GEOCENTRIC DATUM OF MALAYSIA 2000 (GDM2000) AND CCS INFRASTRUCTURE

Dr Samad bin Hj Abu Seksyen Geodesi Bahagian Pemetaan, Jabatan Ukur dan Pemetaan Malaysia Seminar dan Bengkel Coordinated Cadastral System (CCS) Melaka 26 27 Julai 2005

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

1.

INTRODUCTION 1.1 Historically, datums have been established in many regions around the world since the 19th Century using conventional surveying techniques and procedures. Most of them were confined to small areas of the globe, fit to limited areas to satisfy national mapping requirements. They are therefore regional in nature and generally are not aligned with global geocentric coordinates frames. This is the case in Malaysia where it has two conventional geodetic datum namely the Malayan Revised Triangulation (MRT) for Peninsular Malaysia (West Malaysia) and the Borneo Triangulation 1968 (BT68) for Sabah and Sarawak (East Malaysia). Cadastral surveying aims at defining and guaranteeing legal property boundaries, and determining coordinates of all measured points to give information on the size and nature of land use. The demarcation and delineation of the boundaries which forms part of a cadastral survey has been carried out by connection to the main triangulation through standard traverse. However, with the advent of new technologies such as Global Positioning System (GPS) and unified GIS applications over large areas, the existing datums of MRT and BT68 have become obsolete in that they cannot match the accuracy needed for new applications. The importance of the geocentric datum was further realised considering that satellite positioning systems would have widespread use in this millennium and the positions referenced to the existing datum would not be compatible with satellite derived positions. The adoption of a geocentric datum would allow for a single standard for the acquisition, storage and the use of cadastral database thus ensuring its homogeneity. This would also mean that 'bearing and distance' can be derived legally from the final adjusted coordinates. This paper is intended to provide the results of the definition and realization of a geocentric datum for Malaysia and subsequent establishment of the Cadastral Control Infrastructure (CCI).

1.2

1.4

1.5

1.4

2.

BACKGROUND 2.1 The history of MRT system started since the establishment of PERAK and ASA triangulation systems in 19th century. These two systems were not of geodetic accuracy and as a result a new geodetic system called Repsold Triangulation was introduced in 1913-1916. In 1948, the survey authority agreed to use Rectified Skew Orthomorphic Projection (RSO) for mapping applications and Malaysian Revised Triangulation System (MRT) was then established. MRT is a unification of PERAK, ASA and Repsold Systems and computed using data collected mainly in the period 1948-1966 using Modified Everest ellipsoid. It consists of about 1200 stations plus a number of standard traverses and has an inter-station

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

accuracy of about 13-15 ppm. Coordinates in this system are known as MRT48 coordinates and being projected using RSO and Cassini Soldner projection for mapping and cadastral purposes, respectively. MRT 48 coordinates represent a unified datum, albeit distorted for the whole Peninsular Malaysia. MRT68 later superseded MRT48 coordinates (Figure 1). 2.2 Several space-based surveys (initially based on Transit Doppler and now on GPS) have been employed in Peninsular Malaysia. These include the Peninsular Malaysia GPS Scientific Network which was established in 1994 (PMGSN94) comprised of 238 evenly distributed points (approximately at 30 km spacing) over Peninsular Malaysia. These constituted the first order national network with two sets of coordinates that is on a WGS 84 and local MRT datum (Figure 2). The PMGSN94 was established in a quasi WGS84 datum in that it referenced its coordinates to a derived WGS84 coordinates which has only an absolute accuracy of 1 2 m.

2.3

3.

IMPLEMENTATION OF GEOCENTRIC DATUM 3.1 By definition, a geocentric coordinate system is a system whose origin (0,0,0) coincides with the centre of the mass of the earth and the directions of their axes are defined by convention (Figure 3). The adoption of geocentric datum will definitely lead to a homogeneous national coordinate datum across the country, and will ensure that coordinates are directly compatible with GPS coordinate output and with international mapping and charting standards. The International Earth Rotation Services (IERS) maintains this present day terrestrial reference system through an International Terrestrial Reference Frame (ITRF), which is defined by adopting the geocentric Cartesian coordinates and velocities of global tacking stations derived from the analysis of VLBI, SLR, and GPS data [Bock, 1998]. The implementation of geocentric datum for Malaysia will required the connection to such reference frame (ITRF). The following stages of realization of the geocentric datum have been planned and carried out: GPS data collection for the Zero Order Geodetic Network. Data processing and adjustment of Zero Order Geodetic Network. Computation of the new geocentric datum coordinates at a specific epoch. Determination of velocity model for Malaysia. Strengthening and readjustment of Peninsular Malaysia Primary Geodetic Network (PMPGN2000) Derivation of transformation parameters.

3.2

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

Figure 1: Malayan Revised Triangulation

Figure 2: Peninsular Malaysia GPS Scientific Network 1994

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

Figure 3: Geocentric Datum

4.

ZERO ORDER GEODETIC NETWORK 4.1 The new Geocentric Datum for Malaysia 2000 (GDM2000) is based on the Malaysia Active GPS System (MASS), which fits into a global geodetic framework. MASS consists of eighteen (18) active permanent GPS stations which were established for geodetic surveying and scientific purposes since 1998 by the Department with a nominal spacing of about 200 km. These MASS Stations form the Zero Order Geodetic Network. Three years of MASS data (1999 and 2002 for 15 stations) have been used for processing and reference frame determination (Figure 4). Eleven (11) International GPS for Geodynamic Services (IGS) stations data around Malaysia have been included and held fixed in the processing (Figure 5). The processing has been carried out using the precise orbits acquired from IGS. The Bernese GPS processing software version 4.2 [Hugentobler, Schaer and Fridez, 2001] was used in the processing.

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

Figure 4: MASS Network

BAKO Bakosurtonal, Indonesia COCO Cocos Island, Australia GUAM Guam Island, USA IISC Indian Institute of Science
IISC PIM O G A U M LH S A K N U M SH O A W H U N

KARR Karratha, Australia KUNM Kunming, China LHAS Lhasa, Tibet NTUS NTU, Singapore PIMO Mine and Geoscience Bureau, Philippine SHAO Shanghai Observatory,

N S TU

B K A O

C C O O K R A R

Figure 5: IGS Sites Fixed For MASS Network

4.2

Two strategies were employed to obtain an optimum result. With the introduction of reference velocity for the fixed stations, the final coordinates for all stations were transformed to the observation epoch at 1 January 2000.

4.3 Internal accuracy check by comparison between coordinates from free network adjustment and heavily constrained adjustment has produced RMS residuals of 2.0, 1.7 and 4.4 mm for the northing, easting and height component respectively.

4.4

In the final adjustment by heavily constrained adjustment to adopt the specific reference frame in ITRF2000, the accuracy of station coordinates is found to be between 3 to 16 mm in horizontal component and 8 to 13

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

mm for the height. The GDM2000 is now defined on ITRF2000 reference frame to within 2 cm accuracy. 5. ESTABLISHMENT OF PENINSULAR MALAYSIA PRIMARY GEODETIC NETWORK (PMPGN2000)

5.1

The existing coordinate reference frame particularly the existing GPS geodetic network must be continually evaluated to provide the accessibility to high accuracy GPS as a control. Thus, a GPS campaign was carried out from October 2000 to November 2000 to re-observe 36 stations of the PMGSN94 for a period of 48 hours to form the strengthening network (Figure 6). These 36 stations location were selected based on even distribution through out the PMGSN94. The aim was to connect the existing PMGSN94 to the Zero Order Geodetic Network and thus defining the new PMPGN2000 on GDM2000 reference frame. A unified national readjustment of all existing GPS observations in Peninsular Malaysia has been achieved by constraining the stations of the strengthening network. The new PMPGN2000 has been successfully established with connection to the Zero Order Geodetic Network and its coordinates referred to the ITRF2000 Epoch 00.0. The PMPGN2000 has achieved an accuracy of 1 to 3 cm (Figure 7). It can be said that PMPGN2000 supersedes the existing MRT and PMGSN94.

5.2

ARAU
P299 P298 P297 6 P290 P310 P247 P244 P238

GETI

USMP
P281 5 P274 P102 P213 P219 P255 P263 P221

KUAL

P229

IPOH
GP02 4 GP32 GP06 GP24 GP21 GP98 GP18 GP28

P258

KUAN
GP36 GP37

KTPK
3

GP43 GP47 M331 2 GP58 GP84 GP50 GP54

Mass Station Main Station Check Station

99.5 100 100.5 101 101.5 102 102.5

UTMJ
GP52

103

103.5

104

104.5

Figure 6: Connection of PMGSN94 to GDM2000

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

Existing PMPGN

Figure 7: PMPGN2000 5.3 MRT is based on terrestrial and astronomical observations, which was established before the availability of modern satellite techniques. PMGSN94 was established in 1994 and based on approximate World Geodetic System (WGS 84). Furthermore, PMGSN94 is based on GPS observations with outdated GPS receiver technology and the absolute accuracy of the coordinates is around 1.5 m. Figure 8 indicates the difference between local geodetic datum (MRT) and Geocentric datum. The important fact is that the new PMPGN2000 provide a single, uniform and consistent coordinate system within Peninsular Malaysia that will encourage an efficient exchange of spatial data and products related to information systems. It is inconvenient to keep all mapping activities in the existing local coordinates while positioning, navigation and information systems are referred to a global system. Table 1 and Table 2 show the MRT and WGS 84 parameters. PMPGN2000 will play an important role in providing the basic geodetic infrastructure for the densification of GPS points in the Peninsular Malaysia.

5.4

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

Table 1: Reference Ellipsoids for MRT and WGS 84 No. 1. 2. 3. 4.

PARAMETER Reference Ellipsoid

Origin Semi-major axis ( a ) Flattening ( f )

MRT Modified Everest Kertau, Pahang 6 377 304.063 1/300.8017

WGS 84 WGS 84 EFEC 6378137.000 1/298.25722

Topography Surface

Bukit Kertau Center of Earth

Modified Everest Ellipsoid

WGS84 Ellipsoid

Figure 8. The Difference Between Local Geodetic Datum (MRT) and Geocentric Datum. Table 2: Reference Ellipsoids for WGS 84 and ITRF No. 1. 2. 3.

PARAMETER Reference Ellipsoid

Origin Semi-major axis ( a )

WGS 84 WGS 84 EFEC 6378137.000

ITRF ITRF EFEC 6378137.000

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________ 4. 5. Flattening ( f ) Eccentricity (e ) 1/298.257223563 0.081819190843 1/298.257222101 0.081819191043

5.5

A seven parameter transformation has also been derived to relate the existing PMGSN94 control with the new PMPGN2000 control. GDM2000 WGS84PMGSN94

5.6

A set of transformation parameter has been derived to allow for the geocentric coordinates derived from satellite observations to be projected direct to the Cassini Soldner Grid Coordinates (Cassini) and to Rectified Skew Orthomorphic Coordinates (RSO) GDM2000 Cassini GDM2000 RSO

6.

ESTABLISHMENT OF CADASTRAL CONTROL INFRSTRUCTURE 6.1 In the context of cadastral surveying, GPS could play the following role in providing the control for: i) Establishment, improvement, densification maintenance of the control network ii) Connection to the control network iii) Carry out cadastral survey of boundary marks. 6.2 and

A framework for the Coordinated Cadastral System should be based on the fundamental geodetic control network such as the PMPGN2000 and is ideally established using the well known "from the whole to the part" principle. All cadastral surveys should in some way be connected to the existing geodetic control network. Network with dense control points and uniform accuracy is needed for this purpose. Therefore, the establishment of Cadastral Control Infrastructure (CCI) is needed on two specific processes: one is to adjust the whole DCDB, and secondly to be used as control for new survey in the CCS era. Previous study has shown that the density of CCI is optimally established at 2.5km x 2.5km in the rural and 500m x 500m in the developed area (Figure 9). The development of Cadastral Control Infrastructure consists of four phases including reconnaissance, monumentation (Figure 10), GPS field observation, and GPS processing and adjustment. Figure 11 shows the conceptual model of Cadastral Control Infrastructure development. The Pekeliling KPUP 5/2002 has detailed the procedures in the setting up of the CCI.
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6.4

6.5

6.6

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

6.7

The cadastral control at primary grid is connected to First Order Geodetic Network or PMPGN2000, while the secondary grid is tied to the primary grid for densification purposes. The specifications for the GPS campaigns were being set at the design and planning stages. Table 3 indicates the process and specifications for GPS observations for urban and rural areas. Table 3. Specifications for Cadastral Control Infrastructure
AREA Urban Semi-Urban Rural PRIMARY GRID 2.5 km x 2.5 km 10 km x 10 km 10 km x 10 km Connected to PMPGN2000 Observation Technique: Static Observation period: 1 11/2 hours SECONDARY GRID 0.5 km x 0.5 km 2.5 x 2.5 km 2.5 x 2.5 km Connected to Primary Grid Observation Technique: Rapid Static Observation period: 15-30 minutes Baseline relative accuracy: < 3 ppm Coordinate Differences from two bases station: < 3 cm

Baseline relative accuracy: < 3 ppm Coordinate Differences from two bases station: < 2 cm

10 km

2.5 km

2.5 km

500 m

= Tanda Jenis A

= Tanda Jenis B

= Tanda Jenis B

= Tanda Jenis C

Figure 9: Primary and Secondary Cadastral Control Network

11

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

Figure 10: Monumentations for Type A and B Cadastral Survey Control Marks

Figure 11: Conceptual model of Cadastral Control Infrastructure development

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Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

6.8

In principal, all the survey boundary marks in the DCDB will be given Geocentric Coordinates in Cassini and RSO. Before adjustment can be carried out, connection has to be made from the monument to the boundary marks. All these monuments need to be maintain periodically and new survey carried out on any replaced or disturbed marks.

6.9 6.10

To date, JUPEM has successfully established the CCI network in the state of Melaka (Figure 12).

Figure 12: Melaka CCI

7.

CONCLUSION 7.1 The proposed GDM2000 has unified the geodetic datum in Malaysia in a geocentric reference frame defined in ITRF system with particular epoch (ITRF2000@0.00). The GDM2000 is forming the backbone for the national adjustment of the existing GPS stations to define all coordinates in ITRF system. The new GDM2000 would be maintained and managed through the MASS network which form the Zero Order Geodetic Network and thus a high accuracy, homogeneous and up-to-date datum would always be available for the nation. 7.2 It is undeniable that the GDM2000 would provide an internationally compatible system for the geographic data. This in turn will generate a greater benefit in the application of satellite positioning particularly GPS in the country.

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Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure _____________________________________________________________________________

7.3 With the GDM2000, Malaysia is now competitive enough to face the challenges with the developed countries in the field of geodesy. 7.4 A new set of seven parameters transformation between GDM2000 and WGS84PMGSN94 will be used to relate the new control with the existing GPS control. 7.5 A new projection in RSO will be developed to directly projecting all positions in GDM2000 to the plane coordinates in the map. 7.6 An audit of software and data processing will be carried out to help establish the processing path of all geographic data elements. 7.7 A series of discussions involve all levels and groups will be initiated to gain a better picture of the current and future data application requirements. 7.8 A series of approaches and strategies will be developed to encourage and legalized users in the usage of GDM2000. 7.9 With the establishment of CCI, the cadastral survey will employ an authentic whole-to-part adjustment concept, it will make GPS and GIS compatible since coordinates are the basic Input/Output unit of such system. This will facilitate the use of rapid data acquisition and storage, processing and management technique. 7.10 Current GPS technologies such as Real-time Kinematic GPS and Virtual GPS Reference System will be deployed in the future Cadastral Control Infrastructure development process.

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