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Seminar RTKNet dan Peta Geoid

Kuala Lumpur – 12 May 2005

My GEOID - LOCAL GEOID


DETERMINATION
for MALAYSIA
Seksyen Geodesi,
Bahagian Pemetaan

Department of Survey and Mapping Malaysia


Jalan Semarak
50578 KUALA LUMPUR
Telephone: +603-26170800
Fax: +603-26933618
E-mail: geodesi@jupem.gov.my
WWW: http://www.jupem.gov.my/
CONTENTS

1. Introduction
2. Geoid computation
3. MyGEOID – Malaysia Geoid
4. Conclusion
5. Recommendations
INTRODUCTION

MAIN GOAL AMONG RESEARCHES IN


THE GEODETIC COMMUNITY
-the determination of geoid with high accuracy

VISION
- With the generalized use of GPS, the convenience of
obtaining orthometric heights without doing levelling
INTRODUCTION

JUPEM’S LONG TERM GOAL


The determination of accurate geoid for
-Peninsular Malaysia
-Sabah and Sarawak
To replace levelling in the near future

IMPORTANT STEPS TOWARDS THIS


GOAL
-A thorough analysis of all available data in the regions
-Proper method for geoid determination
GEOID COMPUTATION
PRECISE GEOID COMPUTATION
INFLUENCED BY
-Physical terrain and bathymetry characteristics of the
regions
-Establishment of high resolution mean free air gravity
anomaly database for the regions
-Need for Digital Terrain Model (DTM) in order to
correct the terrain effects
-Vertical datums for the regions
GEOID COMPUTATION
General Methodology
A. Transform all data B. Using the remove-restore method.
to a global geodetic The effect of a spherical harmonic RESIDUAL
datum (GRS80/WGS84) expansion and topography is removed DATA
from the data & subsequently added to
the results

E. Determine using D. Make a homogeneous


LSC a (regional) selection of the data for C. Determine a statistical
gravity field approx’n geoid computation model (a covariance function)
Compute estimates of - Check for gross errors for the residual data
the geoid heights and (make contour map of For that particular region
their errors data)
- Verify error estimates

F. If the error is too


large and more data G. Check Model
is available By comparison with data not
Add new data and used to obtain the model
repeat E.
GEOID COMPUTATION
GRAVSOFT’s Programs used
Function Program Name
Make reference grids of EGM96 ref. fields harmexp
Acquire & merge terrestrial gravity data & geogrid/gomb/geoip
DEMs
Terrain-reduce airborne and surface gravity Tc
data
Downward continue airborne gravity data to
regular grid on geoid, and merge with satellite
altimetry data
gpcol/gpcol1

Apply spherical FFT for geoid determination spfour


Compute and restore terrain and EGM effects spfour/geoip
to obtain final gravimetric geoid
Fit geoid to GPS-levelling geoip/geogrid/gcomb
MyGEOID
GEOID COMPUTATION
For
Peninsular Malaysia
GEOID COMPUTATION
GRAVIMETRIC GEOID Pen. Malaysia [ WMG03A Model ]
The WMG03A geoid model is a
purely gravimetric, geocentric
6.5

geoid model covering Peninsular


6

11

Malaysia
5.5
9
7

5 5
3

INPUT DATA
1
4.5
-1
-3
4 -5

¾A total of 960 X 1080 points with -7


-9

terrestrial, airborne & altimetry gravity 3.5


-11
-13

measurements 3 -15
-17
-19
2.5

¾3 arc second JUPEM’s DTED and 15”


2

interpolated SRTM
1.5

¾The GGM01C global Geopotential Model 99.5 100 100.5 101 101.5 102 102.5 103 103.5 104

WMG03A Model
GEOID COMPUTATION
GRAVIMETRIC GEOID Pen. Malaysia [ WMG03A Model ]
COMPUTATION
6.5

Using Grace GGM01C as an


underlying long wavelength model, 6

11

WMG03A was computed using 1-D 5.5


9
7

FFT remove/ compute/restore 5 5


3

application of the spherical Stoke’s 4.5


1
-1

integral. 4
-3
-5
-7

The WMG03A geoid undulations 3.5


-9
-11

refer to a geocentric GRS-80 3


-13
-15

ellipsoid. 2.5
-17
-19

WMG03A was computed on a 1.5 2

X 1.5 arc minute grid (≈2.6km), 1.5

covering Pen. Malaysia in the 99.5 100 100.5 101 101.5 102 102.5 103 103.5 104

region 0-8° N latitude and 98-107°E WMG03A Model


longitude.
MyGEOID – Malaysia Geoid

¾ Mean Sea Level for Pen. Malaysia (NGVD1)


• Based on Port Klang Tide Gauge.
• 10 years observation
• Datum Level defined by Indian Spring Low
Water

¾ MSL for Sabah & Sarawak (NGVD2)


• Based on various Tide Gauges in Sabah &
Sarawak .
• 10 years observation
• Datum Level defined by Indian Spring Low
Water
MyGEOID – Malaysia Geoid

Difference Between NGVD & Gravimetric Geoid


MyGEOID – Malaysia Geoid

¾ H (NGVD) vs H (h [GPS] - N [Gravimetric Geoid])

What is the Differences ?


0.4 – 0.9 meter for Peninsular Malaysia
1.0 – 1.5 meter for East Malaysia

Why the Differences ?

Gravimetric Geoid referred to Global Mean Sea


Level, whereas Levelling height based on the local
Mean Sea Level. The differences also known as
Vertical Datum Bias.
MyGEOID – Malaysia Geoid

OBJECTIVE – to fit gravimetric geoid to NGVD

• To fit the computed gravimetric geoid onto NGVD


(local MSL)
• Requirement for this fitting:
• GPS Observation on Benchmarks
• Adjusted Values of Benchmarks
• Accuracy of GPS Observations : 3 cm
• Accuracy of BM Values : 3 cm
• To use Collocation Technique
• To achieve Absolute Accuracy < 4 cm
MyGEOID – Malaysia Geoid

MyGEOID for Pen. Malaysia [WGeoid04 Model ]


6.5

The WGeoid04 geoid 6

model is a hybrid geoid 5.5


10

model, combining the


8
6
5 4

gravimetric geoid with 4.5


2
0

datum transformations
-2
-4
4 -6

and 53 GPS ellipsoidal -8


-10
3.5

heights on NGVD1 -12


-14

levelled bench marks.


3 -16
-18
-20
2.5

1.5

99.5 100 100.5 101 101.5 102 102.5 103 103.5 104

WGeoid04 Model
MyGEOID – Malaysia Geoid

Testing & Analyses of WGeoid04 Model


1997 Johor Data Set
Height Difference (Derived - Published)

0.300

0.250

0.200

0.150

0.100

Height Difference (m)


0.050

0.000

J 0060

J 0087

J 0141

J 0151

J 0184

J 0241

J 0249

J 0260

J 0416

J 0481

J 0484

J 0552

J 0584

J 0617

J 0678

J 0695

J 0700

J 0766

J 0782

J 0831

J 1037

J 1133

J 1199

J 1220

J 1236

J 1249

J 1275

J 1330

J 1377

J 1444

J 1513

J 1609

S 0015

S 0073

S 0992
-0.050

-0.100

-0.150

-0.200

-0.250

-0.300
Benchmark

Total Data Set = 35


Total Number of Rejected Data = 2
Percentage of Rejected Data = 5.7%
RMS=0.042 m.
MyGEOID – Malaysia Geoid
Testing & Analyses of WGeoid04 Model
2003 Johor Data Set
2.8
Taburan Stesen Cerapan GPS
Projek Cerapan GPS Tanda Aras
Height Difference (Derived - Published)
2.6

0.300
SEGA
GP47
2.4 0.250

0.200
GP61
2.2
GP16 0.150
Latitud

GP15
0.100

Height Difference (m)


2 GP59

GP85 0.050
GP84
0.000

J0022
J0077
J0249
J0412
J0483
J0649
J0699
J0915
J0921
J0924
J1046
J1082
J1261
J1349
J1358
J1365
J1375
J1423
J1427
J1450
J1513
J1523
J1527
J1562
J1577
J1593
J1655
J1667
J1685
J1692
J1699
J1712
J1731
J1740
J1767
J1774
J1876
J2507
J2566
J2676
J3122
J3136
J3146
J3275
1.8
-0.050
GP49
P114 -0.100
1.6 GP50
Stesen MASS
UTMJ -0.150
Stesen GPS
1.4 -0.200
Tanda Aras
-0.250
102.6 102.8 103 103.2 103.4 103.6 103.8 104 104.2
-0.300
Longitud Benchmark

Total Data Set = 44


Total Number of Rejected Data = 7
Percentage of Rejected Data = 15.9 %
RMS=0.042 m.
MyGEOID – Malaysia Geoid
Testing & Analyses of WGeoid04 Model
1997 Perak Data Set
6.2

6
Height Difference (Derived - Published)
Perak

5.8
0.300

0.250
5.6
0.200

0.150
5.4
0.100
Height Difference (m)

P286
0.050 A0470
5.2
0.000 S0376
S0379 S0294
A0085

A0089

A0092

A0123

A0152

A0363

A0424

A0500

A0585

A0600

A0635

A0701

A0726

A0832

A0840

A0933

A0974

A0979

A0983

A1285

A1381

A1396

A1555

A1597

A1601

A1606

A1622

A1802

A1831

A1839

S0091

S0376

S0379

S0411

S0461

S0462
P281 P280 A0424
-0.050
A1381
5 A1839 S0461
-0.100 S0462
A1831

-0.150 A1141 S0091


4.8 P274
-0.200 P270
A1802
-0.250
4.6
-0.300 A0363 A0832 A0152
S0411 P205 A0635
A1622
Benchmark P203
P102
A0500
A0585 A0840 A0983
4.4

Total Data Set = 36


A1347
P207 A0123
A0600 A0979
A0701
A1597 A0974
A0726
P210 A0092

Total Number of Rejected Data = 4


A0089
4.2 P101
A1396 A1601
A1703 A0085
A1606
A1555A1285

Percentage of Rejected Data = 11.1 %


GP02 GP07
4 A0811 A0933
A0809
GP82

RMS=0.038 m. 3.8

100.4 100.6 100.8 101 101.2 101.4 101.6 101.8


MyGEOID
GEOID COMPUTATION
For
Sabah and Sarawak
GEOID COMPUTATION
GRAVIMETRIC GEOID Sabah & Sarawak [ EMGG03C Model ]
The EMGG03C
geoid model is a
purely gravimetric,
geocentric geoid
model covering
Sabah and
Sarawak

INPUT DATA EMGG03C Model


¾A total of 1800 X 1080 points with airborne & altimetry gravity data
¾15 arc second of interpolated SRTM
¾The GGM01C global Geopotential Model
GEOID COMPUTATION
GRAVIMETRIC GEOID Sabah & Sarawak [ EMGG03C Model ]
COMPUTATION
Using GGM01C as
an underlying long
wavelength model,
EMGG03C was
computed using 1-D
FFT remove/
compute/restore
application of the
spherical Stoke’s
integral.
EMGG03C Model
The EMGG03C geoid undulations refer to a geocentric GRS-80 ellipsoid.
EMGG03C was computed on a 3 X 3 arc minute grid (≈5.0km), covering
Sabah and Sarawak in the region 0-8.5° N latitude and 106-120.5°E long.
BACKGROUND – Vertical Datum for Sabah and Sarawak
• Using 7 difference vertical datums
o Sabah97 (Kota Kinabalu 1997) for Sabah
o Sabah Datum for Lawas (Sarawak)
o Merapok for Lawas (Sarawak)
o Jabatan Laut Tide stations for Limbang
(Sarawak)
o Original for Miri (Sarawak)
o Bintulu (Sarawak)
o Pulau Lakei (Sarawak)
VERTICAL DATUM UNIFICATION – NGVD2
8

7
A102

6
TKIN
TSAN

5 TLAB
TLHD

1691
4 TTAW

3 TBIN

TKUCH

0
108 109 110 111 112 113 114 115 116 117 118 119 120

• Analyses on all tide stations


• All stations connected by GPS Levelling technique
NGVD2 Mean Sea Level Kota Kinabalu
1988 - 2003
2.600

2.580
2.580 2.582 2.581
2.560
MSL 1988 - 2003 = 2.514 meter

2.540
2.540
2.520 2.529 2.526
MSL (meter)

2.514
2.500 2.509 2.509
2.498
2.480 2.490
2.482 2.479
2.478
2.460 2.466
2.462 MSL 1988 - 1997 = 2.493 meter Yearly Mean Sea Level

2.440 Mean Sea Level 1988 - 2003


Mean Sea Level 1988 - 1997
2.420

2.400
1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004
Year

• Based on Tide observation in Kota Kinabalu, Sabah


• 10 years observation 1988 – 1997
NGVD2 - Datum Transfer
7 DATUM TRANSFER A102

Sabah & Sarawak


TKIN
6
TSAN

TLAB

TLHD
5 2505

1805
1691
TTAW

TBIN

LEGEND

2
Precise Levelling Technique
TKUCH
GPS Levelling Technique

1 Tide Stations/Std. BM

0
110 111 112 113 114 115 116 117 118 119

• Precise Levelling Technique


• GPS Levelling Technique
NGVD2 - Datum Transfer
GPS Observation on Tide Stations
8

7
A102

m
6k
12
6 TKIN 270 km
km TSAN
9
11 26 7
km

m
3k
TLAB

km
27

14
5 TLHD
km 1

5
2505
km

19
0
28 1805
1691
TTAW
4
km
0
km 44
5
77 TBIN

TKUCH

0
107 108 109 110 111 112 113 114 115 116 117 118 119 120

• Three days continuous GPS observation


• Using Bernese Software for data processing
• Served as a check for Levelling Network
NGVD2 – Levelling Network
7
LEVELLING NETWORK 2004 A102

Sabah & Sarawak


TKIN
6
TSAN

TLAB

TLHD
5

1691

TTAW

TBIN

LEGEND

2
Precise Levelling Route

TKUCH
Second Order Levelling Route

1 GPS Levelling

Tide Stations

0
110 111 112 113 114 115 116 117 118 119

• Consists of Precise Levelling Net, Second Order


Net and GPS Levelling Technique
NGVD2 – Datum Offset

No. Datum Offset from NGDV2 (m)


1. Sabah97 0.000 m

2. Sabah (Lawas) -0.161 m

3. Merapok (Lawas) -0.158 m

4. STAPS Jab. Laut (Limbang) -0.317 m

5. Original (Miri) -0.144 m

6. Bintulu (Bintulu) -0.357 m

7. Pulau Lakei -0.351 m


EMGM05A – Fitted Geoid Model for Sabah and Sarawak
7
GPS on BENCHMARK PROJECT
Sabah & Sarawak
6

LEGEND

2
GPS Permanent Stations

GPS Stations

1 Tide Stations

Benchmarks

0
110 111 112 113 114 115 116 117 118 119

• 74 BMs in Sarawak • 27 GPS stations


• 46 BMs in Sabah • 8 Mass stations
EMGM05A – Fitted Geoid Model for Sabah and Sarawak
• Final model based on 60 SBM/BMs from NGVD2
• Iterative process by excluding minimal SBM/BM on each iteration
• Formal Error = 2.9 cm
• Corrector surface range from 1.1 – 1.5 meter
EMGM05A – Final Model
8

7
62

6 52

42
5

32
4

22

3
12

2 2

0
107 108 109 110 111 112 113 114 115 116 117 118 119 120
EMGM05A – Testing & Analyses
7 EMGG05A
Height Difference (Derived - Published)
Test Network Sabah And Sarawak

KINA 0.300
6 SAND

LABU
0.200
5

MIRI
MTAW 0.100

0.000
BINT

SBM5

SBM21

SBM55

SBM14

SS0071

SS0182

SA 0355

SU0401

SU0506

SA0516

SU0527

SK1019

S008

S010

S047
TA60038

TA1028

TA90005

TA40077

TA40025

TA30116

TA30069

TA1570

ST70

ST5113
3

-0.100
SIBU
LEGEND
2
KUCH BMs with Residuals < 0.045 m (RMS) -0.200

BMs with Residuals > 0.045 m (RMS)


1
-0.300

GPS Permanent Stations

0
110 111 112 113 114 115 116 117 118 119

• Total Data Set = 25


• Total Number of Rejected Data = 11
• Percentage of Rejected Data = 44 %
• RMS = 0.041 m
Conclusion:
• WGeoid04 fitted using 37 SBM/BM (36 SBM & 1 BM)
with formal error of 0.020 m
• WGeoid04 accuracy based on test data = 0.042 m
(RMS)
• EMGG05A fitted using 60 SBM/BM formal error of
0.029 m
• EMGG05A accuracy based on test data = 0.041 m
(RMS)
• Suitable for :
• Engineering Survey
• Rapid detection of BM stability
• Rapid determination of height reference
(SBM/BMs/TBM)
• Topographical Mapping & Profiling
Recommendations: WGeoid04 (P. Malaysia)

• GPS Levelling Network Densification,


Baseline ≈ 30 km
• Levelling Route Investigation,
Cameron Highland & Sg. Rengit
• Re-adjustment of Precise Levelling
Network
• Realization of 1cm Geoid Model
Recommendations: EMGG05A (Sabah & Sarawak)

• GPS Levelling Network Densification, Baseline


≈ 30 km
• Ground Truth GPS Survey for
Quality/Accuracy Assessments
• Adding More BMs/SBMs that cover the whole
Sarawak, simultaneously with the Ground
Truth GPS Survey
• Investigation on second order levelling route
• Precise levelling connecting all tide gauge
stations in Sarawak
• Realization of 1cm Geoid Model

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