armasuisseSwiss Federal Office of Topography swisstopo

ITRF2005 ->ETRF2005 transformation validations:user perspective

E. Brockmann

2Swiss Federal Office of Topography swisstopoETRF2005 validation

“Recomputation” of B1 approach

• Approach B1 gives identical results to approach A but has advantages: single transformation instead of 2-step ! Users and programmers prefer a direct transformation

54.0 49.8

with ITRF2005 ‒ ITRF2000 information from http://itrf.ensg.ign.fr/ITRF_solutions/2005/tp_05-00.php

with Memo values

-> only one official set of transformation parametersfor users necessary !

3Swiss Federal Office of Topography swisstopoETRF2005 validation

“Old” Memo values

• 6 parameters of the “old” Memo values ETRF05 Memo (27.3.2007) http://etrs89.ensg.ign.fr/memo2007.pdf

4Swiss Federal Office of Topography swisstopoETRF2005 validation

Transformation comparison

• Compare coordinates I05-35.SNX (coordinates + velocities) at epoch 2000.0 and 2010.0 with E00-35.SNX at Epoch 2000.0

• No use of individual intraplate velocities in ETRF• Use of 24 stations: Not used: MATE, MEDI, NOTO, SOFI,

THU1, UPAD, HOFN, KELY, KIRU, MAR6, METS not on the stable part of Europe or weakly determined velocities in ITRF2005 or problems ETRF2000

5Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” MemoComparison ETRF2005 - ETRF2000: East

-40

-30

-20

-10

0

10

20

30

40B

OR

1

BR

ST

BR

US

CA

GL

GE

NO

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

JOZE

KO

SG

LAM

A

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

TOU

L

TRO

M

WR

OC

WS

RT

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method old (2000.0)Method A (2010.0)Method old (2010.0)

Biases of “old” transformation significant for all stations

6Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” MemoComparison ETRF2005 with ETRF2000: Mean bias (24 stations)

-25

-20

-15

-10

-5

0

5

North East Up North East Up

Component

[mm

]Epoch 2000.0Epoch 2010.0

Method A(ITRF2005 - ITRF2000 - ETRF2000)

Method "Memo old"(ITRF2005 - ETRF2005, Memo 27.3.07)

Biases of “old”transformation significant

Mean Bias

7Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus Approach BKG

Comparison ETRF2005 with ETRF2000: Mean bias (24 stations)

-25

-20

-15

-10

-5

0

5

North East Up North East Up

Component

[mm

]Epoch 2000.0Epoch 2010.0

Method A(ITRF2005 - ITRF2000 - ETRF2000)

Method "BKG"(ITRF2005 - ETRF2005)

Mean Bias

8Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus Approach BKGComparison ETRF2005 with ETRF2000: rms (24 stations)

0

5

10

15

20

25

30

35

North East Up North East Up

Component

[mm

]

Epoch 2000.0Epoch 2010.0

Method A(ITRF2005 - ITRF2000 - ETRF2000)

Method "BKG"(ITRF2005 - ETRF2005)

Individual (vertical !) velocities at epoch 2010.0 …

RMS

9Swiss Federal Office of Topography swisstopoETRF2005 validation

ETRF coordinate series: BRUSBrussels ETRF coordinates

-30

-20

-10

0

10

20

30

40E

TRF9

3 19

93.0

ETR

F94

1994

.0

ETR

F96

1996

.0

ETR

F97

1997

.0

ETR

F200

020

00.0

ETR

F200

0 S

NX

2000

.0

ETR

F200

5 S

NX

2000

.0 o

ld

ETR

F200

5 S

NX

2000

.0 A

/B1

ETR

F200

5 S

NX

2000

.0 B

KG

ETR

F200

5 S

NX

2010

.0 o

ld

ETR

F200

5 S

NX

2010

.0 A

/B1

ETR

F200

5 S

NX

2010

.0 B

KG

ETRF coordinates

Diff

to E

TRF0

0.SN

X 20

00.0

[mm

]

d Northd Eastd Up

ETRFyy Epoch YYYY.0 using individual intraplate velocities

Published ETRFYY ITRF2005 -> ETRF2005

East “jump”

East ITRF2005 velocity

10Swiss Federal Office of Topography swisstopoETRF2005 validation

Trimble Transformation Manager

“old” Memo values in use

Used in VRS software GPSNET 2.61, but uncritical, because used for forward-backward transformation

11Swiss Federal Office of Topography swisstopoETRF2005 validation

Trimble Transformation Manager (2)

A) Trimble Transformation InformationC:\Program Files\Trimble\GpsNet\config\FrameTransformations.txt

From Td To Td Tk Tx(cm) Ty(cm) Tz(cm) Rx(mas) Ry(mas) Rz(mas) D(ppb) ==========================================================================================ITRF05 2000.0 ITRF00 1997.0 1997.0 0.01 -0.08 -0.58 0.000 0.000 0.000 0.40

-0.02 -0.01 -0.18 0.000 0.000 0.000 0.08

B) Web page informationhttp://itrf.ensg.ign.fr/ITRF_solutions/2005/tp_05-00.php

Additional Transformations ITRF05 ‒ ITRFYY:

Different values than memo

12Swiss Federal Office of Topography swisstopoETRF2005 validation

Proposal

• Official regret to the users in case they used the old Memo values • Explanation:

- ITRF2005 needs more than 6 trafo parameters to transform without systematic discontinuities to ETRF

- New concept (ETRS is THE basis for GIS data in Europe)discontinuities in the future ETRF realizations not acceptable by users (EUREF Resolution Nr. 5, London) previous discontinuities are not “removed” (countries adopted older ETRFYY realizations)minimal discontinuities to previous realizations maintain previous realizations (similar as NMA do very carefully)

• Adopt one set of transformation parameters for a one-step transformation (B1 or BKG approach – favour is BKG approach because supports new concept) – both needs explanations to the user and modifications of software on the user side (6 -> 14 parameters)

• Write a new Memo with generally 14 transformation parameters for the ETRFYYYY trafo parameters

13Swiss Federal Office of Topography swisstopoETRF2005 validation

ITRF05 2000.0 ETRF05 1989.0 5.60 4.80 -3.70 0.000 0.000 0.000 0.00 0.00 0.00 0.00 0.054 0.518 -0.781 0.00

Proposal (2)

From Td To Td Tx(cm) Ty(cm) Tz(cm) Rx(mas) Ry(mas) Rz(mas) D(ppb) Tdx(cm/y) Tdy(cm/y) Tdz(cm/y) Rdx(mas/y) Rdy(mas/y) Rdz(mas/y) Dd(ppb/y)

====================================================================================================ITRF05 2000.0 ETRF05 2000.0 5.41 5.02 -5.38 0.891 5.390 -8.712 0.40

-0.02 0.01 -0.18 0.081 0.490 -0.792 0.08ITRF05 2000.0 ETRF05 2000.0 4.84 5.46 -4.85 0.990 5.650 -8.860 0.56

0.00 0.00 0.00 0.048 0.522 -0.799 -0.2

Aproach 1

Aproach 2

Old Memo

Other Trafosfrom Memo Tab. 3+4

14

11

6

6

6

3

# ParaITRF2005->ETRF2005

ITRF00 2000.0 ETRF00 1989.0 5.40 5.10 -4.80 0.000 0.000 0.000 0.00 0.00 0.00 0.00 0.081 0.490 -0.792 0.00

…

ITRF93 1993.0 ETRF93 1989.0 1.90 5.30 -2.10 0.000 0.000 0.000 0.00 0.00 0.00 0.00 0.320 0.780 -0.670 0.00

…ITRF89 1989.0 ETRF89 1989.0 0.00 0.00 0.00 0.000 0.000 0.000 0.00

0.00 0.00 0.00 0.110 0.570 -0.710 0.00

14Swiss Federal Office of Topography swisstopoETRF2005 validation

Proposal (3)

• Add example computation to let users validate the results or if possible provide source code / dll tools for such a transformation

• Adopt the naming: ETRF2005 – coordinate list with ITRF2005 sites only (or EPN densification solution if ready and successfully compared to Time Series SP)

15Swiss Federal Office of Topography swisstopoETRF2005 validation

16Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” MemoComparison ETRF2005 - ETRF2000: North

-40

-30

-20

-10

0

10

20

30

40B

OR

1

BR

ST

BR

US

CA

GL

GE

NO

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

JOZE

KO

SG

LAM

A

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

TOU

L

TRO

M

WR

OC

WS

RT

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method old (2000.0)Method A (2010.0)Method old (2010.0)

17Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” MemoComparison ETRF2005 - ETRF2000: Up

-40

-30

-20

-10

0

10

20

30

40

BO

R1

BR

ST

BR

US

CA

GL

GE

NO

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

JOZE

KO

SG

LAM

A

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

TOU

L

TRO

M

WR

OC

WSR

T

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method old (2000.0)Method A (2010.0)Method old (2010.0)

18Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” Memo

Comparison ETRF2005 with ETRF2000: rms (24 stations)

0

5

10

15

20

25

30

35

North East Up North East Up

Component

[mm

]Epoch 2000.0Epoch 2010.0

Method A(ITRF2005 - ITRF2000 - ETRF2000)

Method "Memo old"(ITRF2005 - ETRF2005, Memo 27.3.07)

19Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus Aproach BKGComparison ETRF2005 - ETRF2000: North

-40

-30

-20

-10

0

10

20

30

40

BO

R1

BR

ST

BR

US

CA

GL

GEN

O

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

JOZE

KO

SG

LAM

A

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

TOU

L

TRO

M

WR

OC

WS

RT

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method BKG (2000.0)Method A (2010.0)Method BKG (2010.0)

20Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus Aproach BKGComparison ETRF2005 - ETRF2000: East

-40

-30

-20

-10

0

10

20

30

40

BO

R1

BR

ST

BR

US

CA

GL

GE

NO

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

JOZE

KO

SG

LAM

A

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

TOU

L

TRO

M

WR

OC

WS

RT

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method BKG (2000.0)Method A (2010.0)Method BKG (2010.0)

21Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus Aproach BKG

Comparison ETRF2005 - ETRF2000: Up

-40

-30

-20

-10

0

10

20

30

40

BO

R1

BR

ST

BR

US

CA

GL

GE

NO

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

JOZE

KO

SG

LAM

A

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

TOU

L

TRO

M

WR

OC

WS

RT

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method BKG (2000.0)Method A (2010.0)Method BKG (2010.0)

22Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” Memoall 35 stationsComparison ETRF2005 - ETRF2000: North

-40

-30

-20

-10

0

10

20

30

40BO

R1

BRST

BRUS

CAG

L

GEN

O

GO

PE

GRAS

GRAZ

HER

S

HFL

K

HO

FN

JOZE

KELY

KIRU

KOSG

LAM

A

MAR

6

MAT

E

MED

I

MET

S

NO

TO

NYA

1

OBE

R

ONSA

PENC

POTS

SOFI

THU1

TOUL

TRO

M

UPA

D

WRO

C

WSR

T

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method old (2000.0)Method A (2010.0)Method old (2010.0)

23Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” Memoall 35 stationsComparison ETRF2005 - ETRF2000: East

-40

-30

-20

-10

0

10

20

30

40BO

R1

BRST

BRU

S

CAG

L

GEN

O

GO

PE

GR

AS

GR

AZ

HER

S

HFL

K

HO

FN

JOZE

KELY

KIR

U

KOSG

LAM

A

MAR

6

MAT

E

MED

I

MET

S

NO

TO

NYA

1

OBE

R

ON

SA

PEN

C

POTS

SOFI

THU

1

TOU

L

TRO

M

UPA

D

WR

OC

WSR

T

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method old (2000.0)Method A (2010.0)Method old (2010.0)

24Swiss Federal Office of Topography swisstopoETRF2005 validation

Approach A/B1 versus “old” Memoall 35 stationsComparison ETRF2005 - ETRF2000: Up

-40

-30

-20

-10

0

10

20

30

40B

OR

1

BR

ST

BR

US

CA

GL

GE

NO

GO

PE

GR

AS

GR

AZ

HE

RS

HFL

K

HO

FN

JOZE

KE

LY

KIR

U

KO

SG

LAM

A

MA

R6

MA

TE

ME

DI

ME

TS

NO

TO

NY

A1

OB

ER

ON

SA

PE

NC

PO

TS

SO

FI

THU

1

TOU

L

TRO

M

UP

AD

WR

OC

WS

RT

WTZ

R

ZIM

M

Station

Res

idul

as [m

m]

Method A (2000.0)Method old (2000.0)Method A (2010.0)Method old (2010.0)

25Swiss Federal Office of Topography swisstopoETRF2005 validation

ETRF coordinate series: BRUSPublished ETRFYY ITRF2005 -> ETRF2005

East “jump”

East ITRF2005 velocity

Brussels ETRF coordinates

-30

-20

-10

0

10

20

30

40E

TRF9

3 19

89.0

ETR

F94

1989

.0

ETR

F96

1989

.0

ETR

F97

1989

.0

ETR

F200

019

89.0

ETR

F200

0 S

NX

2000

.0

ETR

F200

5 S

NX

2000

.0 o

ld

ETR

F200

5 S

NX

2000

.0 A

/B1

ETR

F200

5 S

NX

2000

.0 B

KG

ETR

F200

5 S

NX

2010

.0 o

ld

ETR

F200

5 S

NX

2010

.0 A

/B1

ETR

F200

5 S

NX

2010

.0 B

KG

ETRF coordinates

Diff

to E

TRF0

0.SN

X 20

00.0

[mm

]

d Northd Eastd Up

26Swiss Federal Office of Topography swisstopoETRF2005 validation

Zimmerwald (before 1998, doy 312)

-30

-20

-10

0

10

20

30

40E

TRF9

3 19

93.0

ETR

F94

1994

.0

ETR

F96

1996

.0

ETR

F97

1997

.0

ETR

F200

020

00.0

ETR

F200

0 S

NX

2000

.0

ETR

F200

5 S

NX

2000

.0 o

ld

ETR

F200

5 S

NX

2000

.0 A

/B1

ETR

F200

5 S

NX

2000

.0 B

KG

ETR

F200

5 S

NX

2010

.0 o

ld

ETR

F200

5 S

NX

2010

.0 A

/B1

ETR

F200

5 S

NX

2010

.0 B

KG

ETRF coordinates

Diff

to E

TRF0

0.SN

X 20

00.0

[mm

]

d Northd Eastd Up

ETRFyy Epoch YYYY.0 using individual intraplate velocities

ETRF coordinate series: ZIMMPublished ETRFYY ITRF2005 -> ETRF2005

East “jump”