United Nations/Moldova/United States of America

Workshop on the Applications of Global Navigation Satellite Systems

17 – 21 May 2010 Chisinau, Republic of Moldova

Romanian Position Determination System

- ROMPOS -

Mihai Busuioc, Tiberiu Rus, Petre Dragomir,

Neculai Avramiuc, Paul Dumitru, Mihaela Fădur, Vlad Sorta

National Agency for Cadastre and Land Registration

Department of Geodesy and Cartography
Bucharest, ROMANIA
 CONTENT

1. Status of Geodetic Network

2. GNSS Network

3. ROMPOS Services

4. Cross border Data Exchange

5. TransDat Software (ETRS89 <> S42)

6. ROMPOS Applications

7. References
 Status of Geodetic Network

a. Triangulation network (Ist-Vth order) > New Inventory

b. Leveling network > EVRS (EVRF2007)

c. GNSS network (after 2004) > accent on development

 GPS/GNSS / Augmentation systems
- Global / Regional / National / Local

Space segment

EU Augmentation
system
Segment utilizator
National augmentation
systems - (ROMPOS)

GNSS - EU User segment

GALILEO

Control segment
 ROMANIAN GNSS Network
(National Space Geodetic Network)
ETRS89 introduced official

Applications Class E (cm) Realization by

First class national geodetic network Permanent stations
Regional and local geodynamic, A 1.0 57 ANCPI 
deformation projects, engineering +1 TUCE 
surveying, et al. + 15 new = 73 (2010)
Second class national geodetic network Epoch stations
connections to primary network, B 2.0
engineering surveying, landslides 306 points 
(2003)
Third class national geodetic network about 4750 points
engineering surveying, cadaster C 3.0 (1pt/50km2)~100 pts/county
Realization ~ 45%

Fourth class national geodetic network

cadaster, GIS et al. D 5.0 (1pt/5km2)

GNSS Network Class A is the core of ROMPOS

(Romanian Position Determination System)
 CLASS A – GNSS Permanent Network
ROMPOS stations – 2007 : 48 GNSS stations

1999: 1 GNSS
perm.station
(Bucu)
2001: 7 stations
2004: 13 stations
2006: 28 stations
2007: 48 stations
2009: 58 stations
2010: 73 stations
ROMPOS stations – beginning 2009 : 58 stations
(red circles – EUREF-
EUREF-EPN stations)

6 GPS and 52 GNSS (GPS+GLONASS)

ROMPOS stations – spacing in km (with 58 stations)
ROMPOS stations – 2010 : 73 stations
(black numbers – position of last 15 stations to be installed
ROMPOS station information – included into EUPOS
Station DataBase (IDs, coordinates, antenna, et al.)
EUREF-EPN stations – 5 stations
(1 GNSS and 4 GPS stations)
Central and East European
countries Central and East European
countries
Romania
• Area - 237,500 sq.km Romania
• Area - 237,500 sq.km
• 73 perm. stations in Romania
• Medium distance between • 48 >> 73 perm. stations in Romania
stations: 70 km • Medium distance between
stations: 70 km

http://www.eupos.org
http://www.eupos.org
ROMPOS stations – installation campaign 2009
(10 stations with financial support from PHARE)
ROMPOS stations – installation campaign
(10 stations with financial support from PHARE)
ROMPOS stations – installation campaign
(10 stations with financial support from PHARE)
ROMPOS stations – installation campaign
(10 stations with financial support from PHARE)
 ROMPOS stations – different antenna pillars

Slobozia Bistrita Tg. Jiu

Tg. Mures Resita Tulcea

ROMPOS stations – main equipments
(antenna types and receivers)
 ROMPOS stations – modernization campaign
(December 2009)

6 GPS stations – Leica System 500 Brai, Cluj, Fage,

replaced by GNSS Orad, Sib1, Suce,
Leica System 1200 GNSS+, AR25 antenna

New
antenna
Old
antenna
 ROMPOS stations – difficult weather condition
at SINA(ia) station – 2000m height
in winter 2008/2009

August 28, 2008 March 23, 2009

 IGS station BUCU was modernized
2 stations (BUCU+BUC1) = GNSS
BUC2 = GPS old permanent station

11 YEARS OF OPERATION
TUCE Bucharest and BKG Frankfurt a.M. cooperation

BUCU (Leica)
– Nov. 2008

BUC2 (Ashtech)
BUC1 (Trimble) – Feb.1999
– Feb. 2007
 New and old equipments at BUCU

BUC1 (Trimble) BUC2 (Ashtech) BUCU (Leica)

 BUC2 (Trimble) GNSS station
(research station)

GPS,
GLONASS and
EGNOS data
received at
BUC1 station
 National Service Centre - ROMPOS

Ministry of Administration and Interior

National Agency for Cadastre and Land Registration

ROMPOS
 ROMPOS services

In test:

EUPOS
V-RINEX
17 Central end East European countries Automatic data
processing
More than 400 reference stations

Common standards

Similar products and services

Launched : September 2008

ROMPOS-DGNSS&RTK – free
of charge
ROMPOS-GEO - charged
 ROMPOS users

Networking software achieved and

installed in May 2009
(7 servers ; 4 clusters; > 1Tb)

Ab
ou
t4
50
RO RO reg
MP MP iste
OS OS red
-R
=R TK user
eg so
ist f
Ro ered
ma m
nia ark
in
ROMPOS Services National Centre
Department of Geodesy and Cartography
ROMPOS clusters

Cluster 1 Cluster 2

Cluster 3
Cluster 4
ROMPOS web site
www.rompos.ro
 ROMPOS web site
General info on reference stations
ROMPOS web site (realtime info)
gnss.rompos.ro
 CLASS B – GNSS Network
306 epoch stations

GNSS network Class B

BT01
BT02
BT03 BODR

SM02 MM01 BT06

SM01 BT04
MGJU SV02 SV01 TARA
BOTI BT05
Baia Mare BT07
BAIA MM02 BT10
Suceava BT11
CARE DLAD SUCE
GRPO MM03
MM05 SV07 BT09 BT08
SM03 MM04 INEU SV06
MM07
MM06 BN04 SV05 IS05
DERS PRIS SV03 SV10
SJ02
BH07 SJ01 BN05 SV09 SV04 CARP
BH02
SJ04 SV08 MOVI SIRC
SJ03 ALBI NT07
BN02 NT03 IS04
OSOR
BN03 NT06
BH06 BH01 CJ01
Oradea SJ05 ZIMB
ORAD DGHE MS01
HIRS NT04 IS03 IS02
BERI HR06 NT02
BN01 NT05 DLIZ
BH05 CJ03 VS01
CJ05 Cluj NT01
ARPA CLUJ MS02 OSES
BC06 POGA
BH04 CJ04 CIOT HR05 VS03
MIRA VS04
MS04 HR02 CAPI VS02
AR04 CJ02 DLCA MS03 Bacau
BH03 VFLI BACA VUTC
AR05 MS07 BC05 BC02
BC01
AR06 BIHO VIIL
AB03 HR03
MS06
HR01 VS06
AR02 BC03 VS07 VS05
DEAL
MS05
CENA HR04 BC04 COSN
TM01 AR01 TABA
AB01 VN04
DBCI SB03 CV01
AR03 AB06 BV02
VFMA SB02 CV04
HD04
PADU VN05 VN03 GL02
TM02 TM04 DICU DLCR GHE1 SERB GL03
Timisoara TM03 AB05 SB01 GHEO
Deva HD05 Sibiu CV05 LACA
TIMI BV01 Sf. Gheorghe
DEVA JELE SIBI SB04 BV04 SFGH VN01 MVCR
TM05 CV03
ONCE
SB05 BV05
HD01
GOMA CS01 POST VN02 GL04
CS02
BZ05 GL01
TM06 VLRA SMAR
HD02 BZ01
MTMI
CS04 VL03 PH04
HD03 AG04 ROMA Braila
HD06 CMIC DSAL PH05 BZ03 BR01 BRAI TL03
CORC CS03 BR03 TL04 SULI
GJ06 VL04 BZ04
AG03 PH01 BZ02 BR04
VL06 BR02
CS05 BR05 TL02
MH01 GJ02 COPA VL05 VLCA
GJ01 SLAT PH03
FETE MVRU MVCA TL05
DB03 PH02 POGO BR06
BRIN GJ05 VL02 OT06 AG01 LUDE
S

MOLD COTO
GJ03
GJ04 STAN
E

CS07 DB01 IL01 HARS ACIC

R

MH03 SNAG IL03

MH04 VL01 DB02
OT05
B

SLAM BUFTBucuresti COPU IL02 CT04

CIOA UNGU
IA

CRIV DJ05 AG02 BUCU MVRA

CL07 MALT TARG
MH02 OT04 GR07 CL02 IL04
OT08 IGFC BRAN SACE
TR05
DJ07 GR02 CL03 CL11
DJ06 DLSA
Craiova CL06 CL10 CT03
CRAI TALP TR06 CL08 CONS
GHIM
GR06 CL04 CL01CL09 Constanta
CETA OT03 TR04 GR01 CL05 CT01
DJ02 OSTR COST
DJ03 POTA
DJ01 GR05
TR03
DANE OT01 SLOM GR04 CT02
HODI
DJ04 HAGI
OT02 TR01 GR03
TR02 MVGO
CLASS C – GNSS Network
~ 1500 epoch stations
 Cross border GNSS data exchange

Geodetic Data exchange

Special workshop organized by NACLR in 2008 (April) for geodetic
geodetic data
exchange under PHARE project connected with the 13th EUPOS-
EUPOS-ISC
conference in Bucharest.
GNSS Data exchange
Necessity for:
- RTK services improvement
• Common Coordinate Reference System (ETRS89)
• Geodetic (GNSS) networks connection
• Better cooperation on geodetic research and applications

Started in 2009
ROMPOS – GNSS Net (HU) 
ROMPOS – BULiPOS (BG)
To be started in 2010
- agreement
already signed ROMPOS – MOLDPOS (MD) 
ROMPOS – ZAKPOS (UA)
 Cross border data exchange

Users working close to the

boundary UkraIne

ry

Mo
a
g
n

ld
u
H

ov
a
Data exchange with
neighbour
countries:
HU: 4 stations
BG: 5 stations
MD: 6 stations
S
er

UA: 4-5 stations

a
bI

Se
a

ck
Bla
BulgarIa
 Cross border data exchange
ROMPOS-MOLDPOS
Romania
6 stations

Republic of Moldova
6 stations

RO:
1. Dorohoi (DORO)
2. Flamanzi (FLAM)
3. Iasi (IASI)
4. Vaslui (VASL)
5. Targu Bujor (TBUJ)
6. Braila (BRAI)

MD:
1. Cahul (CAHU)
2. Donduseni (DOND)
3. Balti (BALT)
4. Telenesti (TELE)
5. Causeni (CAUS)
6. Comrat (COMR)

Agreement already
signed !
 TransDat software in
Support of ROMPOS users

TransDatRo
ETRS89 Establish official
connection between CRS
ETRS89 and S42

Stereographic 1970

- May-July 2009 – dedicated GNSS

observation campaign
- About 800 triangulation points
observed
- Algorithm was implemented also in
GNSS receiver’s software by
manufacturers
Distorsions situation between ETRS89 and S42
(summer of 2009)

(CSCS file – Country Specific Coordinate System)

ROMPOS applications for Cadastre
 ROMPOS applications for Cadastre

New regulations adopted by NACLR for GNSS-RTK

A3

B2 B3

C2 C3

1 2
R1 6 5
Legend 4
A –– Class A – real ref. stations (70-100 km) a2
a – virtual ref. stations (hundreds of m)
3
R2 R3
B – Class B (40 km) a1
C – Class C (10 km)
R – densification net (hundreds of m ... 1km) C1 C4
1,2,3,4,5,6 – detail points (tens..hundreds of m)

B1 B4

A1
A2
ROMPOS applications for Cadastre

Example ROMPOS-RTK positioning

Data recording interval

ETRS89 coordinates

VRS position
detail points determined by RTK
points precision
 ROMPOS applications for Cadastre

Example ROMPOS-RTK positioning

Version:12.22 Units:Metres
Job:ROMPOS

25 Oct 2008 Mode: RTK(VRS)

RTCM1025

OCPIB
File with ellipsoidal coordinates
in ETRS89, downloaded from Name Latitude sigma Longitude sigma Height sigma Code Obs.
GNSS controller 500a 44 28 22.20355 0.005 26 04 09.38213 0.006 85.931 0.015 point Init 1
500b 44 28 22.20413 0.006 26 04 09.38303 0.007 85.934 0.017 point Init 2
501a 44 28 22.46731 0.010 26 04 09.02061 0.009 85.902 0.010 point Init 1
501b 44 28 22.46691 0.012 26 04 09.01970 0.010 85.904 0.011 point Init 2
502a 44 28 22.59336 0.008 26 04 08.96355 0.011 85.693 0.006 point Init 1
502b 44 28 22.59401 0.007 26 04 08.96370 0.009 85.666 0.004 point Init 2

Init i – initialization no. i

File with projection coordinates
in Stereo”70 CRS, after
Name X Y Code
transformation with TransDatRo
330903.692 585190.863 point
500a
500b 330903.710 585190.883 point
330911.726 585182.766 point
501a
501b 330911.714 585182.746 point
330915.600 585181.454 point
502a
502b 330915.620 585181.457 point
ROMPOS applications for aerotriangulation
(photogrammetry)

GNSS observations (RTK

or post-processing)

Reference
station

Ground control
markers
 ROMPOS applications for geodynamic

Crustal
movements in Uzhl
Romania including
earthquake area
(Vrancea).
4
Penc
Example:
Vrancea area
GNSS network in
Vrancea area and
1
geodynamic
traverses across the
country; repeated 3 Total length: 1385458.782 m
(epoch stations) or Misclosures: N: -0.023 E: 0.011 U: 0.050 [m]
continouos Accuracy: 0.041 ppm
observations
(permanent 2
stations)
Permanent and epoch stations
included on the network
Sofi
ROMPOS for disaster management
(2006 Danube floods)

Based on ROMPOS-
RTK service, flooded
areas can be monitored
in near real time on 2D
or 3D positions;
Disaster management
control centre can take
decisions on real (not
modeled) and accurate
data.
 ROMPOS application for river or Black
Sea coast navigation
Application:
Based on ROMPOS-
DGNSS, river (sea
coast) navigators can
determine their position
with dm accuracy
Equipment: DGNSS or
DGPS receiver
connected to ROMPOS
by internet (not radio);

GNSS ROMPOS stations (Corabia)

- transmits DGPS corrections
possible to be used in river (Danube)
navigation
 CONCLUSIONS

 National Agency for Cadastre and Land Registration (NACLR) realized

ROMPOS according to EUPOS standards.
 NACLR has built up to the present a total number of 58 stations.
 There are included 6 GPS and 52 GNSS (GPS+GLONASS) stations. Six
of the GPS stations were upgraded December 2010 to GNSS (Leica
AR25 antennas);
 A number of 37 antennas of the stations are individual absolute
calibrated.
 Until end of 2010 there are planned to be installed the last 15 stations up
to 73 stations (without stations from neighbour countries).
 The networking software for ROMPOS was achieved (2009);
 GNSS data exchange with Republic of Moldova signed in 2010.
 GNSS data exchange with Hungary will be signed tomorrow !
 Practical data exchange with Bulgaria started;
 New proposal for data exchange with Ukraine;
 New regulations concerning the use of RTK method for cadastre are
available for the ROMPOS users;
 There are about 450 registered users of the ROMPOS – RTK services;
ROMPOS-RTK services are free of charge;
 There are much more ROMPOS applications to be investigated !
References

• Ordinul nr. 634/2006 pentru aprobarea Regulamentului privind conţinutul şi modul de

întocmire a documentaţiilor cadastrale în vederea înscrierii în cartea funciară;
• Decizia nr.1/2008 a Directorului Direcţiei de Geodezie şi Cartografie din cadrul ANCPI
privind realizarea măsurătorilor GNSS cinematice;
• Dragomir P., T.Rus, P.Dumitru, Integrarea Reţelei Naţionale de Staţii GPS Permanente în
Reţeaua Europeană EUPOS, conferinţă Tehnologii Moderne pentru Mileniul III, Oradea,
2005
• European Position Determination System, Technical Standards, Revised 2nd Edition, 24
April 2008, Resolution of the International EUPOS® Steering Committee, 13th Conference,
Bucharest, Romania, 23 – 24 April 2008
• ROMPOS - Sistemul Românesc de Determinare a Poziţiei, Broşura editată de ANCPI,
septembrie 2008;
• T. Rus, P.Dragomir, N. Avramiuc, P.Dumitru, M.Fădur, V.Sorta - ROMPOS for Cadastre
Applications, International Symposium on Global Navigation Satellite Systems, Space-Based
and Ground-Based Augmentation Systems and Applications 2009; Berlin, Germany, 30
November - 2 December 2009.

www.rompos.ro
www.ancpi.ro
www.eupos.org
 Cross border data exchange

Users working close to the

boundary

Data exchange with

neighbour Users on
countries:
HU: 4 stations;Black
BG: 5 stations
Sea