VERTICAL REFERENCE

GD4207 – GEODESI KELAUTAN

NOLOGI
EK
STITUT T

BA
NDUNG
IN

1959
Vertical Reference - Datum
DATUM GEODETIK

Datum geodetik mendefinisikan bentuk dan ukuran ellipsoid referensi, lokasi

titik pusat ellipsoid, serta orientasi(relatif) terhadap bumi. Orientasi sumbu
putar ellipsoid secara klasik didefinisikan sejajar terhadap sumbu putar (rata-
rata) bumi. Dimana lokasi titik pusat ellipsoid tidak berimpit dengan pusat
massa bumi (lokal) dan geosentrik (global). Secara kesepakatan (konvensi),
meridian Greenwich ditetapkan sebagai bujur “nol”.
DATUM GEODETIK
Geodetic datums define the size and shape of the earth and the origin and orientation
of the coordinate systems used to map the earth. Hundreds of different datums have
been used to frame position descriptions since the first estimates of the earth's size
were made by Aristotle. Datums have evolved from those describing a spherical earth
to ellipsoidal models derived from years of satellite measurements.

Modern geodetic datums range from flat-earth models used for plane surveying to
complex models used for international applications which completely describe the size,
shape, orientation, gravity field, and angular velocity of the earth. While cartography,
surveying, navigation, and astronomy all make use of geodetic datums, the science of
geodesy is the central discipline for the topic.

Referencing geodetic coordinates to the wrong datum can result in position errors of
hundreds of meters. Different nations and agencies use different datums as the basis
for coordinate systems used to identify positions in geographic information systems,
precise positioning systems, and navigation systems. The diversity of datums in use
today and the technological advancements that have made possible global positioning
measurements with sub-meter accuracies requires careful datum selection and careful
conversion between coordinates in different datums.
DATUM GEODETIK

Berdasarkan lokasi
• Global
• Regional
• Lokal

Berdasarkan variasi temporal

• Statik
• Semi dinamis
• Dinamis
Berdasarkan variasi ruang
• Horisontal
• Vertikal
• 3 Dimensi

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DATUM HORISONTAL

Datum horisontal terdiri atas lintang dan bujur dari sebarang titik awal (origin),
azimuth untuk suatu garis (orientasi titik asal), parameter-parameter bidang
ellipsoida yang dipilih ( jari-jari dan penggepengan), serta undulasi geoid
tehadap titik asal tersebut.
KU

α B
origin Greenwich
b

φ a
λ
Ekuator

KS
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DATUM VERTIKAL

+ Ketinggian puncak Everest

adalah 8850 meter

+ Diukur dari mana ?

- pusat massa bumi ?
- permukaan bumi ?
- referensi lain ?

+ Bagaimana mendefinisikan
ketinggian nol atau
elevasi nol ?

Suatu permukaan yang dinyatakan

bernilai nol dimana suatu
ketinggian atau elevasi bereferensi
⇒ DATUM VERTIKAL
www.travel-himalayas.com/himalayan-mountains

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 Vertical Reference - Datum

Vertical reference surfaces can be categorized under three general headings :

Tidal surface Geodetic surface Ellipsoidal surface

physical surfaces mathematical surface

Traditionally bathymetric data has been collected and stored relative to a tidal datum and
topographic data relative to a geodetic datum.

Bathymetric data displayed on charts are referenced to a low water tidally referenced
vertical datum below which the water surface will not usually fall (e.g. Lowest
astronomical Tide [LAT], Mean Lower Low Water [MLLW]).

Topographic data are often referenced to a local geodetic datum, approximated by Mean
Sea Level (MSL), which is above LAT and MLLW.

A geodetic datum is a surface that varies with gravity (geoid) and MSL is a surface that
varies from the geoid due to sea surface topography. The chart datum surface varies from
MSL due to the effects of tides and ocean dynamics.
DATUM VERTIKAL

Chart datum, geoid, ellipsoid relationships

DATUM GEODETIK VERTIKAL

Mean Sea Level (MSL)

Secara tradisional, surveyor dan pembuat peta mempermudah penentuan elevasi nol menggunakan
nilai rata-rata permukaan laut, karena permukaan laut tersedia dimana-mana di seluruh dunia

MSL ditentukan menggunakan pengukuran kontinyu naik turunnya permukaan air laut berdasarkan
pemantauan stasion pasut di pantai dengan perioda sekitar 18,6 tahun ⇒ elevasi nol untuk daerah lokal
atau regional

Bagaimana dengan Puncak Everest ?

Dimanakah Mean Sea Level di Himalaya yang akan dipakai ?

Geoid

Geoid adalah permukaan nol yang sebenarnya yang digunakan untuk pengukuran ketinggian atau elevasi yang
didefiniskan berdasarkan gaya berat
Permukaan geoid tidak bisa dilihat secara kasat mata, sehingga kita tidak bisa mengukur secara langsung
ketinggian di terhadap geoid.
Permukaan geoid diperoleh melalui pengukuran gaya berat dan pemodelan secara matematis
Dalam keperluan praktis, di daerah batas laut, diasumsikan permukaan geoid dan MSL adalah sama

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MEAN SEA LEVEL (1)

Mean Sea Level

• The equipotential surface that the ocean would have it left undisturbed
• The average of constantly changing water level over a period of time at
any individual point on the seacoast ⇒ local mean sea level

Highest astronomical tide

Mean high-water springs
Mean high-water neaps
Mean sea level
Mean low-water neaps
Mean low-water springs
Chart datum
Lowest astronomical tide

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MEAN SEA LEVEL (2)

Global Mean Sea Surface (MSS), corresponding to the permanent sea level relative to a reference ellipsoid, as measured by satellite
altimetry (ERS-1 Radar Altimeter )
http://earth.esa.int/services/pg/samples/pgersaltopr.html

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GAYA BERAT = GAYA GRAVITASI + GAYA SENTRIFUGAL

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GEOID

EGM96 Geoid Height

http://cddis.nasa.gov/926/egm96/egm96.html
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TIDAL / CHART DATUM

Chart datums (CD) are used on nautical charts to reference water depths.
Traditionally, bathymetric data has been collected relative to a survey (or
sounding) datum, then translated to chart datum for storage and chart
production.

A listing of some chart datum definitions:

− MLW Mean Low Water
− MLLWLT Mean Lower Low Water Large Tide
− MLLW Mean Lower Low Water
− LNT Lowest Normal Tide
− LLWLT Lower Low Water Large Tide
− LAT Lowest Astronomic Tide (atmospheric and oceanographic effects removed)

Chart datums are only fully valid at the location where the tides are observed.
Even if MSL is
the same at two locations (relative to the geoid), the low water datum will likely
be different.
TIDAL / CHART DATUM

One of the most significant challenges in traditional hydrography is establishing

the relationship between the instantaneous water surface and chart datum, away
from tide gauge locations. Tidal correctors are measured at tide gauge locations
and then translated to the survey site through co-tidal charts or tide zoning.
Uncertainty in the relationship between the instantaneous water surface and CD
at the survey site is a significant component of the overall depth uncertainty.

The separation between chart datum and the geodetic vertical datum can be
divided into two parts; CD to MSL and MSL to geoid.

CD to MSL is established through hydrodynamic modeling.

MSL to geoid is established through Sea Surface Topography (SST) modeling.

SEA SURFACE TOPOGRAPHY

Sea Surface Topography (SST) is the average deviation of the surface of the ocean with
respect to the geoid. This deviation is caused by atmospheric effects such as prevailing
winds and weather patterns, as well as oceanographic effects, such as ocean currents.

Sea surface topography can be

determined at tide gauges
where the MSL has been
observed, and the geodetic
datum tied in through levelling.
Alternatively, the geoid can be
established relative to the
reference ellipsoid through the
geoid model, which requires
establishment of the ellipsoid
height at the tide gauge through
GPS observations.
Sea surface topography in the
offshore is measured using
satellite altimetry.
HYDRODYNAMIC MODELS

Hydrodynamic models are derived from sophisticated applications used to estimate water
level. Water level can be estimated for a given date and time for tidal predictions, or for a
given mean tidal surface such as MLLW with respect to MSL. It is the latter that is used to
translate data between MSL and CD.

Hydrodynamic models describe the reaction of a

water body given certain boundary
conditions and driving forces. The boundary
conditions are coastlines and bathymetry. The
driving forces are astronomic (sun/moon system)
and oceanographic (currents etc.). Surfaces are
derived by simulating the reaction of a body of
water when it is forced over the given bathymetry
and up against the coastline. The reaction of the
water body is predicted using a set of algorithms
based on fluid dynamics derived from Newton’s
laws of motion. In some models the solution is
constrained by known tide station parameters.
ELLIPSOIDAL DATUM

+ koordinat geografis
⇒ spherical Earth model

+ koordinat geodetik
⇒ ellipsoidal Earth model

Pendekatan vs Realita
• Ellipsoid adalah bentuk pendekatan
bumi yang baik tetapi tidak
merepresentasikan
keadaan yang sebenarnya
• Permukaan bumi dimana-mana akan
tegak lurus terhadap arah gaya berat
• Permukaan Ekuipotensial adalah
bentuk sebenarnya dari bumi yang
dikenal dg sebutan GEOID
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POPEYE DAN TINGGI
Saya nentuin posisi pakai GPS
Ketinggian yang didapat
- 30 meter …..
Kok kapal saya nggak tenggelam ???

Saya lihat akurasi vertikalnya ± 6 m

Jadi saya ukur lagi bolak-balik
Sampai lebih dari 15 kali
Dan apa yang saya peroleh …..
Tetap saja ketinggiannya
– 25 meteran ….. !!!!

Tapi kapal saya nggak tenggelam …

Ohhhh ……….
Apakah alat GPS saya rusak ???

• Ketinggian titik adalah jarak antara suatu titik terhadap bidang referensi ketinggian sepanjang
garis tertentu (garis normal, garis gaya berat)
• Beda tinggi adalah perbedaan tinggi antar titik terhadap bidang referensi ketinggian yang sama
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BIDANG REFERENSI
n’ n

H
h
N

ellipsoid

γ g geoid

topografi

• Topografi ⇒ menyatakan bentuk fisik permukaan bumi

• Geoid ⇒ defined as level surface of gravity field with best fit to

mean sea level
" maximum difference between geoid and mean sea level
about 1 m”

• Ellipsoid ⇒ mathematical surface approximating the physical reality

while simplifying the geometry
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BIDANG REFERENSI
n’ n

H
h
N

ellipsoid

γ g geoid

topografi

• geoid undulation ⇒ vertical separation between geoid and reference

ellipsoid (N)
- differences between ± 100 m
- global root mean square of around 30 m
• vertical deflection ⇒ angle between the ellipsoid normal and the plumb
line
- usually resolved in a north-south component ξ
and an east-west component η
- angles usually amount to a few arc seconds
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BIDANG REFERENSI

+ permukaan dengan potensial W

konstan ⇒ permukaan ekuipotensial

Geoid ⇒
sepanjang permukaan W = konstan
Ekuipotensial ⇒ ( dimana dW = 0 )

Vektor gaya berat tegak lurus

terhadap bidang ekuipotensial yang
melalui titik yang sama
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BIDANG REFERENSI

Garis yang menghubungkan semua bidang ekuipotensial secara tegak lurus, bukanlah
merupakan suau garis lurus, melainkan berbentuk agak kurva ⇒ garis unting-unting

Tinggi di atas geoid ⇒ tinggi orthometrik H

yang diukur sepanjang kurva garis unting-unting

Vektor dx diambil sepanjang garis unting-unting, maka pd arah penambahan tinggi H

panjang ⇒
arah ⇒ g berlawanan arah dengan dH (sudut 180 derajat)

Hubungan antara tinggi

orthometrik H dengan
potensial gaya berat W

Gaya berat adalah negatif

gradien vertikal potensial
gaya berat W
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DEFLEKSI VERTIKAL

Defleksi Vertikal θ
ξ ⇒ komponen utara selatan
η ⇒ komponen barat timur

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SISTEM TINGGI GEODESI

GEOMETRIK
⇒ ketinggian terhadap bidang ellipsoida
referensi h yang dihitung sepanjang garis
normal n’ yang melalui titik tersebut
⇒ menggunakan metoda satelit , misal GPS
n’
FISIK
⇒ ketinggian terhadap Geoid H yang
dihitung sepanjang garis unting-unting n
yang melalui titik tersebut
⇒ Menggunakan pengukuran sipat datar
yang dilengkapi dengan pengukuran
n gaya berat

H
h
N

ellipsoid

γ g geoid

topografi
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SIPAT DATAR
B
A’ ekuipotensial B

dH(B)
dH(A)

A B’ ekuipotensial A

Jalur I ⇒ A – B’ - B Jalur II ⇒ A – A’ - B

∆n(AB) = ∆n(AB’) + ∆n(B’B) = dH(B) ∆n(AB) = ∆n(AA’) + ∆n(A’B) = dH(A)

W(B) – W(A) = - ∫ g dn
dW(A) = dW(B)
-g(A) dH(A) = -g(B) dH(B)

g(A) ≠ g(B) dH(A) ≠ dH(B)

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BILANGAN GEOPOTENSIAL

Beda potensial antara sebarang titik A dengan titik O yang terletak di geoid
atau MSL disebut juga bilangan geopotensial C
WA = potensial gaya berat suatu titik
Wo = potensial gaya berat titik W di geoid
g = nilai gaya berat
dn = beda tinggi hasil levelling

Perbedaan antara berbagai sistem tinggi dapat dikaitkan satu dengan yang
lainnya menggunakan bilangan geopotensial C
Satuan bilangan geopotensial
⇒ geopotensial unit (g.p.u)
⇒ 1 g.p.u = 1 kgal m = 1000 gal m ( 1 gal = 10-2 m.dt2, 1 mgal = 10-5 m.dt2)
⇒ apabila g = 0.98 kgal, maka
Bilangan geopotensial
dalam g.p.u. bernilai
hampir sama dg ketinggian
di atas sea level dalam meter
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TINGGI DINAMIK

Definisi tinggi dinamik

γo adalah gayaberat normal untuk sebarang lintang (biasanya dipilih L = 45o)

GRS 1980

Prinsip tinggi dinamis adalah titik-titik yang terletak pada bidang ekuipotensial yang
sama memiliki “tinggi” yang sama .

Tinggi dinamis dapat dinyatakan dengan banyaknya lapisan-lapisan bidang

ekuipotensial, sehingga memiliki satuan potensial

Perbedaan tinggi dinamik dengan bilangan geopotensial hanya dalam skala atau unit
saja (pembagian dengan γo hanya mengkonversikannya ke dalam panjang)

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KOREKSI TINGGI DINAMIK
Beda tinggi dinamik antara titik A dan B

sehingga
Dimana
Beda tinggi dari sipat datar

Koreksi dinamik

Perbedaan bilangan geopotensial

menggunakan koreksi dinamik

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TINGGI ORTHOMETRIK (1)

Definisi tinggi orthometrik

g adalah gayaberat menengah sepanjang garis unting-unting antara geoid dan titik
pengamatan di permukaan tanah

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 TINGGI ORTHOMETRIK (2)

g (z) : nilai gaya berat di Q

Reduksi Prey
g di P

Tinggi Helmert
:

Sebarang densitas :

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KOREKSI TINGGI ORTHOMETRIK (1)
Beda tinggi orthometrik antara titik A dan B

…0

…1

…2

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KOREKSI TINGGI ORTHOMETRIK (2)

Substitusi (1) dan (2) ke (0)

diperoleh

Beda tinggi sipat datar

Koreksi orthometrik

atau

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TINGGI NORMAL (1)

Apabila momen medan gaya berat bumi adalah normal maka W=U dan g=γ

ζ = anomali tinggi
H* = tinggi normal
h = tinggi ellipsoid

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TINGGI NORMAL (2)

Definisi tinggi normal …0

gaya berat menengah sepanjang garis unting-unting

atau …1

Perhitungan H* menggunakan bilangan geopotensial dan gaya berat normal γ di ellipsoid

(substitusi (1) ke (0))

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KOREKSI TINGGI NORMAL

Beda tinggi normal antara titik A dan B

Beda tinggi sipat datar

Koreksi normal

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TINGGI GEODETIK
Conventional Vertical Reference System (CVRS)
and
Conventional Vertical Reference Frame (CVRF)
Basic Concept

Height determination : the realization of a Vertical Reference System relies on a natural

combination of space geodesy and the Earth gravity field determination.

Vertical Reference System (VRS) is given by a geometrical and a physical component.

The geometrical component is based on ellipsoidal heights and ellipsoid reference

surface
Since ellipsoidal heights can be only derived from geocentric coordinates X, the
definition of the VRS geometrical component corresponds to the definition of a
Terrestrial Reference System (TRS), complemented by the definition of a level
ellipsoid.

The VRS physical component is given in terms of geopotential quantities:

geopotential values (Wp) or geopotential numbers (Cp) associated to a global
unified reference level Wo
The defining potential gravity field, in the same manner as the TRS, co-rotates with
the Earth in its diurnal motion in space.
Basic Concept

The realization is called Vertical Reference Frame (VRF) and it corresponds to a

set of physical points (passive monuments or continuously operating stations) with precise
geopotential values (Wp, or Cp=Wo-Wp) and geometrical coordinates X.

The VRF includes the variation of the coordinates (X, Wp or cp) with time (VX, VWp, VCp).

Relationship between gravity field,

geopotential field and the (geometrical)
terrestrial reference system
geopotential scalar field W(X)
the outer Earth gravity vector field g (X)
the natural coordinates
(astronomical latitude Φ, astronomical longitude Λ)
the potential of Earth gravity field W.

Ideal Vertical Reference Systems

An ideal Vertical Reference System is defined by the outer Earth’s gravity potential field,
Wp values of which can be represented as a function of a global gravity model and the
geometrical coordinates X of each point P referred to an ideal Terrestrial Reference
System co-rotating with the Earth.
For the Terrestrial Reference System the IERS Conventions 2003 are fully valid.
Basic Concept

Conventional Vertical Reference System (CVRS).

A CVRS is defined by the set of all conventions, algorithms and constants which
provide the origin and scale of that system and their evolution with time.

Conventional Vertical Reference Frame (CVRF).

A CVRF is the realization of a CVRS by a set of physical points (passive monuments or
continuously operating sstations) with precisely determined geopotential numbers
and geocentric coordinates X referred to the Conventional Terrestrial Reference System
(CTRS).

A CVRF is given by the set of all Two types of frames are currently
conventions, algorithms and distinguished, namely dynamical
constants which provide the and kinematical frames,
geopotential codes and their depending on whether or not a
evolution with time derived from dynamical model is applied in the
geodetic observations. process of determining these
coordinates.
Vertical Reference System (VRS)

Treatment of observations to account for tidal Treatment of observations for tidal effects
deformations in terrestrial reference systems in the geopotential
International Vertical Reference System (IVRS)

The geometrical component of the International Vertical Reference System (IVRS) corresponds
to the International Terrestrial Reference System (ITRS), complemented by the definition of a
conventional level ellipsoid.

The definition of the IVRS physical component

The vertical datum is defined as the

equipotential surface of the Earth gravity
field potential: Wo = const.
The vertical datum defines the
relationship of the physical heights to the
Earth body. Wo shall be conventional and
reproducible.
The unit of length is the meter (SI). The unit of
time is the second (SI). This scale is
consistent with the TCG time coordinate for a
geocentric local frame, in agreement with
IAU and IUGG (1991) resolutions. This is
obtained by appropriate relativistic modelling

The CVRS is a zero tide system, in

The vertical coordinates are the differences – ΔWp
agreement with the IAG Resolution
between the potential Wp of the Earth gravity field at
No 16 adopted at
the considered points P and the potential of the CVRS
the General Assembly in Hamburg in
conventional zero level Wo.
1983.
The Realization of the IVRS :
International Vertical Reference Frame (IVRF)

A Vertical Reference Frame (VRF) as a realization of a

Vertical Reference System (VRS) can be established by
a combination of gravity field and geodetic space
observations.

The realization of all VRSs are of the type crust-based.

One datum parameter is needed to fix a VRF to a
given epoch: another parameter is needed to consider
the time evolution of the vertical datum

VRF should be determined either by analysis centres

or by combination centres, and ultimately as products.
The Realization of the IVRS :
International Vertical Reference Frame (IVRF)

In general the determination of the potential of the Earth gravity field WP at a point P(X)
on the Earth surface is feasible in two ways:

By the determination of the disturbing

potential Tp, as solution of the geodetic
boundary value problem (BVP) at the
known position P(X) added to the
normal potential Up at the same point:

Wp = Up + Tp

By the geopotential numbers cP derived

from geometrical (spirit) levelling in
combination with gravity reductions. In
this case, if the potential of the height
reference surface of a VRF k is W0k, the
gravity potential Wp at P

cp = cpk + Wo – Wok
IVRS Products
A GVRS should be realized in context with a global integrated network, which combines
at terrestrial reference stations the geodetic space techniques, highly precise absolute
and relative gravity, levelling with gravity reductions, and tide gauges with permanent
or episodic observations.

IVRS Network

Integrated networks, which combine at terrestrial reference stations geodetic

space techniques, highly precise absolute and relative gravity, levelling with
gravity reductions, and tide gauges with permanent or episodic observations and
supplementary information (meteorological parameters, surrounding
information of the stations, e.g. eccentricities and ground water level) are
recently under discussion, and partly in realization.
IVRS Network

An integrated GVRF network which combines the stations of the IGS TIGA Project
(Tide Gauge Benchmark Monitoring Project) with the network of superconducting
gravimeters of the IAG Global Geodynamic Project (GGP)
IVRS Network

They are the basis to combine the geometric and height reference systems with
Earth gravity field parameter estimation.
- IAG Global Geodetic Observing System (GGOS, Rummel et al., 2002).
- European Combined Geodetic Network (ECGN , Ihde et al., 2005.1, 2005.2)
- In South America SIRGAS (Sánchez and Brunini 2006).

IVRF products should mainly be coordinated combinations of existing IAG services

and products.

The following types of stations should be part of the IVRF network:

• ITRF core stations with co-location of geodetic techniques (ITRFCS)3
• GGP stations co-located with absolute gravimeter measurements and IGS stations
• PSMSL stations, co-located with IGS stations (i.e. TIGA sites)
• Reference tide gauges for chart datums
• Reference stations of levelling networks co-located with IGS stations
Global Gravity Model GGM

(Product of the International Centre for Global Earth Models - ICGEM in the framework of
the International Gravity Field Service - IGFS)
The used GGM should be a satellite only solution to exclude inconsistencies from local gravity
data. It should internationally be agreed and conventional (CGGM). To reach a one centimetre
accuracy level, the GGM has to be augmented with local or regional gravity data.
Model of the Sea Surface or Sea Surface Topography

Product of the International Altimeter Service - IAS

To use tide gauge observations for VRF unification information about the absolute
sea surface topography (SSTop) around the tide gauges is necessary.

Since the SSTop at coasts is influenced by local effects and satellite altimeter
measuremnents on these zones can not at present be used with high precision, the
use of offshore tide gauges should be considered.
Of course, a precise geoid on the basis of a CGGM is necessary to connect the
offshore tide gauges with the VRF.

For further consideration: The integration of worldwide GNSS Tsunami early

warning system buoys for long term control of mean sea surface and connection to
satellite altimeter observations can provide an additional progress.
Model of the Sea Surface or Sea Surface Topography
Principle of VRF unification using GNSS/levelling and CGGM

The height of the zero level of the regional VRF can be derived for single points by
Principle of GRF unification using tide gauge observations and a global
model of sea surface topography

the height of the zero level of the regional VRF can be derived for single points by