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<li class="toctree-l3 current"><a class="current reference internal" href="#">Kinematic datum shifting utilizing a deformation model</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#example">Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="#parameters">Parameters</a></li>
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<section id="kinematic-datum-shifting-utilizing-a-deformation-model">
<span id="deformation"></span><h1>Kinematic datum shifting utilizing a deformation model<a class="headerlink" href="#kinematic-datum-shifting-utilizing-a-deformation-model" title="Permalink to this headline">¶</a></h1>
<div class="versionadded">
<p><span class="versionmodified added">New in version 5.0.0.</span></p>
</div>
<p>Perform datum shifts means of a deformation/velocity model.</p>
<table class="docutils align-default">
<colgroup>
<col style="width: 20%" />
<col style="width: 80%" />
</colgroup>
<tbody>
<tr class="row-odd"><td><p><strong>Alias</strong></p></td>
<td><p>deformation</p></td>
</tr>
<tr class="row-even"><td><p><strong>Input type</strong></p></td>
<td><p>Cartesian coordinates (spatial), decimalyears (temporal).</p></td>
</tr>
<tr class="row-odd"><td><p><strong>Output type</strong></p></td>
<td><p>Cartesian coordinates (spatial), decimalyears (temporal).</p></td>
</tr>
<tr class="row-even"><td><p><strong>Domain</strong></p></td>
<td><p>4D</p></td>
</tr>
<tr class="row-odd"><td><p><strong>Input type</strong></p></td>
<td><p>Geodetic coordinates</p></td>
</tr>
<tr class="row-even"><td><p><strong>Output type</strong></p></td>
<td><p>Geodetic coordinates</p></td>
</tr>
</tbody>
</table>
<p>The deformation operation is used to adjust coordinates for intraplate deformations.
Usually the transformation parameters for regional plate-fixed reference frames such as
the ETRS89 does not take intraplate deformation into account. It is assumed that
tectonic plate of the region is rigid. Often times this is true, but near the plate
boundary and in areas with post-glacial uplift the assumption breaks. Intraplate
deformations can be modelled and then applied to the coordinates so that
they represent the physical world better. In PROJ this is done with the deformation
operation.</p>
<p>The horizontal grid is stored in CTable2 format and the vertical grid is stored in the
GTX format. Both grids are expected to contain grid-values in units of
mm/year. GDAL both reads and writes both file formats. Using GDAL for
construction of new grids is recommended.</p>
<p>Starting with PROJ 7.0, use of a GeoTIFF format is recommended to store both
the horizontal and vertical velocities.</p>
<p>More complex deformations can be done with the <a class="reference internal" href="defmodel.html#defmodel"><span class="std std-ref">Multi-component time-based deformation model</span></a> transformation.</p>
<section id="example">
<h2>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h2>
<p>In <span id="id1">[<a class="reference internal" href="../../zreferences.html#id14" title="Häkli, P., Lidberg, M., Jivall, L., Nørbech, T., Tangen, O., Weber, M., Pihlak, P., Aleksejenko, I., and Paršeliunas, E. The NKG2008 GPS campaign – final transformation results and a new common Nordic reference frame. Journal of Geodetic Science, 6(1):1–33, 2016. doi:10.1515/jogs-2016-0001.">Hakli2016</a>]</span> coordinate transformation including a deformation model is described.
The paper describes how coordinates from the global ITRFxx frames are transformed to the
local Nordic realisations of ETRS89. Scandinavia is an area with significant post-glacial
rebound. The deformations from the post-glacial uplift is not accounted for in the
official ETRS89 transformations so in order to get accurate transformations in the Nordic
countries it is necessary to apply the deformation model. The transformation from ITRF2008
to the Danish realisation of ETRS89 is in PROJ described as:</p>
<div class="highlight-none notranslate"><div class="highlight"><pre><span></span>proj = pipeline ellps = GRS80
# ITRF2008@t_obs -> ITRF2000@t_obs
step init = ITRF2008:ITRF2000
# ITRF2000@t_obs -> ETRF2000@t_obs
step proj=helmert t_epoch = 2000.0 convention=position_vector
x = 0.054 rx = 0.000891 drx = 8.1e-05
y = 0.051 ry = 0.00539 dry = 0.00049
z = -0.048 rz = -0.008712 drz = -0.000792
# ETRF2000@t_obs -> NKG_ETRF00@2000.0
step proj = deformation t_epoch = 2000.0
grids = ./eur_nkg_nkgrf03vel_realigned.tif
inv
# NKG_ETRF@2000.0 -> ETRF92@2000.0
step proj=helmert convention=position_vector s = -0.009420e
x = 0.03863 rx = 0.00617753
y = 0.147 ry = 5.064e-05
z = 0.02776 rz = 4.729e-05
# ETRF92@2000.0 -> ETRF92@1994.704
step proj = deformation dt = -5.296
grids = ./eur_nkg_nkgrf03vel_realigned.tif
</pre></div>
</div>
<p>From this we can see that the transformation from ITRF2008 to the Danish realisation of
ETRS89 is a combination of Helmert transformations and adjustments with a deformation
model. The first use of the deformation operation is:</p>
<div class="highlight-none notranslate"><div class="highlight"><pre><span></span>proj = deformation t_epoch = 2000.0 grids = ./eur_nkg_nkgrf03vel_realigned.tif
</pre></div>
</div>
<p>Here we set the central epoch of the transformation, 2000.0. The observation epoch
is expected as part of the input coordinate tuple. The deformation model is
described by two grids, specified with <a class="reference internal" href="#cmdoption-arg-xy_grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+xy_grids</span></code></a> and <a class="reference internal" href="#cmdoption-arg-z_grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+z_grids</span></code></a>.
The first is the horizontal part of the model and the second is the vertical
component.</p>
</section>
<section id="parameters">
<h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
<dl class="std option">
<dt class="sig sig-object std" id="cmdoption-arg-xy_grids">
<span id="cmdoption-arg-xy-grids"></span><span class="sig-name descname"><span class="pre">+xy_grids</span></span><span class="sig-prename descclassname"><span class="pre">=<list></span></span><a class="headerlink" href="#cmdoption-arg-xy_grids" title="Permalink to this definition">¶</a></dt>
<dd><p>Comma-separated list of grids to load. If a grid is prefixed by an <code class="docutils literal notranslate"><span class="pre">@</span></code> the
grid is considered optional and PROJ will the not complain if the grid is
not available.</p>
<p>Grids for the horizontal component of a deformation model is expected to be
in CTable2 format.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p><a class="reference internal" href="#cmdoption-arg-xy_grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+xy_grids</span></code></a> is mutually exclusive with <a class="reference internal" href="xyzgridshift.html#cmdoption-arg-grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+grids</span></code></a></p>
</div>
</dd></dl>
<dl class="std option">
<dt class="sig sig-object std" id="cmdoption-arg-z_grids">
<span id="cmdoption-arg-z-grids"></span><span class="sig-name descname"><span class="pre">+z_grids</span></span><span class="sig-prename descclassname"><span class="pre">=<list></span></span><a class="headerlink" href="#cmdoption-arg-z_grids" title="Permalink to this definition">¶</a></dt>
<dd><p>Comma-separated list of grids to load. If a grid is prefixed by an <cite>@</cite> the
grid is considered optional and PROJ will the not complain if the grid is
not available.</p>
<p>Grids for the vertical component of a deformation model is expected to be
in either GTX format.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p><a class="reference internal" href="#cmdoption-arg-z_grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+z_grids</span></code></a> is mutually exclusive with <a class="reference internal" href="xyzgridshift.html#cmdoption-arg-grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+grids</span></code></a></p>
</div>
</dd></dl>
<dl class="std option">
<dt class="sig sig-object std" id="cmdoption-arg-grids">
<span class="sig-name descname"><span class="pre">+grids</span></span><span class="sig-prename descclassname"><span class="pre">=<list></span></span><a class="headerlink" href="#cmdoption-arg-grids" title="Permalink to this definition">¶</a></dt>
<dd><div class="versionadded">
<p><span class="versionmodified added">New in version 7.0.0.</span></p>
</div>
<p>Comma-separated list of grids to load. If a grid is prefixed by an <cite>@</cite> the
grid is considered optional and PROJ will the not complain if the grid is
not available.</p>
<p>Grids should be in GeoTIFF format with the first 3 components being
respectively the easting, northing and up velocities in mm/year.
Setting the Description and Unit Type GDAL band metadata items is strongly
recommended, so that gdalinfo reports:</p>
<div class="highlight-none notranslate"><div class="highlight"><pre><span></span>Band 1 Block=... Type=Float32, ColorInterp=Gray
Description = east_velocity
Unit Type: mm/year
Band 2 Block=... Type=Float32, ColorInterp=Undefined
Description = north_velocity
Unit Type: mm/year
Band 3 Block=... Type=Float32, ColorInterp=Undefined
Description = up_velocity
Unit Type: mm/year
</pre></div>
</div>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p><a class="reference internal" href="xyzgridshift.html#cmdoption-arg-grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+grids</span></code></a> is mutually exclusive with <a class="reference internal" href="#cmdoption-arg-xy_grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+xy_grids</span></code></a>
and <a class="reference internal" href="#cmdoption-arg-z_grids"><code class="xref std std-option docutils literal notranslate"><span class="pre">+z_grids</span></code></a></p>
</div>
</dd></dl>
<dl class="std option">
<dt class="sig sig-object std" id="cmdoption-arg-t_epoch">
<span id="cmdoption-arg-t-epoch"></span><span class="sig-name descname"><span class="pre">+t_epoch</span></span><span class="sig-prename descclassname"><span class="pre">=<value></span></span><a class="headerlink" href="#cmdoption-arg-t_epoch" title="Permalink to this definition">¶</a></dt>
<dd><p>Central epoch of transformation given in decimalyears. Will be used in
conjunction with the observation time from the input coordinate to
determine <span class="math notranslate nohighlight">\(dt\)</span> as used in eq. <a class="reference internal" href="#equation-apply-velocity">(1)</a> below.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p><a class="reference internal" href="vgridshift.html#cmdoption-arg-t_epoch"><code class="xref std std-option docutils literal notranslate"><span class="pre">+t_epoch</span></code></a> is mutually exclusive with <a class="reference internal" href="#cmdoption-arg-dt"><code class="xref std std-option docutils literal notranslate"><span class="pre">+dt</span></code></a></p>
</div>
</dd></dl>
<dl class="std option">
<dt class="sig sig-object std" id="cmdoption-arg-dt">
<span class="sig-name descname"><span class="pre">+dt</span></span><span class="sig-prename descclassname"><span class="pre">=<value></span></span><a class="headerlink" href="#cmdoption-arg-dt" title="Permalink to this definition">¶</a></dt>
<dd><div class="versionadded">
<p><span class="versionmodified added">New in version 6.0.0.</span></p>
</div>
<p><span class="math notranslate nohighlight">\(dt\)</span> as used in eq. <a class="reference internal" href="#equation-apply-velocity">(1)</a> below. Is useful when
no observation time is available in the input coordinate or when
a deformation for a specific timespan needs to be applied in a
transformation. <span class="math notranslate nohighlight">\(dt\)</span> is given in units of decimalyears.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p><a class="reference internal" href="#cmdoption-arg-dt"><code class="xref std std-option docutils literal notranslate"><span class="pre">+dt</span></code></a> is mutually exclusive with <a class="reference internal" href="vgridshift.html#cmdoption-arg-t_epoch"><code class="xref std std-option docutils literal notranslate"><span class="pre">+t_epoch</span></code></a></p>
</div>
</dd></dl>
</section>
<section id="mathematical-description">
<h2>Mathematical description<a class="headerlink" href="#mathematical-description" title="Permalink to this headline">¶</a></h2>
<p>Mathematically speaking, application of a deformation model is simple. The deformation model is
represented as a grid of velocities in three dimensions. Coordinate corrections are
applied in cartesian space. For a given coordinate, <span class="math notranslate nohighlight">\((X, Y, Z)\)</span>, velocities
<span class="math notranslate nohighlight">\((V_X, V_Y, V_Z)\)</span> can be interpolated from the gridded model. The time span
between <span class="math notranslate nohighlight">\(t_{obs}\)</span> and <span class="math notranslate nohighlight">\(t_c\)</span> determine the magnitude of the coordinate
correction as seen in eq. <a class="reference internal" href="#equation-apply-velocity">(1)</a> below.</p>
<div class="math notranslate nohighlight" id="equation-apply-velocity">
<span class="eqno">(1)<a class="headerlink" href="#equation-apply-velocity" title="Permalink to this equation">¶</a></span>\[\begin{split}\begin{align}
\begin{pmatrix}
X \\
Y \\
Z \\
\end{pmatrix}_B =
\begin{pmatrix}
X \\
Y \\
Z \\
\end{pmatrix}_A +
(t_{obs} - t_c)
\begin{pmatrix}
V_X \\
V_Y \\
V_Z \\
\end{pmatrix}
\end{align}\end{split}\]</div>
<p>Corrections are done in cartesian space.</p>
<p>Coordinates of the gridded model are in ENU (east, north, up) space because it
would otherwise require an enormous 3 dimensional grid to handle the corrections
in cartesian space. Keeping the correction in lat/long space reduces the
complexity of the grid significantly. Consequently though, the input coordinates
needs to be converted to lat/long space when searching for corrections in the
grid. This is done with the <a class="reference internal" href="../conversions/cart.html#cart"><span class="std std-ref">cart</span></a> operation. The converted grid
corrections can then be applied to the input coordinates in cartesian space. The
conversion from ENU space to cartesian space is done in the following way:</p>
<div class="math notranslate nohighlight" id="equation-enu2xyz">
<span class="eqno">(2)<a class="headerlink" href="#equation-enu2xyz" title="Permalink to this equation">¶</a></span>\[\begin{split}\begin{align}
\begin{pmatrix}
X \\
Y \\
Z \\
\end{pmatrix} =
\begin{pmatrix}
-\sin\phi \cos\lambda N - \sin\lambda E + \cos\phi \cos\lambda U \\
-\sin\phi \sin\lambda N + \sin\lambda E + \cos\phi \sin\lambda U \\
\cos\phi N + \sin\phi U \\
\end{pmatrix}
\end{align}\end{split}\]</div>
<p>where <span class="math notranslate nohighlight">\(\phi\)</span> and <span class="math notranslate nohighlight">\(\lambda\)</span> are the latitude and longitude of the coordinate
that is searched for in the grid. <span class="math notranslate nohighlight">\((E, N, U)\)</span> are the grid values in ENU-space and
<span class="math notranslate nohighlight">\((X, Y, Z)\)</span> are the corrections converted to cartesian space.</p>
</section>
<section id="see-also">
<h2>See also<a class="headerlink" href="#see-also" title="Permalink to this headline">¶</a></h2>
<ol class="arabic simple">
<li><p><a class="reference internal" href="../../usage/differences.html#differences-deformation"><span class="std std-ref">Behavioural changes from version 5 to 6</span></a></p></li>
</ol>
</section>
</section>
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