Teknik Geodesi & Geomatika FITB ITB

SISTEM REFERENSI GEOMETRIK

Modul 4 : Sistem dan Kerangka Referensi Global

Kosasih Prijatna Irwan Meilano

Dina A. Sarsito Heri Andreas
Sistem Referensi Koordinat
Sistem Referensi Geospasial

Sistem Sistem
Referensi Referensi
Koordinat Kerangka
Referensi
Datum Statik
Sistem
Referensi Datum
Tinggi Geodetik Datum Semi
Dinamik/ Kinematik
Sistem
Implementasi, Datum Dinamik/
dll Kinematik
International Terrestrial Reference System (ITRS)

International Terrestrial Reference System (ITRS) merupakan

salah satu sistem referensi (koordinat) yang mengacu pada
sistem CTS (terikat bumi). Secara umum karakteristik dari
sistem referensi ITRS adalah sebagai berikut:
•Sistem geosentrik, dimana pusat massanya didefinisikan
untuk seluruh bumi.
•Unit panjang yang digunakan adalah meter
•Sumbu Z mengarah ke kutub CTP
•Sumbu X berada dalam meridian Greenwich
•Sumbu Y tegak lurus terhadap sumbu X dan sumbu Z
mengikuti kaidah tangan kanan.(right handed System)
 International Terrestrial Reference System (ITRS)

• Realized and maintained by the International Earth Rotation

and Reference Systems Service (IERS)
• Its Realization is called International Terrestrial Reference
Frame (ITRF)
• Set of station positions and velocities, estimated by
combination of VLBI, LLR, SLR, GPS and DORIS individual TRF
solutions

Adopted by IUGG in 1991 for More than 800 stations located on

all Earth Science Applications more than 500 sites

http://www.ensg.ign.fr/ITRF/
 International Terrestrial Reference System (ITRS)

• ITRS was defined in 1988 within the IERS community

and made available through its primary realizations
(ITRF solutions)
• The geoscience international scientific community
formally adopted it (IUGG resolution, Perugia 2007)
• The IAG services, in particular IGS, express their
products in ITRS by using directly ITRF solutions.
• Regional networks (CORS, EUREF, AFREF…) are also
realizations of ITRS for a geographical area.

GGOS SC 14 San Francisco 2008

 International Terrestrial Reference System (ITRS)

• The GNSS community provides more and more services

also directly expressed in ITRS. GPS and Galileo
standard services are in such a case (US-EU agreement)
• This implies that TRF information for WGS84 is
recognized as a particular realization of ITRS
• Nevertheless, for a variety of reasons, several other
system designations are adopted in regulations or
standards, in various communities:
– WGS84 for ICAO, IAC, IHO
– ETRS89 for EUREF, EuroGeographics and INSPIRE
GGOS SC 14 San Francisco 2008
International Terrestrial Reference System (ITRS)

Conventional Z Axis
Terrestrial System Earth’s
(CTS) Rotation
Axis
P
International
Terrestrial Reference
System (ITRS) ZP
(0,0,0)
YP Y Axis
 International Terrestrial Reference System (ITRS)

• Up to now, ITRS is formally adopted only by the

geoscience community
• Among several communities of practice (navigation,
hydrography, geo-information…), various texts,
recommendations or standards refer to multiple TRS
designations in addition to ITRS, such as WGS84,
ETRS89..whiich creates potential confusions
• The existence, quality, perenity or reliability of ITRS
realizations are presently ensured by various scientific
groups or even individuals, without unified and inter-
governmental guarantee
GGOS SC 14 San Francisco 2008
 International Terrestrial Reference System (ITRS)

PROPOSAL

• 1:To establish a new ISO standard which will endorse the

ITRS as the unique preferred terrestrial reference system
for all domains of activity
• 2:To establish an international and inter-governmental
governing structure which ensures the existence , quality
, consistency and perenity of the various realizations of
ITRS
• 3:To ensure the proper clarifications in terminology and
explanations of ITRS with regard to other terms such as
WGS84, ETRS89
GGOS SC 14 San Francisco 2008
 International Terrestrial Reference Frame (ITRF)

BM Realizations: ITRF89, ITRF90, ITRF91, ITRF92,

ITRF93, ITRF94, ITRF95, ITRF96, ITRF97, ITRF2000,
ITRF2005, ITRF 2008
International Terrestrial Reference Frame (ITRF)
International Terrestrial Reference Frame (ITRF)

Sistem ITRS direalisasikan dengan koordinat dan kecepatan dari

sejumlah titik yang tersebar di seluruh permukaan bumi, yang
diamati dengan metoda pengamatan VLBI, SLR, GPS, dan
DORRIS. Kerangkanya dinamakan ITRF yang juga terikat
dengan ICRF (sistem terikat langit) dengan pengamatan VLBI,
sehingga keduanya dapat saling ditransformasi.

realizations: ITRF89, ITRF90, ITRF91, ITRF92,

ITRF93, ITRF94, ITRF95, ITRF96, ITRF97, ITRF2000,
ITRF2005, ITRF 2008
 ITRF 2000

ITRF 2000 merupakan salah satu alternatif realisasi dari WGS’84 yang
produksi oleh IERS (International Earth Rotation Service) di Paris,
Prancis. ITRF 2000 merupakan usulan untuk standar kerangka
koordinat global. Solusi ITRF 2000 dipublisasikan untuk dimanfaatkan
oleh bermacam-macam komunitas yang berhubungan dengan masalah
koordinat, seperti geodet, kartografer, dll. ITRF 2000 mulai
dipublikasikan pada Maret 2001, keseluruhan solusi serta file yang
berkaitan dapat diakses secara bebas pada
<http://lareg.ensg.ign.fr/ITRF/ITRF2000>.
.Pleased be informed that IGS Analysis Centers will begin to use
the IGS realization of ITRF2000 (IGS00) with GPS week 1143,
which starts on December 2, 2001. This implies that
simultaneously all IGS products will be based on ITRF2000. [ IGS
Mail ]
 ITRF 2000

ITRF 2000 merupakan kerangka koordinat yang paling rapat

sebaran titik pengamatannya sebelum ITRF 2005, serta kerangka
global yang paling akurat. ITRF 2000 memiliki 800 stasiun
pantau yang tersebar di lebih dari 500 kawasan. ITRF 2000 ini
doperoleh melalui kombinasi simultan dari posisi serta
kecepatan pergerakan secara global lengkap dengan
variansinya.

ITRF 2000 dianggap merupakan pendefinisian datum yang akurat

karena: ukuran “origin” (parameter translasi dan rotasi) dan rata-
ratanya didefinisikan dari solusi SLR yang paling konsisten. Parameter
skala dan rata-ratanya didefinisikan melalui rata-rata solusi VLBI dan
SLR yang diberi pembobotan.
ITRF 2000
 ITRF 2005

Unlike the previous versions of the International Terrestrial

Reference Frame (ITRF), the ITRF2005 is constructed with input
data under the form of time series of station positions and Earth
Orientation Parameters (EOP’s). The ITRF2005 input time-series
solutions are provided in a weekly sampling by the IAG
International Services of satellite techniques (the International
GNSS Service-IGS, the International Laser Ranging Service-
ILRS and the International DORIS Service-IDS) and in a daily
(VLBI session-wise) basis by the International VLBI Service
(IVS). Each per-technique time-series is already a combination,
at a weekly basis, of the individual Analysis Center (AC)
solutions of that technique, except for DORIS.
ITRF 2005
 ITRF 2008

ITRF2008 is the new realization of the International

Terrestrial Reference System. Following the
procedure already used for the ITRF2005 formation,
the ITRF2008 uses as input data time series of station
positions and Earth Orientation Parameters (EOPs)
provided by the Technique Centers of the four space
geodetic techniques (GPS, VLBI, SLR, DORIS). Based
on completely reprocessed solutions of the four
techniques, the ITRF2008 is expected to be an
improved solution compared to ITF2005.
ITRF 2008
ITRF 2008
TRANSFORMASI ANTAR ITRF
 TRANSFORMASI ANTAR ITRF

Transformation Parameters from ITRF2005 to ITRF2000:

Tx Ty Tz Scale Rx Ry Rz
0.1 -0.8 -5.8 0.40 0.0 0.0 0.0
mm mm mm ppb mas mas mas

Tx´ Ty´ Tz´ Scale´ Rx´ Ry´ Rz´

-0.2 0.1 -1.8 0.08 0.0 0.0 0.0
mm/y mm/y mm/y ppb/y mas/y mas/y mas/y

From: “ITRF2005: A new release of the International Terrestrial Reference Frame based on time series of station
positions and earth Orientation Parameters”, by Z. Altamimi, X. Collilieux, J. Legrand, B. Garayt, and
C. Boucher. Journal of Geophysical Research, Vol. 112, B09401, 2007.
World Geodetik System (WGS) 1984

WGS-84 (World Geodetic System 1984) adalah suatu Sistem

Referensi Geospasial Global (geosentrik) yang dibuat dan
dipelihara oleh National Imagery Mapping (NIMA) Amerika
Serikat
Pertama kali WGS-84 direalisasikan dengan memodifikasi
kerangka referensi yang digunakan oleh sistem satelit Doppler

WGS-84 adalah sistem referensi untuk koordinat satelit GPS

(Broadcast Ephemeris)

WGS-84 Digunakan oleh GPS sejak tahun 1987, setelah

sebelumnya digunakan WGS-72
 World Geodetik System (WGS) 1984
• 1950s
– early space exploration offered first global view
– satellite tracking and ICBMs required global coordinate systems
• WGS 1960 provided first standard global coordinate system for Dept. of
Defense (DoD)
• WGS 1966 and 1972 answered the need for greater accuracy and broader
application to DoD requirements
• WGS 1984 represented significant improvement
• DoD World Geodetic Systems have always conformed to and adopted
international standards
• Applied to all DoD products and services – maps, charts, airfields,
features data, topography, satellite orbits, real-time positioning,…
 World Geodetik System (WGS) 1984
ω

• Earth-Centered Earth-Fixed Coordinate System

– Adopted ITRF definition b
a
• Standard Earth Model GM
a−b
f=
– Ellipsoid with mass and rotation rate of Earth a

– Center coincides with coord. system origin and

– axes coincide with those of coord. system
• Earth Gravitational Model (EGM)
– Mathematical representation of the gravitational field (current
version EGM96, next version EGM07)
– Global “mean sea level” surface (i.e. elevation = 0) for referencing
topographic elevations (“geoid” surface)
• International Standard Physical Constants and Models Adopted
– Examples: Flattening (f) and semi-major axis of ellipsoid (a),
speed of light (c), gravitational constant (GM),
 World Geodetik System (WGS) 1984

“Realization” of WGS 84 Reference Frame

• Defined (realized) by the coordinates of a globally-

distributed set of reference points on the
topographic surface of the Earth – constituted solely
by a network of “permanent” GPS stations

• WGS 84 reference frame periodically adjusted to

maintain close alignment to ITRF:
World Geodetik System (WGS) 1984

“Realization” of WGS 84 Reference Frame

Positions of the reference points (DoD monitor stations) are estimated
using GPS observations at these points combined with
simultaneously-collected data from Int’l GNSS Service (IGS)
stations roughly as follows:
1. Given:
▪ High level of consistency between the WGS and ITRS
conventions, constants and models
▪ Known ITRF coordinates of IGS stations
2. Hold IGS station coordinates fixed* in the computations, solve
for DoD station positions* and GPS satellite orbit parameters
3. Result: DoD station coordinates and by definition WGS 84
reference frame is coincident with the ITRF within some level
of uncertainty

*Note: Plate tectonic motion is accounted for.

World Geodetik System (WGS) 1984

“Realization” of WGS 84 Reference Frame

DoD WGS 84 (G1150) Reference Stations

World Geodetik System (WGS) 1984

“Realization” of WGS 84 Reference Frame

IGS Reference Stations for WGS 84 (G1150)

World Geodetik System (WGS) 1984

Refinements of WGS 84 Reference Frame (reference

positions):
• WGS 84 (G730) – June 1994 → ~ 10 cm accuracy
• WGS 84 (G873) – January 1997 → ~ 5 cm accuracy
• WGS 84 (G1150) – January 2002 → ~ 1-2 cm
accuracy
World Geodetik System (WGS) 1984

Operational Implementation:
• GPS observations from only DoD station network (NGA
+ AF)
• DoD station coordinates ‘fixed’ to (ITRF-aligned) WGS 84
coordinates in the orbit computation
• Result –
Precise orbits and broadcast orbits in WGS 84
reference frame
• Positioning and navigation based on these orbits →
WGS 84 position coordinates (alternate realization of
reference frame)
WGS 84 Adopted by NATO, ICAO, and IHO
IGS
The International GNSS Service (IGS) is a voluntary
federation of more than 200 worldwide agencies that pool
resources and permanent GPS & GLONASS station data to
generate precise GPS & GLONASS products. The IGS is
committed to providing the highest quality data and products
as the standard for Global Navigation Satellite Systems
(GNSS) in support of Earth science research, multidisciplinary
applications, and education. Currently the IGS includes two
GNSS, GPS and the Russian GLONASS, and intends to
incorporate future GNSS. You can think of the IGS as the
highest-precision international civilian GPS community
IGS
IGS NETWORK
 IGS

• IGS08 will be a subset of the ITRF2008 GNSS network.

• As suggested by Jim Ray, we could also define a smaller,

homogeneously distributed « IGS08 core network »:
– The core network would be used for global frame
alignments, in order to minimize errors due to network
inhomogeneity.
– But a denser network is required by many users, in
particular for the alignment of regional frames.

• A first station selection is ongoing at IGN. It should be made

available to ACs, ACC, IC,… in May.
 IGS

• Taking a frozen extract from ITRF2008 as IGS Reference Frame

has however some drawbacks:
– New discontinuities will inevitably make the number of
available RF stations decrease.
– It may become difficult to keep a homogeneously
distributed core network.

• It is maybe time to think of regular updates of the IGS

Reference Frame:
– The regular addition of recent data would improve the
quality/accuracy of IGS08.
– With more data, new stations showing good performance
could also be added.
IGS
ITRF2008-P vs. IGS05
Estimated transformation parameters
TX TY TZ SC RX RY RZ
(mm) (mm) (mm) (ppb) (mas) (mas) (mas)

2.7 -0.2 4.7 -0.95 0.022 -0.000 0.017

+/- 0.2 +/- 0.2 +/- 0.2 +/- 0.04 +/- 0.009 +/- 0.010 +/- 0.010

dTX/dt dTY/dt dTZ/dt dSC/dt dRX/dt dRY/dt dRZ/dt

(mm/y) (mm/y) (mm/y) (ppb/y) (mas/y) (mas/y) (mas/y)

-0.1 0.0 -0.1 -0.01 -0.001 -0.004 0.004

+/- 0.2 +/- 0.2 +/- 0.2 +/- 0.04 +/- 0.009 +/- 0.010 +/- 0.010

Residuals statistics
Positions (mm) Velocities (mm/y)

E N U E N U

Mean -0.0 -0.5 0.0 -0.0 0.0 -0.0

RMS 1.2 1.2 5.5 0.4 0.5 1.6
Note: Transformation parameters and residuals are computed at epoch 2005.0.
IGS

ITRF2008-P vs. IGS05: Position residuals

1995.0 2000.0
2005.0 2010.0
IGS

IGS05/ITRF2008-P vs. igs10P1576

IGS05 - igs10P1576 residuals « IGS08-P » - igs10P1576 residuals

RMS East RMS North RMS Up ⇒ ITRF2008-P velocities are indeed more
(mm) (mm) (mm)
up-to-date than IGS05 ones.
IGS05 –
igs10P1576 3.5 3.4 9.0
Residuals are globally ~twice less at
« IGS08-P » –
igs10P1576 2.2 1.8 4.1 t = 2010.23 (week 1576).
IGS
IGS PRODUCT

Broadcast Accuracy: Latency: Updates: Interval:

Ephemeris 160 cm real time (None) daily
Ultra-rapid 10 cm 3 hours 4 daily 15 min.
Rapid < 5 cm 17 hours daily 15 min.
Final orbit < 5 cm 13 days weekly 15 min.
GLONASS 15 cm 2 weeks weekly 15 min.
Final EOPs PM .05 mas 13 days weekly daily
LOD .02 ms
Final Tropo zpd 4 mm < 4 weeks weekly 2 hours
Final Iono 2-8 TECU 11 days weekly 2 hours
5°λ x 2.5°φ
http://igscb.jpl.nasa.gov
 ESRS-ETRS

European georeferencing by coordinates

European Spatial Reference System

(compound coordinate reference system)

European Terrestrial Reference System European Vertical Reference System

(ETRS) (EVRS)

geodetic datum coordinate system vertical datum gravity-related heights

ETRS89 ellipsoidal/projected UTM NAP geopotential numbers
normal heights
ESRS-ETRS

The European Continental Plate is moving quite

uniformly of some 3 cm per year, relatively to the ITRS.
Excepted is of the south-eastern extreme of Europe
(Greece, Turkey).
The IAG Sub-commission for Europe EUREF decided to
define a System fixed to the European plate in order to
have stable co-ordinates for Europe.
This System (datum) is named ETRS, or ETRS89, as was
identical to the ITRS in the year 1989.
Since 1989, ETRS89 co-ordinates have shifted from their
values expressed in ITRS.
ESRS-ETRS

ETRS89 is recognised by the scientific community

as the European geodetic datum to be adopted. It is
defined to 1cm accuracy, and it is consistent with
the global ITRS.
ETRS89 is available due to the EUREF permanent
GPS station network EPN and the validated EUREF
campaign observations.
It is part of the legal framework of some EU
member states.
 ESRS-ETRS

ETRS89 Ellipsoidal Coordinate Reference System (ETRS89) Description

Entitiy Value
CRS ID ETRS89
CRS valid area Europe
European datum consistent with ITRS at the epoch 1989.0 and fixed to
Datum scope the stable part of the Eurasian continental plate for georeferencing of
GIS and geokinematic tasks

see Boucher, C., Altamimi, Z. (1992): The EUREF Terrestrial Reference

Datum remarks System and its First Realizations. Veröffentlichungen der Bayerischen
Kommission für die Internationale Erdmessung, Heft 52, München
1992, pages 205-213- or -
ftp://lareg.ensg.ign.fr/pub/euref/info/guidelines/

Prime meridian ID Greenwich

Prime meridian Greenwich longitude 0°
Ellipsoid ID GRS 80
Ellipsoid semi-major axis 6 378 137 m
Ellipsoid inverse flattening 298.257222101
ESRS-ETRS

“Realization” of ETRS Reference Frame

No. stations:
130 total
42 IGS
WORLD WIDE DATUM DEFINITION

Banyak negara yang

mengadopsi sistem
semi dynamic datum,
diantaranya New
Zealand, Western USA,
Jepang, dan Papua
New Guinea. Alasan
yang mendasari
diantaranya untuk
pemeliharaan
koordinat yang
konsisten untuk
menunjang integrasi
data spasial yang
berbeda epoch
 WORLD WIDE DATUM DEFINITION
Nation Datum Name update year characteristic realisation frame epoch released
Philippine PRS92 1992 static 1992.00
Indonesia DGN95 1995 static ITRF2005 1995.00
Estonia Estonia 1997 1997 static ITRF1996 1997.56
New Zealand NZGD2000 1998 semi-dynamic ITRF1996 2000.00
South Korea KGD2000 2000 semi-dynamic ITRF1997 2000.00 1999
Australia GDA94 2000 static ITRF1992 1994.00
Papua New Guinea PNG94 2000 semi-dynamic ITRF1992 1994.00
Malaysia GDM2000 2000 static ITRF2000 2000.00
Bermuda Bermuda 2000 2000 static ITRF1996 2000.00
Turkey TNFGN 2001 semi-dynamic ITRF1996 2005.00
Jamaica Jamaica 2001 2001 static
Japan JGD2000 2002 semi-dynamic ITRF1994 1997.00 April 1st, 2002

South Korea KGD2002 2003 semi-dynamic ITRF2000 2002.00 2003

Costa Rica Costa Rica 2005 2005 static ITRF2000 2005.80
Israel IGD2005 2005 semi-dynamic ITRF2005
China CGCS2000 2008 static ITRF1997 2000.00 July 2008
Brunei GDBD2009 2009 static ITRF2005 2009.45
Nigeria GDN2012 2012 ITRF2008
 WORLD WIDE DATUM DEFINITION

New Zealand mengadopsi semi dynamic datum ( 3 D

Datum) bernama NZGD2000, dengan epoch reference
1 januari 2000, dan model deformasi NZGD2000
 WORLD WIDE DATUM DEFINITION

Semi dynamic datum memperhatikan efek geodinamika dan

deformasi dengan patokan epoch reference dan model deformasi,
perubahan koordinat diminimalisasi, lalu secara praktis terlihat
seperti static datum yang memudahkan user mengaplikasikannya
WORLD WIDE DATUM DEFINITION
GSI menyatakan
keuntungan dari
penggunaan semi
dynamic datum,
yaitu koordinat
akan selalu
berkorespon dengan
baik ke datum yang
ditetapkan, dan
tidak terpengaruh
lagi oleh deformasi.
GSI menyebut
dynamic datum
masih terlalu dini
untuk
diaplikasikan.
WORLD WIDE DATUM DEFINITION
Semi dynamic datum
memperhatikan efek
geodinamika dan
deformasi (di New
Zealand), dimana
sistem ini telah
mengakomodir
kebutuhan
komunitas geodesi
yang memerlukan
koordinat berseri,
dan komunitas
pemetaan yang hanya
memerlukan
koordinat statik
WORLD WIDE DATUM DEFINITION

Semi dynamic datum

akan seolah muncul
sebagai static datum
yang memfasilitasi
keperluan GIS dan
komunitas pemetaan
yang tidak memiliki
tool untuk mengatur
perubahan dari
koordinat. Dimasa
depan mungkin
fully dynamic datum
dapat diaplikasikan
dengan baik
Modul 4 Selesai