Canadian Geodetic Networks

Contents

1. International Terrestrial Reference Frame (ITRF)
2. World Geodetic System 1984 (WGS84)
3. North American Reference Frame (NAREF)
4. NAD83(CSRS)
5. GNSS Reference Frames
6. Transformations
7. Canadian Active Control System
8. Canadian Base Network
9. Adjustments & Analysis
10. Geodetic Software
11. Monumentation
12. Other Links
13. Disclaimer

International Terrestrial Reference Frame (ITRF)

• The International Terrestrial Reference Frame (ITRF). Home page for the ITRF, including coordinates, transformations and publications.
• The Terrestrial Reference Frame and the Dynamic Earth. Preprint of article in EOS Transactions, American Geophysical Union, Vol.82, No.25, June 19, 2001. In Adobe PDF format (280 KB).
• The International GPS Service (IGS). Source for precise orbits, EOPs, and coordinates.
• ITRF and WGS84. Explanation of differences between ITRF and WGS84.
• IERS Conventions Official definitions of celestial and terrestrial reference frames and adopted ITRF transformations.
• IGS Reference Frame Transformations
  • Transformation between IGS96 and IGS97 [IGSMAIL-2432]
  • Transformation between IGS97 and IGS00 [IGSMAIL-3605]
  • Transformation between IGb00 and IGS05 [IGSMAIL-5455]
  • Transformation between IGS05 and IGS08 [IGSMAIL-6354]

World Geodetic System 1984 (WGS84)

• WGS 84 (G730 & G873) - Department of Defense World Geodetic System 1984: It's Definition and Relationships with Local Geodetic Systems, Third Edition, Ammendment 1, National Imagery and Mapping Agency Technical Report TR8350.2, 3 January 2000.
• WGS 84 (G730) - Maintenance and Enhancement of the World Geodetic System 1984, by Malys and Slater, Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994).
• WGS 84 (G730) - Improved WGS 84 Coordinates for the DMA and Air Force GPS Tracking Sites, by Swift et al., Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994).
• WGS 84 (G873) - Refinements to The World Geodetic System 1984, by Malys et al., Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997).
• WGS 84 (G1150) - A Refinement to the World Geodetic System 1984 Reference Frame, by Merrigan et al., Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002).
• WGS 84 (G1150) - Addendum to TR 8350.2: Implementation of the World Geodetic System (WGS 84) Reference Frame G1150
• WGS 84 (G1674) - Recent Updates to the WGS 84 Reference Frame, by Wong et al., Proceedings of the 25th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2012).
• WGS 84 (G1762) - Department of Defense World Geodetic System 1984: Its Definition and Relationships with Local Geodetic Systems, National Geospatial-Intelligence Agency (NGA) Standardization Document NGA.STND.0036_1.0.0_WGS84, Version 1.0.0, 2014-07-08.
• World Geodetic System 1984 (WGS84), UN Office of Outer Space Affairs, International Committee on Global Navigation Satellite Systems (ICG)

North American Reference Frame (NAREF)

IAG Sub-Commission 1.3a: Regional Reference Frames - North America

• NAREF Home Page
• Report of the Subcommission for North America, IAG Commission X (Global and Regional Geodetic Networks) (Craymer et al., 2001). In Adobe PDF format (80 KB).
• The NAREF Initiative to Densify the ITRF in North America (Craymer & Piraszewski, 2001, poster). In Adobe PDF format (627 KB).
• The North American Reference Frame (NAREF): An Initiative to Densify the ITRF in North America (Craymer & Piraszewski, 2001). In Adobe PDF format (1024 KB).
• The NAREF Initiative to Densify the ITRF in North America (Craymer & Piraszewski, 2001). In Adobe PDF format (1208 KB).

Other Regional Reference Frames

• IAG Sub-Commission 1.3a: Regional Reference Frames - Europe (EUREF)
• IAG Sub-Commission 1.3b: Regional Reference Frames - South & Central America (SIRGAS)
• IAG Sub-Commission 1.3b: Regional Reference Frames - North America (NAREF)
• IAG Sub-Commission 1.3d: Regional Reference Frames - Africa (AFREF)
• IAG Sub-Commission 1.3e: Regional Reference Frames - Asia & Pacific (APREF)
• IAG Sub-Commission 1.3f: Regional Reference Frames - Antarctic (SCAR)

NAD83(CSRS)

• The Evolution of NAD83 in Canada (Craymer, 2006).
• Realization and Unification of NAD83 in Canada and the US via the ITRF (Craymer et al., 1998; Revised 11 March 1999). Also available in Adobe PDF format (133 KB).
• Integration of Local Surveys into CSRS (Craymer, 1998). Also available in Adobe PDF format (13 KB).
• Demystifying Reference Systems: A Chronicle of Spatial Reference Systems in Canada (Junkins & Garrard, 1998). In Adobe PDF format (52 KB).
• NAD83-ITRF Differences at CBN Points

GNSS Reference Frames

Compiled by International Committee on Global Navigation Satellite Systems (ICG), UN Office of Outer Space Affairs

• GPS - WGS84
• GLONASS - PZ-90
• Beidou - CTRS/CTRF
• Galileo - GTRS/GTRF
• QZSS - JGS

Transformations

• The Evolution of NAD83 in Canada (Craymer, 2006). The definitive source for transformation parameters between NAD83(CSRS) and all versions of ITRF.
• Transforming Positions and Velocities between the International Terrestrial Reference Frame of 2000 and North American Datum of 1983 (Soler & Snay, 2004). The same transformation is used in Canada.
• ITRF-NAD83 Transformation and Definition of NAD83(CSRS) (Craymer et al., 1998; Revised 2001-12-12). Added ITRF2000 reference frame, now used by IGS products (precise orbits, coordinate solutions, etc).
• Current U.S. National Geodetic Survey Coordinate Transformation between ITRF2008 and NAD83/NSRS (same as NAD83/CSRS).
• Prior U.S. National Geodetic Survey Coordiante Transformations between various ITRF's and NAD83/NSRS. Only transformations since ITRF94 are the same as those used in Canada; i.e., those involving "NAD83 (CORS96).
• New ITRF97-NAD83(CSRS) Transformation Adopted by Canada and U.S. US NGS Announcement. Note that some small but insignificant differences exist due to round off errors in the transformation parameters adopted by Canada and the U.S. Either set of paraemeters can be used to give mm resolution. The Canadian values agree with the official IGS values to sub-mm resolution.
• Realization and Unification of NAD83 in Canada and the US via the ITRF (Craymer et al., 1999). Also available in Adobe PDF file (133 KB).
• Plot of NAD83-ITRF Differences at CBN Points Transformation parameters between ITRF reference frames.
• IERS Conventions 1996. Official definitions of celestial and terrestrial reference frames and adopted models, constraints and standards.
  • IERS Conventions 1996
  • IERS Conventions 2003
  • IERS Conventions 2010
• ITRF Reference Frame Transformations
  • Transformations between ITRF2008 and previous realizations
  • Transformation between ITRF2005 and ITRF2000
  • Transformation between ITRF2000 and previous solutions
  • Relationship between WGS84 and ITRF
• IGS Reference Frame Transformations
  • Transformation between IGS96 and IGS97 [IGSMAIL-2432]
  • Transformation between IGS97 and IGS00 [IGSMAIL-3605]
  • Transformation between IGb00 and IGS05 [IGSMAIL-5455]
  • Transformation between IGS05 and IGS08 [IGSMAIL-6354]
• A Compendium of Transformation Formulas Useful for GPS Work (Soler, 1998; 239 KB). The original publication is available on LINK http://link.springer.de.

Software

• TRNOBS (Transform Observations)
  Software to transform GHOST and GeoLab data files between NAD83(CSRS) and various ITRF reference frames.
  • On-Line Version
  • Software Archive
    • README.TXT -- description of files
    • trnobs.txt -- program documentation
• HTDP (Horizontal Time Dependent Positioning)
  Software from the US National Geodetic Survey that, among other things, can be used to transform between NAD83 and ITRF.
  • On-Line Version
  • Software Description & Archive
• NTv2 (National Transformation Version 2)
  The Canadian national standard to transform between NAD27 and NAD83 reference systems.
  • Software Description & On-Line Version
  • Contour plots of NAD27-NAD83 differences and other statistics (see the README.TXT file)

Canadian Active Control System

• Interactive Map of CACS Network (with station descriptions and coordinates; password required)
• CACS solutions in CGRSC Data Archive (password required; restricted to CGRSC members)
  Provides historic and currently adopted NAD83 & ITRF coordinates, confidence regions, and GHOST, GeoLab & SINEX data files to use as constraints in adjustments. Latest version is CACS v6.0, based on the ITRF2008/IGS08 reference frame or a densification of it.
• Histograms of absolute 95% confidence ellipsoids
  • CACS 3.0 (based on ITRF97 solution)
  • CACS 4.0 (based on ITRF2000 solution)
• JPL Coordinate time series for ACP/CORS/IGS sites in/near Canada
  Canada
  ALBH, ALGO, BAIE, BAKE, BAMF, BCOV, BEA2, CAGS, CHUR, CHWK, DRAO, DUBO, ELIZ, ESCU, EURK, FLIN, FRED, HLFX, HOLB, HOLM, HRST, INVK, IQAL, KNGS, MCHN, NAIN, NANO, NRC1, NRC2, NTKA, PARY, PGC5, PRDS, PTAL, PTRF, PWEL, QUAD, QIKI, RESO, ROSS, SACH, SASK, SC04, SCH2, STJO, TUKT, UCLU, UNB1, UNBJ, VALD, WHIT, WILL, WSLR, YELL
  USA
  AIS1, BARH, BREW, CHB1, EPRT, FAIR, GODE, GUS2, NEAH, NLIB, SEDR, USNO, WES2
  Bermuda
  BRMU
  Greenland
  KELY, QAQ1, THU1, THU2, THU3

Canadian Base Network

• Interactive Map of CBN Network (with station descriptions and coordinates; password required)
• CBN solutions in CGRSC Data Archive (password required)
  Provides historic and currently adopted NAD83 & ITRF coordinates, confidence regions, and GHOST, GeoLab & SINEX data files to use as constraints in adjustments. Latest version is CBN v6.0, based on a densification of the ITRF2008/IGS08 reference frame.
• Network Maps
  • CBN 3.1
  • CBN 3.1 Adjustment
  • CBN 3.0
  • CBN 3.0 Adjustment
  • NAD83-ITRF Differences at CBN Points
• Histograms of absolute 95% confidence ellipsoids
  • CBN v3.0 (no significant difference with v3.1)
    • Adjusted CACS Stations (not the adopted solution)
    • CBN Stations
    • GPS Basenet Stations
    • GPS on BM Stations
    • Canadian Coast Guard Stations
    • NAD83 Primary Horizontal Control Stations
    • Maritime Provincial Stations
    • Quebec Provincial Stations
    • Ontario Provincial Stations
    • Saskatchewan Provincial Stations
    • Alberta Provincial Stations
    • US National Geodetic Survey Stations
• CBN v3.0 Versus NAD83(Adopted)
  • Listing of differences
  • Plot of differences
• CBN v2.0 Versus NAD83(Adopted)
  • Listing of differences
  • CBN East plot of differences
  • CBN West plot of differences
  • Southern Ontario plot of differences (lat 42-47, long 75-85 w)
  • Montreal area plot of differences (lat 45-47, long 73-75 w)
  • CBN v2.0 absolute 95% confidence ellpsoids

Adjustments & Analysis

• Canadian Geodetic Reference System Committee Data Archive (restricted to CGRSC members; password required)
• Recommended Procedure for the Adjustment of Individual GPS Baseline Solutions (Craymer, 1995; Revised 1996) -- Adobe PDF file (5 KB)
• Session Versus Baseline GPS Processing (Craymer & Beck, 1992) -- Adobe PDF file (49 KB)
• Specifications for Urban GPS Surveys (Craymer et al., 1990) -- Adobe PDF file (36 KB)
• Development and Testing of In-Context Confidence Regions for Geodetic Survey Networks (Krakiwsky et al., 1999) -- Adobe PDF file (153 KB)
• Robustness Analysis (Vanicek et al., 1991) -- Adobe PDF files compressed in PK-ZIP format (169 KB)
• Application of Robustness Analysis to Large Geodetic Networks (Vanicek et al., 1996) -- Adobe PDF files compressed in PK-ZIP format (1440 KB)
• Robustness Analysis of Geodetic Horizontal Networks (Vanicek et al., 2001). The original publication is available on LINK http://link.springer.de -- Adobe PDF file (247 KB)
• Comparison of Reliability and Geometrical Strength Criteria in Geodetic Networks (Seemkooei, 2001). The original publication is available on LINK http://link.springer.de -- Adobe PDF file (120 KB)

Geodetic Software

• GHOST Adjustment Software
  • GHOST User's Group Home Page
  • GHOST Software Archive (password required)
  • GHOST Documentation
• GSD GPS-Related Software & Guidelines
  • CSRS-PPP (from Geodetic Survey Division, Natural Resources Canada). Provides precise cm-level GPS coordinates with respect to NAD83(CSRS) and the International Terrestrial Reference Frame (ITRF).
• GSD On-Line Geodetic Applications
  • CSRS-PPP -- Precise Point Positioning in both NAD83(CSRS) and ITRF Download PPP Direct for Windows.
  • TRX -- Transformation of geodetic coordinates between reference frames/epochs and conversion of coordinates between coordinate systems (i.e., Cartesian, ellipsoidal and projections). Replaces TRNOBS & GSRUG. Download Windows software.
  • GPS-H -- GPS Height Transformation Between ellipsoidal heights with respect to various reference frames and orthometric heights with respect to various geoids in Canada Download Windows software.
  • NTv2 -- National Transformation v2 Between NAD27 and NAD83 in Canada Download Windows software.
  • INDIR -- Direct and Inverse Geodetic Computations
• US NGS On-Line Geodetic Toolbox
  • HTDP: Horizontal Time-Dependent Positioning
  • XYZ Coordinate Conversion
  • UTM Coordinate Conversions
  • US State Plane Coordinate Conversions
  • Computation of the Forward and Inverse Geodetic Problem
  • GEOID09 -- Hybrid geoid model for USA; transforms between NAD83 ellipsoidal heights and NAVD88 orthometric heights
  • USGG09 -- Gravimetric geoid model for USA; transforms between NAD83 or ITRF ellipsoidal heights and true orthometric heights
• TRX
  (from Geodetic Survey Division, Natural Resources Canada). Software to transform coordinates between reference frames & epochs and convert coordinates between different coordinate systems (i.e., Cartesian, ellipsoidal and projections). For a description of the software, see the text file trnobs.txt.
• Woods Hole Institution's NDSF Coordinate Conversion Utility Converts between Latitude/Longitude, UTM and X/Y coordinate systems. Note that X/Y is defined by WHOI as a topocentric Cartesian coordinate system at a user-defined location with X defined as the axis pointing towards east and Y pointing towards north (i.e., a right-handed coordinate system). The usual geodetic convention is to define the topocentric system as a left-handed Cartesian coordinate system (referred to as the local geodetic system) with X pointing towards north, Y pointing towards east and Z pointing vertically up.
• SOPAC Online Date Converter
  Converts between various date formats, including GPS week + day of week, year + day of year, decimal year, modified Julian date, and year + month + day.
• Free GPS Data Processing Services
  • Automated Precise Positioning Service (APPS) (from Jet Propulsion Laboratory, California Institute of Technology). A free GPS data processing service using the GIPSY/OASIS-II (GOA-II) PPP software and observation files in RINEX format. Estimates coordinates of a single site using precise point positioning (precise orbits and clocks). Upload RINEX files via Web, FTP or email. Replaces original AutoGIPSY service.
  • Scripps Coordinate Update Tool (SCOUT) (from Scripps Orbit and Permanent Array Center). A free Web/FTP-based GPS data processing service using the GAMIT software. Estimates coordinates of a single site using IGS stations as fiducial points (you can specify which to use or have SCOUT select the nearest ones). To use, your RINEX file must be accessable via anonymous FTP or you must upload it to their anonymous FTP server.
  • OnLine Positioning User Service (OPUS) (from US National Geodetic Survey). A free Web-based GPS data processing service based on NGS's PAGES software. Allows users to submit a GPS RINEX observation data file where the data will be processed to determine a position by averaging baseline solutions to three nearest CORS stations.
  • AUSPOS -- Online GPS Processing Service (from Geoscience Australia). A free Web-based GPS data processing service that allows users to submit dual frequency, geodetic quality, GPS data in RINEX format observed in a 'static' mode and receive rapid turn-around coordinates in ITRF or GDA. This service takes advantage of both IGS products and the IGS GPS network using the Bernese GNSS Software and works with data collected anywhere on Earth.
• Mike's Software Archive
  A collection of some of some Fortran & MATLAB software programs and libraries by Mike and others.
• GPS Toolbox
  Discussion forum and archive of source code and algorithms discussed in the GPS Toolbox column of the journal GPS Solutions.

Monumentation

• Guidelines for New and Existing Continuously Operating Reference Stations (CORS), U.S. National Geodetic Survey, January 2013. See Chapter "Guidelines for Establishing and Operating a CORS", Section "B. Monumentation".
• , December 2013. See Chapter II, CORS/RTN Monument Construction Guidelines.
• National Continuously Operating Reference Station (National CORS) Site Monumentation
  , National Geodetic Survey Process Action Team 20, Final Report, U.S. National Geodetic Survey, December 20, 2000.
  • Main report
  • Appendix A: Report on the Installation of the National CORS Prototype Monument
  • Appendix B: Guidelines for Setting a National CORS Monument
• Procedures For Setting A CORS Monument
  U.S. National Geodetic Survey guidelines used by SuomiNet (a slight variation of the above Appendix B).

Other Links

• Geodetic Survey Division

• Canadian Geodetic Reference System Committee (CGRSC)
  • CGRSC Web Site
    Contains terms of reference, list of member agencies, meeting minutes and presentations, and link to data archive (access restricted to members; password required)
  • CGRSC Data Archive (FTP)
    Contains historic and current CACS and CBN coordinate solutions in NAD83(CSRS) (access restricted to members; password required).

• Mike's On-line Geodesy Resources
  • Geodesy and astronomy information and software
  • GPS information and software
  • Tables of Contents in Geodesy
  • Mike's Publications

Disclaimer

These web pages are the sole responsibility of Michael Craymer. They are not an official product of the Canadian Geodetic Survey or the Government of Canada. Michael Craymer makes no guarantees, representations or warranties respecting the contents of these Web pages, either expressed or implied, arising by law or otherwise, including but not limited to, effectiveness, completeness, accuracy and fitness for a particular purpose. Michael Craymer shall not be liable in respect of any claim, demand or action, irrespective of the nature of the cause of the claim, demand or action alleging any loss, injury or damages, direct or indirect, which result from the use of these Web pages. Any mention of commercial products does not imply an endorsement of those products.