Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure

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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

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1.

2.

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).

1.2

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.

1.4

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.

1.5

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.

1.4

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).

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 19481966 using Modified Everest ellipsoid. It consists of about 1200 stations
plus a number of standard traverses and has an inter-station accuracy of

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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).

3.

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).

2.3

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.

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.

3.2

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.

Geocentric Datum of Malaysia 2000 (GDM2000) & CCS Infrastructure

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Figure 1: Malayan Revised Triangulation

Figure 2: Peninsular Malaysia GPS Scientific Network 1994

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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.

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Figure 4: MASS Network

BAKO Bakosurtonal, Indonesia
COCO Cocos Island, Australia
GUAM Guam Island, USA
IISC

SHAO

LHAS
KUNM

Indian Institute of Science

KARR Karratha, Australia

WUHN

PIMO

IISC

KUNM Kunming, China

GUAM

NTUS

LHAS Lhasa, Tibet

BAKO

NTUS NTU, Singapore

COCO
KARR

PIMO Mine and Geoscience

Bureau, Philippine
SHAO Shanghai Observatory,

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 mm for
the height. The GDM2000 is now defined on ITRF2000 reference frame
to within 2 cm accuracy.

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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.

5.2

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.

ARAU
P299
P298

GETI

P297
6
P244

P247

P290

P238

P310

USMP

KUAL
P281

P221

P263

5
P274

P229
P213

P102

P255

P219

P258

IPOH
GP28

GP02
4

GP32

KUAN

GP24

GP06

KTPK

GP36

GP37

GP21
GP98

3
GP18

GP43
GP47
M331

GP58

GP54

GP84

Mass Station

GP50

Main Station

UTMJ
GP52

Check Station
99.5

100

100.5

101

101.5

102

102.5

103

103.5

104

104.5

Figure 6: Connection of PMGSN94 to GDM2000

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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.

5.4

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.

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Table 1: Reference Ellipsoids for MRT and WGS 84

No.

PARAMETER

MRT

WGS 84

1.

Reference Ellipsoid

Modified Everest

WGS 84

2.

Origin

Kertau, Pahang

EFEC

3.

Semi-major axis ( a )

6 377 304.063

6378137.000

4.

Flattening ( f )

1/300.8017

1/298.25722

Topography Surface

Bukit
Kertau
Center of
Earth

WGS84
Ellipsoid

Modified Everest
Ellipsoid

Figure 8. The Difference Between Local Geodetic Datum (MRT) and

Geocentric Datum.
Table 2: Reference Ellipsoids for WGS 84 and ITRF
No.

PARAMETER

WGS 84

ITRF

1.

Reference Ellipsoid

WGS 84

ITRF

2.

Origin

EFEC

EFEC

3.

Semi-major axis ( a )

6378137.000

6378137.000

4.

Flattening ( f )

1/298.257223563

1/298.257222101

5.

Eccentricity (e )

0.081819190843

0.081819191043

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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)
ii)
iii)

Establishment, improvement, densification and maintenance of

the control network
Connection to the control network
Carry out cadastral survey of boundary marks.

6.2

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.

6.4

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.

6.5

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).

6.6

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.

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

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process and specifications for GPS observations for urban and rural
areas.
Table 3. Specifications for Cadastral Control Infrastructure
AREA

PRIMARY GRID

SECONDARY GRID

Urban

2.5 km x 2.5 km

0.5 km x 0.5 km

Semi-Urban

10 km x 10 km

2.5 x 2.5 km

Rural

10 km x 10 km

2.5 x 2.5 km

Connected to PMPGN2000

Connected to Primary Grid

Observation Technique: Static

Observation period:
1 11/2 hours

Observation Technique:
Rapid Static
Observation period:
15-30 minutes

Baseline relative accuracy: < 3 ppm

Coordinate Differences from two
bases station: < 2 cm

Baseline relative accuracy: < 3 ppm

Coordinate Differences from two
bases station: < 3 cm

Figure 9: Primary and Secondary Cadastral Control Network

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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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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.

6.9

All these monuments need to be maintain periodically and new survey

carried out on any replaced or disturbed marks.

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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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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