{"id":4951,"date":"2024-12-08T00:19:43","date_gmt":"2024-12-08T00:19:43","guid":{"rendered":"https:\/\/www.use-snip.com\/kb\/?post_type=ht_kb&p=4951"},"modified":"2024-12-09T22:48:10","modified_gmt":"2024-12-09T22:48:10","slug":"pfat-adjusting-base-station-common-reference-frame","status":"publish","type":"ht_kb","link":"https:\/\/www.use-snip.com\/kb\/knowledge-base\/pfat-adjusting-base-station-common-reference-frame\/","title":{"rendered":"PFAT: Adjusting a Base Station to a Common Reference Frame"},"content":{"rendered":"

How to Adjust a Base Station to a common Reference Frame so the RTCM messages (MT1005 and 1006) use the correct location.\u00a0 See also this article on the Translation of ECEF in a small network<\/a>.<\/strong><\/p>\n

This is an advanced topic and presumes that terms like datum<\/em> and frame of reference<\/em> are known to the reader to some degree.\u00a0 Some interesting material are found at the bottom of the page for further reading.\u00a0 Articles on how to convert between LLH and ECEF coordinate systems can be found here<\/a>.<\/p>\n

What is the need?<\/h3>\n

Often SNIP<\/strong> <\/span>networks are made up of GNSS Base Stations are operated by other parties in some form of loose federation<\/a>.\u00a0 \u00a0Each party will have selected a different ECEF location based on the datum that suited their needs.\u00a0 A datum is also called a CRS<\/strong>, or C<\/strong>oordinate R<\/strong>eference S<\/strong>ystem.\u00a0 Some ECEF positions will also be set to roll up the current accumulated ground velocities at defined points in time, but most do not.\u00a0 [Because the local users all share that common velocity] Various misunderstandings regarding which datum was used causes errors in the expected results. [Aside<\/em><\/strong><\/span>: At this time both RTCM SC-104 standards committee\u00a0 and NTRIP WG are working on new messages and methods that will let a Base Station expressly state what CRS is is using.]<\/p>\n

At other times, errors and mistake can occur in the ECEF value programmed into the GNSS devices that then appears in the RTCM 1005 or 1006 messages.\u00a0 [For several years the popular \u201cAZUSA\u201d Base Station we often use here was known to be off by about ~8 centimeters in the reported location]\u00a0 At still other times, a station may be reconfigured to accumulate data during a power up time and thereafter use the resulting average as its ECEF position. This practice has value when the Base Station is semi-mobile, but generally results in increased error when used for long term stationary locations.<\/p>\n

If you are aware of the coordinate used and the transformations required, this may not be an major issue to you (you can “fix it in post”<\/em> as they say). If you are working at the meter or decimeter level of accuracy, this may not be an issue for you.\u00a0 If you are working in a seismically stable location (read: not Southern California), this may not be an issue for you.\u00a0 And you may not be using a NEAR mountPt system, where switching between two Base Stations each with different coordinate realizations, can cause unexpected and unwanted jumps in rover positions in the middle of a planting row of crops.<\/p>\n

But even if some of the above does not apply to any of your use cases, you will still want to assure yourself that the network you are using is aligned to a common set of values.\u00a0 If you have a choice in this matter, we would recommend that you use the current IGS08 reference frame (which can be considered \u201cthe same\u201d as the current WGS84, but only to a fraction of a centimeter). [You can read more about such things here<\/a>.]<\/p>\n

What to check for<\/h3>\n

With RTKLIB:<\/h4>\n

This is best done by comparing all the Base Stations in the network in set-wise pairs<\/em> to confirm in each case that Station A (acting as a rover), when using Corrections from Station B, converges (in a fixed RTK mode) to overly the point that Station A sends in its RTCM 1005\/1006 message.\u00a0 This can be done quickly using various 3rd party RTK filtering tools such as RTKLIB<\/a>.\u00a0 If any two streams cannot produce solutions, using each other as the Base, that overlap each other, you have a problem to correct.<\/p>\n

When using this method, it is vital to understand the details of the reference frame that the Base Station (Station B here) is using, as the rover position (Station A) will be expressed relative this this point.\u00a0 As will be shown in the example, if you move the location of Station B, all the devices that depend on it move proportionally as well. \u00a0This is the essence of the RTK double difference method.\u00a0 A “silly” example of this can found here<\/a>.<\/p>\n

With OPUS:<\/h4>\n

Comparisons can also be done with decimated long term observations submitted to tools like OPUS and using final orbital data.\u00a0 \u00a0The normal process is to gather several hours of data (enable logging on the stream of interest in SNIP<\/strong><\/span>), convert the raw RTCM3.x data to a RINEX document, decimating the observations to every 10~30 seconds for a period of at least four hours.\u00a0 \u00a0Submit the resulting file to OPUS<\/a> and await a return email with the results.\u00a0 Some alternatives to OPUS can be found here<\/a> (thanks to Eric Gakstatter for developing this list).<\/p>\n

Today, OPUS will provide values in both an NAD_83<\/strong> reference frame and an IGS08<\/strong> one.
\nA typical output (an excerpt) looks like this:<\/p>\n

REF FRAME: NAD_83(2011)(EPOCH:2010.0000)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 IGS08 (EPOCH:2018.1055)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\r\n    X:\u00a0\u00a0\u00a0 \u00a0 -2472978.774(m)\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -2472979.762(m)\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \r\n    Y:\u00a0\u00a0\u00a0 \u00a0 -4671339.285(m)\u00a0\u00a0 0.003(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -4671337.777(m)\u00a0\u00a0 0.003(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \r\n    Z:\u00a0\u00a0\u00a0 \u00a0\u00a0 3558107.904(m)\u00a0\u00a0 0.014(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 3558107.924(m)\u00a0\u00a0 0.014(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \r\n    LAT:\u00a0\u00a0   34\u00a0 7 33.65447\u00a0\u00a0 0.012(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 34\u00a0 7 33.67085\u00a0\u00a0\u00a0\u00a0\u00a0 0.012(m)\u00a0\u00a0\u00a0\u00a0 \r\n    E LON:  242\u00a0 6 12.69382\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 242\u00a0 6 12.63218\u00a0\u00a0\u00a0\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0\u00a0 \r\n    W LON:\u00a0 117 53 47.30618\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 117 53 47.36782\u00a0\u00a0\u00a0\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0 \r\n    EL HGT:\u00a0\u00a0\u00a0\u00a0\u00a0 145.492(m)\u00a0\u00a0 0.007(m)\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 144.783(m)\u00a0\u00a0 0.007(m) \r\n    ORTHO HGT:\u00a0\u00a0 179.126(m)\u00a0\u00a0 0.012(m) [ H = h-N (N = GEOID12B HGT)]\r\n\r\n<\/pre>\n
The above data is for the ASZU<\/strong> data steam.\u00a0 You can what each stream is sending by looking at SNIP<\/strong><\/span>‘s RTCM message viewer or by watching the stream during the startup phase.\u00a0 At about 180 seconds after any stream has connected, you will see lines like these:<\/p>\n
[AZU1_RTCM3<\/strong><\/span>]: \u00a0\u00a0Station location loaded from ECEF msg:\r\n \u00a0\u00a0\u00a0In ECEF\u00a0 \u00a0\u00a0 X:-2472979.4215<\/strong>, \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Y:-4671338.1096<\/strong>, \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0  Z:3558107.8057<\/strong> \u00a0\u00a0\u00a0\u00a0 Antenna Offset Height: 0.0000m\r\n \u00a0\u00a0\u00a0In DD.ddd\u00a0 \u00a0Lat: +34.12601811<\/strong>\u00b0, \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Long: -117.89648611<\/strong>\u00b0, \u00a0\u00a0\u00a0\u00a0   Height: 144.828<\/strong>m, \u00a0 Antenna Offset Height: 0.0000m\r\n \u00a0\u00a0\u00a0In DMS.ss\u00a0 \u00a0Lat: +34\u00b0 07' 33.66521''<\/strong>, \u00a0 Long: -117\u00b0 53' 47.34999''<\/strong>, \u00a0Height: 144.828<\/strong>m, \u00a0\u00a0Antenna Offset Height: 0.0000m<\/pre>\n
Use whichever system of\u00a0 units which you prefer and compare them with your source of truth.\u00a0 In this case we are setting up a Base Station for long term use and will rely on the OPUS IGS08<\/strong> values.<\/p>\n
What Do We See…<\/h3>\n
A small bit of math will reveal that there are some differences between the two values\u00a0 (what AZUS is sending and what OPUS states is the current IGS08 value set).\u00a0 Taken as a vector, the RTCM reported position varies from the OPUS position by 49.05cm\u00a0 (the NAD-83 one varies by 1.3455cm, and is of course dominated by the 1+ meter divergence of NAD83 from WGS84 over time).\u00a0 A failure to understand this could result in an incorrect position by nearly half a meter!<\/p>\n
There are many different valid reference frames and realizations that a Base Station may care to use, any one of which could explain this.\u00a0 \u00a0Left for the interested reader is the task to look up the realization which UNAVCO<\/a> who operates this station has used.\u00a0 [See http:\/\/pboweb.unavco.org\/shared\/scripts\/stations\/?checkkey=AZU1<\/a>]<\/p>\n
For this task we do not care about the reasoning that went into the selection of another reference frame.\u00a0\u00a0 Our goal here is simply to align them to the reference frame that we desire.\u00a0 \u00a0This involves moving X by -34.05cm, Y by +33.26cm and Z by 11.83cm. \u00a0Observe that the RTCM message provides for a precision of 0.1 mm in this regard.\u00a0 In places where a user can enter this data for SNIP<\/strong><\/span> a 10x level of additional precision is provided to mitigate rounding.<\/p>\n
How do we fix it?<\/h3>\n
This is discussed further in a \u201cworked\u201d small network example where 5 stations<\/em> from three different providers<\/em> are translated and offset to a common IGS08 reference fame using SNIP<\/strong><\/span>\u2019s PFAT system.<\/p>\n
We use one of the provided translation dialogs to shift the ECEF value to align with IGS08 as shown in the image below. \u00a0Because in this case we know the XYZ value we desire, we can enter them directly. [Aside<\/strong><\/em><\/span>: If we know the LLH value, or the offset vector that is wanted, the same point can be entered in those ways. As any of the values is edited, the resulting values in the other boxes are updated. Large shifts are noted and the user is asked to confirm]<\/p>\n
Here we simply copy and paste the XYZ values from the OPUS report into the SNIP<\/strong><\/span>‘s\u00a0 Translate ECEF<\/strong> dialog box as show below (click to enlarge). Observe that the Height (which is computed from the XYZ values display a bit more precision that the above report displayed.\u00a0 This, and other values, are rounded when sent to the 0.1 mm precision defined by the RTCM 3.x messages.<\/p>\n
\"\"<\/a><\/p>\n
Once entered and enabled by saving the new values, SNIP<\/strong><\/span> will send these values every time the Base Station sends its older value in another reference fame.\u00a0 The translation is then activated every time this stream is run, created permanent solution (unless disabled using the PFAT controls<\/a>).<\/p>\n
This process is expanded on on further in this article.\u00a0 The controls found in the ECEF Translation<\/strong> dialog are explain further in this dialog.<\/p>\n
 <\/p>\n
Before and After<\/h3>\n
The console display can also used confirm the changes.<\/p>\n
Before:<\/p>\n
[AZU1_RTCM3<\/span><\/b>]: \u00a0\u00a0Station location loaded from ECEF msg: \r\n \u00a0\u00a0\u00a0In ECEF\u00a0 X:-2472979.4215<\/b>, Y:-4671338.1096<\/b>, Z:3558107.8057<\/b> \u00a0\u00a0Antenna Offset Height: 0.0000m\r\n \u00a0\u00a0\u00a0In DD.ddd\u00a0 Lat: +34.12601811<\/b>\u00b0, \u00a0Long: -117.89648611<\/b>\u00b0, \u00a0Height: 144.828<\/b>m, \u00a0\u00a0Antenna Offset Height: 0.0000m\r\n \u00a0\u00a0\u00a0In DMS.ss\u00a0 Lat: +34\u00b0 07' 33.66521''<\/b>, \u00a0Long: -117\u00b0 53' 47.34999''<\/b>, \u00a0Height: 144.828<\/b>m, \u00a0\u00a0Antenna Offset Height: 0.0000m<\/pre>\n
After:<\/p>\n
[AZU1_RTCM3<\/span><\/b>]: \u00a0\u00a0Station location loaded from ECEF msg: \r\n \u00a0\u00a0\u00a0In ECEF\u00a0 X:-2472979.7620<\/b>, Y:-4671337.7770<\/b>, Z:3558107.9240<\/b> \u00a0\u00a0Antenna Offset Height: 0.0000m\r\n \u00a0\u00a0\u00a0In DD.ddd\u00a0 Lat: +34.12601968<\/b>\u00b0, \u00a0Long: -117.89649106<\/b>\u00b0, \u00a0Height: 144.783<\/b>m, \u00a0\u00a0Antenna Offset Height: 0.0000m\r\n \u00a0\u00a0\u00a0In DMS.ss\u00a0 Lat: +34\u00b0 07' 33.67084''<\/b>, \u00a0Long: -117\u00b0 53' 47.36781''<\/b>, \u00a0Height: 144.783<\/b>m, \u00a0\u00a0Antenna Offset Height: 0.0000m<\/pre>\n
 <\/p>\n
Note<\/strong>: PFAT Translation of the ECEC value is a feature only available on paid models of SNIP<\/strong><\/span>.<\/p>\n
More Information on Coordinates and Reference Frames<\/h3>\n
This is a rather complex subject but here are a few links to educate further.<\/p>\n
http:\/\/clynchg3c.com\/Technote\/maps\/Datumintr.pdf<\/a><\/p>\n
http:\/\/earth-info.nga.mil\/GandG\/publications\/tr8350.2\/wgs84fin.pdf<\/a><\/p>\n
ftp:\/\/igscb.igs.org\/pub\/resource\/pubs\/IGS08_The_IGS_Realization_of_ITRF2008.pdf<\/a><\/p>\n
https:\/\/www.ngs.noaa.gov\/CORS\/coords.shtml<\/a><\/p>\n
http:\/\/www.unoosa.org\/pdf\/icg\/2012\/5_3.pdf<\/a><\/p>\n
https:\/\/www.e-education.psu.edu\/geog862\/node\/1804<\/a><\/p>\n
http:\/\/www.nrcan.gc.ca\/earth-sciences\/geomatics\/geodetic-reference-systems\/9052<\/a><\/p>\n
 <\/p>\n","protected":false},"excerpt":{"rendered":"
How to Adjust a Base Station to a common Reference Frame so the RTCM messages (MT1005 and 1006) use the correct location.\u00a0 See also this article on the Translation of ECEF in a small network. This is an advanced topic and presumes that terms like datum and frame of reference […]<\/p>\n","protected":false},"author":13,"comment_status":"open","ping_status":"closed","template":"","format":"standard","meta":{"_exactmetrics_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":""},"ht-kb-category":[334],"ht-kb-tag":[403,405,404,381],"class_list":["post-4951","ht_kb","type-ht_kb","status-publish","format-standard","hentry","ht_kb_category-advanced-topics","ht_kb_tag-ecec","ht_kb_tag-network-adjustment","ht_kb_tag-offsets","ht_kb_tag-pfat"],"yoast_head":"\nPFAT: Adjusting a Base Station to a Common Reference Frame - SNIP Support<\/title>\n<meta name=\"description\" content=\"Why you would need to move the base station precise location to account for difference frames of reference.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.use-snip.com\/kb\/knowledge-base\/pfat-adjusting-base-station-common-reference-frame\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"PFAT: Adjusting a Base Station to a Common Reference Frame\" \/>\n<meta property=\"og:description\" content=\"Why you would need to move the base station precise location to account for difference frames of reference.\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.use-snip.com\/kb\/knowledge-base\/pfat-adjusting-base-station-common-reference-frame\/\" \/>\n<meta property=\"og:site_name\" content=\"SNIP Support\" \/>\n<meta property=\"article:modified_time\" content=\"2024-12-09T22:48:10+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.use-snip.com\/kb\/wp-content\/uploads\/2018\/02\/ECEC_forAZUI.png\" \/>\n\t<meta property=\"og:image:width\" content=\"665\" \/>\n\t<meta property=\"og:image:height\" content=\"560\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"7 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/www.use-snip.com\\\/kb\\\/knowledge-base\\\/pfat-adjusting-base-station-common-reference-frame\\\/\",\"url\":\"https:\\\/\\\/www.use-snip.com\\\/kb\\\/knowledge-base\\\/pfat-adjusting-base-station-common-reference-frame\\\/\",\"name\":\"PFAT: Adjusting a Base Station to a Common Reference Frame - 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