Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger,...

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Geodetic Geomonitoring Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics Geomatics at at Karlsruhe Karlsruhe University of Applied Sciences University of Applied Sciences Prof. Dr. Prof. Dr. - - Ing Ing . . Reiner Reiner J J ä ä ger ger Hochschule Karlsruhe Technik und Wirtschaft (HSKA) - University o Applied Sciences Fakultät für Geomatik und Institut für Angewandte Forschung (IAF) www.hs-karlsruhe.de www.dfhbf.de, www.geozilla.de, www.galileo-bw.de, www.navka.de, www.moldpos.eu www.monika.ag, www.goca.info Email: reiner.jaeger.web.de

Transcript of Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger,...

Page 1: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GeomaticsGeomatics at at KarlsruheKarlsruhe University of Applied Sciences University of Applied Sciences

Prof. Dr.Prof. Dr. --IngIng . . ReinerReiner JJäägerger

Hochschule Karlsruhe Technik und Wirtschaft (HSKA) - University o Applied SciencesFakultät für Geomatik und Institut für Angewandte Fo rschung (IAF)

www.hs-karlsruhe.de

www.dfhbf.de, www.geozilla.de, www.galileo-bw.de, www.navka.de, www.moldpos.euwww.monika.ag, www.goca.info

Email: reiner.jaeger.web.de

Page 2: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Karlsruhe Castle

Campus of

Karlsruhe University

of Applied

Sciences(HSKA)

24-hours Library of HSKA and KIT

KKaarrllssrruuhhee

Page 3: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GEOdesyGEOdesy

and and

NavigationNavigation

((GuNGuN))

Study Programmes

Karlsruhe University of Applied Sciences (HSKA)

Faculty of Informationmanagement and Media (IMM)

GEOmatikGEOmatik / / GEOmaticsGEOmaticsMaster

Bachelor3.5

Years

1.5 / 2 Years

Traffic-

System-

Management

GEOGEO--

InformationInformation--

ManagementManagement

(GIM)(GIM)

GeomarketingGeomarketing

CartographyCartography

EnvironmentEnvironment

Master planned

Kultur-

Media-

Technologie

Communi-

cation

and

Media-

Manage

ment

3

Master

• Bachelor

PLUS

4 vears,

1 year

e.g USA

Page 4: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

International GEOmatics Partners of Faculty IMM HSKA

Int. Partner UniversitiesBachelorPlus

Geomatics/Geomatik

4

Page 5: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Geodetic Infrastructures for GNSS-Positioning Services (GIPS)

www.moldpos.eu

Page 6: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GNSSGNSSNetNet--

workingworkingSoftSoft --wareware

GNSSGNSSRoverRoverClientClient

GIPSGIPS--1:1: Horizontal Referencing (B,L) blassTrafo-1 and Trafo-2

GIPSGIPS--2:2: Height ReferenceSurface and Transition

(h→H). Trafo-3

GIPS 4: Geomonitoring-Infrastructure

Geodetic Transformation InfrastructureGNSSPositioning

Service

GIPSGIPS--3:3: RTCMTransformation

Messages.Trafo-4

Coordinate-Integrity Georisk Mitigation

(B,L,h) ITRF

www.geozilla.de

www.moldpos.eu

www.dfhbf.de

www.monika.ag www.goca.info

Geodetic Infrastructures for GNSS-Positioning Services (GIPS)---------------------------------------------------------------------------------------------------------------------

Page 7: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Geodetic Infrastructures for Moldova GNSS ServiceMOLDPOS- Project www.moldpos.eu• Karlsruhe University of Applied Sciences (HSKA)• Agency for Land Relations and Cadastre Moldova (ALRC)• Technical University of Moldova (TUM)

Page 8: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

DFHBF - Integrated Approach for the Computation of Fitted of Height Reference Surfaces

www.dfhbf.de

Page 9: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Observation Equations DFHBF Stage 1

Principle of GNSS-Heighting Continuous FEM Polynomial N(p)=NFEM(p)

Further DFHBF-Projects: Germany, BalticStates, Luxembourg, Hungary, Europe, Tanzania, Namibia, Brazil, Valencia,…

ComputationalDesign of theDFHBF-DB ofFloridaFlorida

DFHBF DFHBF -- IntegratedIntegrated Approach Approach forfor ComputationComputation of of FittedFitted HRS (HRS (GeoidGeoid / / QGeoidQGeoid ))

www.dfhbf.dewww.dfhbf.dewww.moldpos.euwww.moldpos.eu

Page 10: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Q

P

Q

PrefQGNormal

T)VV(NNh

γ=

γ−

==−

PQ

pQ

QG

N

QG )B

T(

)hM(

1T

B

1

)hM(

1

B

N

s

B

s

B

B

N

∂∂⋅

+⋅γ−=

∂∂⋅

γ⋅

+−=

∂∂

⋅∂∂−=

∂∂⋅

∂∂

−=ξ,

PQ

PQ

QG )L

T(

Bcos)hN(

1T

L

1

Bcos)hN(

1

L

N

s

L

∂∂⋅

⋅+⋅γ−=

∂∂⋅

γ⋅

⋅+−=

∂∂

⋅∂∂−=η

3. Vertical Deflections from Zenith Cameras (T = (V+Z) – U)

m),k(nm),k(n 'Cv'C =+m),k(nm),k(n 'Sv'S =+

.

and

1. SCHA-Coefficients computed from global SH as direct observations

4. Fitting Points

Zenit-Cameras

∑ ∑ θ⋅λ⋅+λ⋅+

=+∞

= =

+

0k

k

0mm),k(nm),k(nm)),k(n

1)k(n

rLGVgrav )'(cosP)'msin'S'mcos'C(

r

)1)k(n(

r

avg

2. Gravity Observations rotated to SCHA

DFHBF DFHBF -- IntegratedIntegrated Approach Approach forfor ComputationComputation of of FittedFitted HRS (HRS (GeoidGeoid / / QGeoidQGeoid ))

www.dfhbf.dewww.dfhbf.dewww.moldpos.euwww.moldpos.eu

Page 11: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GIPS-2: Height Reference Surface (HRS) QGeoid/Geoid (N) for Transition hGNSS,ITRF to Physical

Heights H = h-N - Karlsruhe Approach (DFHBF) and DFHBF-DBComputation

Final Resultof the

(1-3) cmBaltic

QGeoid

IsolinePlot

BAASP2012

Ventspils

Page 12: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GOCAGNSS&TPS based Online Control and

Alarm System

www.goca.info

Page 13: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

• Scaleable Online 3D Monitoring - permanent or non-permanent -using GNSS and TPS

• Online 3D georeferencing of object-point time series x O(t) in thedatum (coordinate system) defined by the reference points xR as holding for a classical absolute geodetic deformation ne twork. Based on geodetic network adjustment

• Online Deformation Analysis and forecasting based on Kalman-Fitering of the object point time series x O(t).

• Estimates (L2/Robust): Displacements,Velocities, Acc elerations• Integrated Deformation Analysis (FEM) Interfaces• Automatical Alarming

www.goca.info

GGNSS/LPS based NSS/LPS based OOnline nline CControl and ontrol and AAlarm System (GOCA)larm System (GOCA)

~ 50 InstallationsW

orld-wide

6 Universities

as Users for

Research

Page 14: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GGNSS/LPS based NSS/LPS based OOnline nline CControl and ontrol and AAlarm System (GOCA)larm System (GOCA)HydroPowerRheinfelden

Rethe BridgeHarbourHamburg

TPS-Stationcontrolled by

GOCA TPSControl

Palabora Copper MineSouth Africa 800 Depth GNSS-Station GOCA Sensor-

Control and Data-Communication

www.goca.info

Page 15: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

MONIKA - Deformation Integrity & Hazard MONItoring for GNSS-Services KA Approach

www.monika.ag

Page 16: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Top: Permanent congruency testingof GNSS station networks in 3D Right : Setting up regional or localGNSS-based object geomonitoring

www.monika.ag

Modelling and consideration ofplate movements on congruencytesting in MONIKA software

MONIKA - Deformation Integrity & Hazard MONI toring for GNSS-Services KA Approach

Page 17: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Data interfaces andmathematical models

Left : SAPOS GNSS network of Baden-Württemberg

3 MONIKA installationsin Germany, Belgium,Austria1 Installation in Siberia- China (GazProm)

Time series and confidence intervalswww.monika.ag

MONIKA - Deformation Integrity & Hazard MONItoring for GNSS-Services by the KA Approach

Page 18: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

GNSS-supported LowCost-Multisensorsystemsfor mobile Platformnavigation and

Objectgeoreferencing (NAVKA)

www.navka.de

Page 19: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

( ) y)3](y,0p,0r[)3( nin

pip

np

nnp &=−⋅≈≈= ωωRω

Field-Robots

Water-Robots

www.navka.dewww.navka.de

UAV

GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA)

|a a a

||y p r|v v v|h L B

bz,nb

by,nb

bx,nb

bz

by

bx

nnnnD

nE

nN

eee

ωωω=x

Above : General navigation state vector x(t) Non-automotive and automotive mode (below)

( ) ( ) ( )

( ) ( ) ( )

kk

kk

k

kk

kkkkkkk

kkkkkkk

k y

tyy

v

tvv

tyyvyvtyvE

tyyvyvtyvN

y

y

v

v

E

N

∆⋅+

∆⋅+

∆⋅−+∆⋅⋅+

∆⋅++∆⋅⋅+

=

+&

&

&

&

&&

&&

&

&

2

2

1

]sincos[2

1]cos[

]cossin[2

1]sin[

GNSS and AutonomousMEMS Sensors

Page 20: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012

Autonomous Out-/Indoor Navigation e.g. Smartphonesas Platform

Mobile GIS, Georeferencing-and Data-Aquisition Systems

SatNav&MIT Joint RaD Project 2011- 2013Baden-Württemberg

GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA )

New Technologies on Manned Air-Vehicleswww.e-volo.com

www.navka.dewww.navka.de

Page 21: Prof. Dr. -Ing . Reiner Jäger - Ziņkārīgajiem - … Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012 Geomatics at Karlsruhe University

Geodetic Geomonitoring – Prof. Dr. Reiner Jäger, Riga Technical University, RTU Riga, 12-June-2012