
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
w2u
wt 2
O G ij H kk 2 P H ij
pij
Equation of motion of
the elastic deformation:
u = point velocity
f = force function
S = stiffness matrix
S = S(x, O, P)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Shear : J
1 wv ww
2 wz wy
1 wu wv
2 wy wx
1 wu ww
2 wz wx
1 wv ww
2 wz wy
Extension : H
wv
wy
wu
wx
ww
wz
0
1 wu wv
2 wy wx
1 wu ww
2 wz wx
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
10
11
Alps
2008
M=8.0
2012
M=8.6
2011
M=9.0
(DUWKTXDNHV0IURPWR
2010
M=8.8
2009
M=8.1
Persia-Tibet-Burma
GordaCaliforniaNevada
1RUWKHUQ$QGHV
Peru
Altiplano
Puna-Sierra Pampeanas
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Displacements observed
by the GPS GEONET of
the Geospatial Information
Authority (GSI) of Japan
before and after the M=9.0
earthquake, 2011-03-11.
There are more than 1000
continuously observing
GPS sites in a spacing of
about 25 km.
Data are processed and
interpreted in nearly realtime in order to allow a
prognostic alert.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
12
Probability M > 8 is
one per year
(from USGS)
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
SIRGAS
AS provides the continuous time series showing clearly the jump.
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
After
shock
series
Full
time
series
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Main shock (15 Jan.) and aftershock (13 Feb.) clearly identified
The M=8.4 earthquake in Arequipa, Peru, 23 June 2001 was the first
large earthquake monitored by SIRGAS continuously observing stations.
Mexicali M=7.2
earthquake
4 April 2010
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
Large vertical
displacements
close to focus
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
10
11
12
In Manzanillo
there was no
earthquake on
15 Nov. 2002,
but a collision
of a ship with
the pier where
the GPS antenna
was installed.
There were some
earthquakes on
22 Jan. 2003!
Caution with
interpretations!
VII SIRGAS School on Reference Systems, Santo Domingo, Dominican Republic, 16-17 November 2015
The magnetospheric tail flaps in space much like a flag in the wind.
Solar cycle
The activity of the Sun (magnetic field, ejection of solar
material, radiation intensity) changes with a period of
approximately 11 years.
These changes are highly correlated with the number of dark
regions in the solar corona (sunspot) that have been observed
for several centuries.
Quiet ionosphere
Disturbed ionosphere
Galileo
GLONASS
GPS
GRACE
SAC-C
FORMOSAT-3/COSMIC
L2 L1
m /TECu
S
S
0.105
, TEC E R E E R XTEC
L5
It is based on the La Plata Ionospherc Model (LPIM) developed at the GESA laboratory of the
La Plata University; its development started in 1994 and the first operational version was
released on 1998.
height
latitude
longitude
TEC 1016 N e ds
F1 region
resulting profile
F2 region
height of the
layer peak
Ne ( h )
N e,max e 2
Scale eight of
the layer
maximum
electron density
of the layer
1 z e z
LPIM models the vertical profile of electron density by means of a superposition of 4 alphaChapman layers which represent the E, F1, F2 and topside.
topside
E region
h hmax
H
hmF2
are separately modeled with spherical harmonics expansions dependent on the modip latitude
and the geographic longitude, and time dependent coefficients that are the main parameters to be
estimated by the Kalman filter:
L
l
2S
2S
: P , O , t a0 t alm t cos m
O blm t cos m
O Plm sin P
24
24
l 1 m 1
GNSS
Satellite Altimetry
CHAMP
COSMIC
SAC-C
GRACE
Some results
Some results
Some results
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-1
SIRGAS comprises:
To guarantee:
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-2
Members
Argentina
Bolivia
Brazil
Chile
Colombia
Costa Rica
Dominican Rep.
Ecuador
El Salvador
Guyana
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-3
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-4
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-5
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-6
Re-measuring campaign to
Estimate constant velocities for
SIRGAS95
First approach for a SIRGAS
vertical reference frame;
Obs.: 2000-05-10/19;
184 stations in North, Central and
South America;
Processing:
DGFI (Bernese, v. 4.0)
IBGE (Bernese, v. 4.0)
BEK (GIPSY/OASIS II);
Final solution: combination of the
individual normal equations.
SIRGAS2000: ITRF2000, poca 2000.4;
Precision: 3 6 mm.
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-8
389 stations;
75 common stations with the IGS (to
be included in the next ITRF
solution);
278 stations with GLONASS;
20 stations with GALILEO;
7 stations with BEIDEU;
Weekly processing.
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7-9
In the early years of SIRGAS the CON stations were installed mostly by the IGS.
By 2003 the national organizations committed to a policy aimed at
improving the geodetic infrastructure of the Americas and the number of
stations began to grow quickly.
The national reference stations are integrated into the continental
reference frame (SIRGAS-CON) for common processing and to guarantee
consistency with the ITRF.
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 10
Densification
SIRGAS/ITRF
269 / 9
1903 / 118
County
SIRGAS2000, 2000.4
125 / 7
SIRGAS2000, 2002.0
178 / 45
Brazil
34 /
SIRGAS95, 1995.4
Chile
ITRF2000, 2005.8
SIRGAS95, 1995.4
135 / 39
ITRF2005, 2006.6
Colombia
SIRGAS95, 1995.4
Argentina
Costa Rica
IGS05, 2007.8
Bolivia
Ecuador
ITRF93,
7/
160 / 15
34 /
13
70 / 47
El Salvador
ITRF2005, 2009,6
1995.0
Guatemala
F. Guiana
ITRF92, 1988.0
0 / 19
Mexico
21
47 /
17 /
17 /
156 /
SIRGAS95, 1995.4
SIRGAS95, 1995.4
ITRF2000, 2000.0
SIRGAS95, 1995.4
Panama
Uruguay
Peru
Venezuela
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 11
SIRGAS
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 12
IGS polyhedron
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 13
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 14
INEGI-Mx
SGM-Uy
CPAGS-Ve
IGN-Ar
IGM-Cl
10 processing centres;
2 combination centres;
Each station is included in three
individual solutions;
Unified processing standards
following IGS and IERS conventions.
CEPGE-Ec
IGAC-Co
DGFI-De
IBGE-Br
CNPDG-Cr
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 15
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 16
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 17
Removing
constraints
Free Normal
Equations (NEQ)
Accumulation of NEQ
- outliers removed
- variance factors included
Residual analysis
- Detection of outliers
- Thresholds: r 10 mm in N or E,
r 20 mm in Up
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 21
Loosely
constrained
SINEX files
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 20
Reliability of the
individual solutions
(comparison with IGS).
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 18
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 19
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 22
Criteria:
Mean standard deviation for station positions after aligning the
network to the IGS05 reference frame (formal error of the final
combination);
Residual analysis after combining the individual solutions
(internal consistency of the combined network);
Time series analysis for station coordinates (compatibility of the
combined solutions from week to week);
Comparison with the weekly IGS coordinates (consistency with
the IGS global network);
Comparison with the IBGE weekly combination (required
redundancy to generate the final SIRGAS products).
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 23
The mean standard deviation of the combined solutions agrees quite well
with those computed for the individual contributions, i.e. the quality of the
individual solutions is maintained and their combination does not deform
or damage the internal accuracy of the entire SIRGAS network.
Internal consistency: ~1,0 mm in N-E and ~3,6 mm in h.
Reliability: ~2,0 mm in N-E and 4,5 mm in h.
The differences between both processing centres are within the expected
level (less than 1,0 mm).
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 24
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 25
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 26
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 27
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 28
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 29
Setting up discontinuities
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 30
Setting up discontinuities
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 31
Latest multi-year
ear solution SIR15P01
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 32
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 33
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 34
Guatemala,
November 7, 2012
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 35
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 36
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 37
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 38
SIRGAS PRODUCTS
from the SIRGAS reference frame
- weekly station positions
- multi-year solutions (position + velocities)
- ionospheric maps
- troposphere estimates
- station position time series
- deformation/velocity models
-
from supporting SIRGAS activities at national
level
- redundancy in the computation of national
reference frames
- transformation parameters between old
national datums and SIRGAS
- alignment of the cartography projection
parameters to SIRGAS
-
the SIRGAS products are freely available for everyone but depend
on the participation of the countries in SIRGAS. If national reference
frames are not integrated into SIRGAS, there are not SIRGAS
coordinates for those reference frames. If levelling networks are not
integrated into SIRGAS, there are not connection parameters to the
global vertical datum, and so on
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 39
http://www.esa.int/esaLP/LPgoce.html
http://geodesy.hartrao.ac.za/
http://www.igp.ethz.ch/geometh/
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 40
http://ggos.gfz-potsdam.de/
http://www.agu.org/
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 41
Cartography
Visualization
Social
Sciences
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 42
GIS
Geodatabases
Business
SIRGAS
SSI
IRGAS
AS
AS
Geodesy
In situ data
collection
Remote sensing
Photogrammetry
Physical
Sciences
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 43
2009
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 44
1997 - 2009
1993 - 1997
http://www.fgdc.gov/library/whitepapers-reports/
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 45
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 48
AS A MEMBER COUNTRY
Addressing a letter to the SIRGAS President making clear the
interest on joining SIRGAS, mentioning what it is expected to find in
SIRGAS, and indicating the names of two national representatives to
integrate the Directing Council.
The national representatives are appointed by the member countries,
through the entities that congregate the scientists and technicians in
Geodesy and related subjects. The election of the national
representatives follows the procedures established in each country.
Each American and Caribbean country is very welcome as a SIRGAS
member.
Being a SIRGAS member does not have any cost, but many
advantages: establishment, adoption and use of a modern reference
frame, direct access to the biggest geodetic forum in the region,
participation in outlining coming activities and making decisions,
exchange of experiences related to geodetic topics, capacity building
possibilities, etc.
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 46
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 49
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 50
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 51
VII SIRGAS School on Reference Systems, Santo Domingo - Dominican Republic, 16-17 November 2015 7- 52