Deformation Integrity Monitoring for
GNSS-Positioning Services
including a Scalable Hazard Monitoring
by the Karlsruhe Approach (MONIKA)
- Concept, Realisation and Results Speaker:
Dipl.Ing. Peter Spohn
Content
1. Introduction
2. Mathematical Model
2.1 Step 1
2.2 Step 2
2.3 Step 3
2.4 Transformations
2.5 Step 4
2.6 Further analysis
3. MONIKA Software
3.1 Data interfaces
3.2 Baseline processing
3.3 Epoch definition
3.4 Epoch adjustment
3.5 Plate-Rotation
3.6 Deformation analysis
3.7 Automatications
4. SAPOS-BW 2008 Solutions
5. EUREF 2008 Solutions
6. Further Developments
1. Introduction
- GNSS positioning services (ex. SAPOS)
- GNSS networks (ITRF, EUREF, MOLDPOS…)
1. Introduction
How to control reference points?
Common solutions:
- Network adjustment with one fixpoint and
coordinate differences
- Network adjustment with Helmert
transformation and coordinate
comparing
 not very sensitive!
MONIKA solution:
- Deformation analysis with all
reference points
 highly sensitive!
1. Introduction
2. Mathematical Model
Overview
2. Mathematical Model
2. Mathematical Model
2.1 Step 1 - Raw-Data-Processing
•
RINEX-Data (l, C )
l
to baselines / networks
_
_
( x, C x )
2.2 Step 2 - Epoch definition
•
•
suggested deformations
total time span
of the analysis
2. Mathematical Model
2.3 Step 3 - 3D Network-Adjustment
•
•
•
•
Input: Baselines/Sessions
3D Network adjustment
Quality control
_ _
Output: Epochs ( x, C x )
( x, C x )
2. Mathematical Model
2.3 Transformations
•
Tectonic plate rotation of all
epochs to one reference time
(fixed networks)
•
d
   cos( B)  sin(   L)
dt
d
   (sin( B)  cos(  L)
dt
 tan(  )  cos( B))
In case of free networks, an
automatical S-Transformation is
calculated to get an compareable
network datum for all epoches
x 0  x Ep  t (t x , t y , t z )
2. Mathematical Model
2.4 Step 3 - Deformation Analysis
•
Model of a multiepochal and multivariate,
coordinate depending deformation analysis
 l Ref, Ep 1   v Ref, Ep 1   A Ref, Ep 1
l
 v
  0
 Obj, Ep 1   Obj, Ep 1  
l Ref, Ep 2   v Ref, Ep 2   A Ref, Ep 2



l Obj, Ep 2   v Obj, Ep 2   0
 l Ref, Ep 3   v Ref, Ep 3   A Ref, Ep 3

 
 
l Obj, Ep 3   v Obj, Ep 3   0
0
0
I Obj, Ep 1
0
0
0
0
I Obj, Ep 2
0
0
0
0

0   xˆ Ref, Def 
0   xˆ Obj, Ep 1 

0  xˆ Obj, Ep 2 


0   xˆ Obj, Ep 3 

I Obj, Ep 3 
0
2. Mathematical Model
•
Expension of the mathematical model
l i(Epk )  v i(Epk )  A  xˆ  B i(Epk )  xˆ i(Epk )
i(Ep k )  i-th reference point in the k-th epoch
 Deformation values of all reference points
•
Testvalue for the reference points
T
1 ˆ
ˆx


Q
 xi(Epk )
ˆx
ˆ
i(Epk )

i(Ep k ) x i(Ep k )
T
~ Fm, r -m
2
m  σ̂ 0.post
 If a significant deformation is found,
a new deformation analysis is calculated
(iterative datasnooping process)
2. Mathematical Model
Further calculations
•
•
•
•
•
Multiple coordinate differences
3D/2D confidence areas
Network sensivity
Object point tests
Epoch tests
2. Mathematical Model
2.5 Further analysis
•
Time series
•
Kalman filtering
 u(t)   I
.  
u ( t)   0
..

 0
u ( t)  
t 
0.5  t 
2
I
t 
0
I
 u(t - t) 

 .
  u.. ( t - t) 
 u ( t - t) 
 

2. Mathematical Model
3. MONIKA Software
Overview
3. MONIKA Software
3.1 Data interfaces
Interfaces:
• RINEX-Data
• SINEX-Data
• free ASCII-Interfaces
(Baselines, Epochdata, ...)
3.2 Baseline processing
• WA1 (Wanninger Software), directly supported
• Bernese 5.0, supported via SINEX-Interface
• other baseline processing software
3. MONIKA Software
3.3 Epoch definition
• Input-Data
– Sessions/Baselines
– SINEX-Data
with timestamps
Expected deformations?
3. MONIKA Software
3.4 Epoch adjustment
•
Input-Data
–
–
–
Sessions/Baselines
SINEX-Data
Epoch timespan
•
3D Epoch adjustment
with GPS3D
•
Output-Data
–
–
Coordinates with covariance matrix (epoch)
Detailed HTML-protocol and visualization
3. MONIKA Software
3.5 Plate rotation
Necessary when large GNSS-networks
or a long timespan is calculated
3. MONIKA Software
3.6 Deformation Analysis
•
Input-Data
–
•
Epochs (free interface)
Deformation Analysis
–
–
•
Iterative datasnooping
Final deformation analysis
Output-Data
–
–
–
–
–
–
Coordinates, Cxx matrix
GOCA-Interface
Visualization
Time series
HTML-Protocol
GoogleEarth
3. MONIKA Software
Overview
3. MONIKA Software
3.7 Automatications
•
Automatic epoch generation
–
–
•
Input: SINEX-Data
Output: Epochs
Automatic deformation analysis calculation
–
–
•
Input: Epochs
Output: Solutions are saved in a MONIKA-Savefile,
HTML-Protocol, individual Interface-Files
Automatic visualisation (GOCA-Earth, Addon)
–
–
Input: Interface file
Output: Visualisation in GoogleEarth
+ flexible folder-based file handling
3. MONIKA Software
4. SAPOS-BW 2008
GNSS reference network in Germany Baden-Württemberg
- area:
200 x 200 km
- 36 stations
- free network
4. SAPOS-BW 2008 Solutions
4. SAPOS-BW 2008
horizontal sensitivity ~ 2 mm
seasonal movement in the summer months
4. SAPOS-BW 2008 Solutions
4. SAPOS-BW 2008
vertical sensitivity ~ 6 mm
displacement because of an antenna change
4. SAPOS-BW 2008 Solutions
5. EUREF 2008
EUREF Reference Network
- area:
~ 4000x3000 km
- ~74 stations
- fixed network
5. EUREF 2008 Solutions
5. EUREF 2008
 horizontal confidence belt ~ 2 - 5 mm, POUS (Poustka, CZ)
5. EUREF 2008 Solutions
5. EUREF 2008
KARL (Karlsruhe, DE), light seasonal movement
spring 2008
summer 2008
winter 2008
5. EUREF 2008 Solutions
6. Further Developments
• GNSS-based longterm monitoring of geodynamic active
earthquake zones
Basel, 1356
• Implementation of virtual sensors
• More complex models
for ex. deformation of point groups and areas
6. Further Developments
MONIKA
MONIKA
Thank you for your attention !
Any questions?
End