Mil-std-2401 39151p

METRIC ] MIL-STD-2401 11 JA.WJARY 1394

Note - The cover page of Ehis standard has been changed for istrative reasons. There are no other changes to this document.

DEPARTMENT STANDARD

OF DEFENSE PRACTICE

DEPARTMENT OF DEFENSE WORLD GEODETIC SYSTEM (W=)

AREA

AMSC N/A i3STiWUTWN is unlimited.

STATEMENT

A. Approved

for public release; distribution

MCGT

KIL–STD-24G1

4

FOREWORD -, . .

ThiS Military Standard is appro~e~ for use by and Agencies of the Department of Defense.

all

Departments

additions, deletions) 2. Beneficial comments (recommendations, and any pertinent data which may be of use in improving this Director, Defense Mapping document should be addressed to: Agency, ATTN: TX, ST-10, 8613 Lee Highway/ Fairfax~ ‘A 220312137, by using the Standardization Document Improvement Proposal (DD Form 14?6) appearing at the end of this document or by letter.

-

MIL-STD-2401

TABLE

OF CONTENTS PAGE

PARAGRAPH 1. 1>1 1.2 1.3

SCOPE ..... ... ..... . .. ... ...-..”....””..’....”.> ‘m-~ Scope ..... ..... . .. . . . .......”....-””...-””. ““””1 Applicability . .. ... . . .........sos.o.”...”.” ..-”1 Security . . ... .. . .. . . . ........- ..+”......” .“”...l

2.2 2=3

APPLICABLE DOCUMENTS.. .. ............”.”.”..” ““”...2 Government documents .. ...... .. ... .. . .. . ..“-,-.”2 standards and handbooks .... ...2 Specifications, Other Government documents, drawings, and publications .... .. . .. ... ... ... ..”. 4s....>*2 Non-Government publications ... .. . ... .. . ...,., ..2 Order of precedence. . . .. .... ..... ... .. . .. ... ...2

3.1 3.2

DEFINITIONS .. .. .. .. .. . .. ... .....”” ””0.”.s .“””. ’..3 Acronyms . ...... ... . -. .- ., as......-..”.. ‘.’-.”’? Definitions ..... .. .-.-..-..........””’ ““.”””’=

4.1 4.2

GENERAL REQUIRE~NTS. . ......”..”.’....”””... “’--.4 WGS 84 ... . .... .. . . . . . ... .... .. .....”””””” “.””’4 Application ofWGS84 . .. .... ..... .. ... . ........4

2. 2.1 2 .1.1 2.12

3.

4.

5 .6.2.1 5 .6.2.2 5 .6.2.3 5 .6.2.4

DETAILED l=QUIRE~NTS . .. . .. ... ... ... .. . ..- ........5 WGS84 parameters.. . . . .. . ........ . .. ... .. ’..”’.5 Coordinate systems ... . ..- .. ....s... .. ..-. .””.10 Conventional Terrestrial System (CTS) .. ...... ..10 Instantaneous Terrestrial System (ITS) . ........10 Conventional Inertial System (CIS) . . ... ., .,....10 Reference Surfaces . ... . .. .... .. .. . ..... . ..-.....10 Ellipsoid . ...... . .. .. . .. ...--- ..-.-””..” ““10 Ellipsoidal gravity formula ...... ... .. .. , “.”10 Height Relationship .. . .. ... ... ... . .. .. .- .....10 Earth Gravitational Model .. ... ... . .. ... ... ... ..11 WGS 84 relationship to other geOdetlC systems ..II Transformation between WGS 72 and WGS 84 ..... .11 Transformation between local geodetic datums and WGS 84 ... ... .. .. .. . . ... ..” ...... ....>. “ ““’”~~ Datum transformation parameters .. .. , .. . ... ... ,.11 Obtaining datum transformation parameters . . ..11 Configuration control . .. ...... ... . .. .. . .... ....12 System upgradability . . .. ... ... .. . ... .. . . 12

61 6 ,1.1 6.2 6,? 6.4

NOTES ...>... . .... .. .. . . .. ... .. s...””. Intended use...... . . . ... .... .. .~~ Height Systems .. . .. . ... ... ... .. . .,-. Acquisition requirements ..... ..... ,. . . Subject term [Key word) listing . International standardization agreements

5. 5,1 5,2 5 .2.1 5 .2.2 5 .2.3 5.3 5 .3.1 5 ,3.2 5.4 5,5 5.6 5.6 1 5 .6.2

G

13 13 13 .13

MIL-STD-2401

6 .4.1

6. 4.3

International standardization agreements (STANAGS) .. ... . .. . .... . ... ...... .. .. .. .......14 Quadripartite standardization agreements (STAGS). . ..... .. . . . ... .. ........ .... . ....... .14 kir standardization coordinating committee

6 .4.4 6 .4.5 6 .4.6 6 .4.7

International MC&G agreements. . .. . ... ....... ...14 Executive orders.. . .. .... .. .... ....... .. .......14 Inter-Agency agreements ... ... ... .... .. ..... ....14 Other documentation. .... ......... ..... ........-14

6 .4.2

ag~eements

(~ccs)

.. ,.

. . . . . . . . . . . . . . . . . . . . ... .,..14

w

MIL--STD--24O1

1.

SCOPE

1.1 ~. This standard specifies the requirements for use of World Geodetic System 1984 (WGS 84) , the defining and derived between WGS 84 parameters for WGS 84, and methods for transforming and other geodetic systems.

This standard applies to all DoD systems 1.2 ~. and products which require use of a World Geodetic System. A world geodekic system is a consistent global coordinate system which allows an unambiguous representation of positional from the NAVSTAR Global Navigation sOlutiOns information . Positioning System (GPS) and the Navy Navigation Satellite System A WGS 84 ellipsoid provides a (NNSS) are referred to this system. reference surface upon which coordinates are calculated and is A WGS 84 Earth particularly applicable to inertial systems. Gravitational Model (EGM) provid@s necessary force mode~~ for and accurate global operation of strategic weapons, navigation, Many MC&G products produced by other agencies satellite systems. (and DXA products not yet placed on WGS 84) are and governments Parameters to transform these not referred to the WGS S4. products to WGS 84 are part of this standard.

>-

----

This standard 2.3 S=ULk.Y. procedures and processes presented for classified processing with the security provisions.

The is UNCLASSIFIED. in this standard may be used addition of appropriate

MIL-STD-2401

2.

APPLICABLE

DOCUMENTS

2.1 2 .1.1 not applicable

to this

This section

h a~

s~ standard.

is

t=r Gov~t a~ 2 .1.2 The following other Government documents, drawings, and publications form a part of this document to the extent specified the issues are those cited in herein . Unless otherwise specified, the solicitation.

DMATR 8350>2: Department of Defense World Geodetic System and Relationship with Local Geodetic Systems, 1984, Its Definition (latest Edition) . Director, (Copies of DMATR 8350.2 may be req-uested from: Defense Mapping Agency, Combat Center, ATTN: PMSR, ST 20816-5001.) D-17, 6001 MacArthur Boulevard, Bethesda, MD t Chiefs of Staff JCS MOP 45: Position Reference Procedures (MOP) 45: (Copies Mapping

(JCS) Mem=8~dum

of pO~i~Y

Director, Defense from: of MOP 45. may be requested ATTN: PR, S? A-13, 8613 Lee Highway, Fairfaxt VA

Agency,

22031-2137.) 2.2 applicable

m-Gove~t to this

D~

.

This

section

is not

standard.

In the event of a conflict between 2.3 ~. the text of this document and the references cited herein (except for related associated detail specification, specification sheets? or MS standards) , the text of this document takes precedence. applicable laws and Nothing in this document, however supersedes regulations unless a specific exemption has been obtained.

_

01

MIL-STD-24

3.

3.1 ~yxus. defined as follows: 1 BIH CIS CTP CTS DMA DOD DoDISS EGM FK5 GP s ITS Mc&G MS L . NNss TR WGS

-

DEFINITIONS

The acronyms

used

in this

Standard

are

Bureau International de L’Heure Conventional Inertial System Conventional Terrestrial Pole Conventional Terrestrial System Defense Mapping Agency Department of Defense Department of Defense Index of Specifications and Standards Earth Gravitational Model Fundamental Katlog 5 Global Positioning System Instantaneous Terrestrial System Mapping, Charting and Geodesy Mean Sea level Navy Navigation Satellite System Technical Report . World Geodetic System

Geoid - The geoid is a particular equipotential surface of It is a level surface and the the gravity tield of the earth. local direction of the gravity vector is normal to it. The mean sea level of the oceans approximates the geoid and it is this on maps) or orthometric surface to which elevations (for instance, The geoid is conveniently described by heights are referred. Geoid heights geoid heights relative to the reference ellipsoid. may be compqted with the Earth Gravity Model and are available as pre-computed uniform grids of various resolution. (H) The dist~nce, ~~evation along the local gravity vertical, from mean sea level (MSL) to the point in question. is available in local vertical datums and on maps.

Ellipsoid - Mathematical figure of an ellipse about one of its axes. approximates the geoid is an ellipse

generated by the revolution The ellipsoid that rotated about its minor axis.

Geodetic height (h) - The distance normal, from the ellipsoid to the point

along the ellipsoidal in question.

Orthometric height (H) - The disLance the geoid, between the geoid and the point

-.

i

B~H does not longer exist as an orqanlzation Earth Rotation Service (TEAS)

International

It

along ~he vertical. EG in question. IL has been sdpersaded by the

MIL-STD-2401

Geoidal height ellipsoid and geoid,

distance between (N) - The vertical along the ellipsoidal normal.

the

-

?41L-STD-2401

L

4.

GENERAL

REQUIREMENTS

WGS 84 shall provide the basic reference frame 4.1 ~. (coordinate system), geometric figure for the earth (ellipsoid), on earth gravitational model, and means to relate positions and various geodetic datums and systems for DoD operations applications . ~ nf 84 . WGS 84 shall be the primary 4.2 geodetic system used in DoD systems and Mapping, Charting and Geodesy (MC&G) products. Standardization or co-production agreements may preclude use of WGS 84 for certain areas or products, ReqmiremenEs ‘to use existing data or produces may necessitate use of other geodetic systems or transforming’ between WGS 84 and ocher geodetic systems.

----

.

MIL-STD-2401

5.

DETAILED

REQUIREMENTS

The tables which follow contain 5.1 ~. physical and mathematical quantities which are part of the definition of WGS 84. Numerical values for these parameters shall be as specified in DMA TR 8350.2. Applications requiring conformance to this standard shall use these parameters as stated.

Parameter

Semhajor

Notation

Axis

a

Normalized Second Degree Zonal Harmonic Coefficient of the Gravitational Potential

E2,0

Angular

CD

Velocity

of

the

Earth

The Earth’s Gravitational Constant (Mass of Earth’s Atmosphere Included)

GM

The Earth’s Gravitational Constant (Mass of Earth’s

GM’

Atmosphere

Not

~-

Included)

1 tigular Velocity (In a Processing Frame )

of the

Earth Reference

I

6)”

i

●

1

).KIL-STD-24GI

.-

Notation

Constant

Reciprocal Semiminor

b

Axis

First

Eccentricity

First

Eccentricity Eccentricity

Second Linear

Eccentricity Eccentricity Radius

Axis

Ratio

Mean

Radius

e e2

Squared

Second

Polar

I/f

Flattening

e’ e’2 E

Squared

c

of Curvature

b/a of Semiaxes

Radius

of Sphere

With

Equal

Area

‘1 R2

Radius

of Sphere

With

Equal

Volume

R3

Theoretical Potential

(Normal) Gravity of (at) the Ellipsoid

U.

-.

Theoretical (Normal) Gravity at the Equator (on the Ellipsoid)

Ye

Theoretical the Poles

‘P

Mean Value (Normal)

(Normal) Gravity at (on the Ellipsoid)

Theoretical (Normal) Formula Constant Mass of Earth Atmosphere) m = ~2a2b,Gp

TABLE

11

-r’

of Theoretical Gravity Gravity

(Includes

the

k

M

m

MIL-STD-2401

Constant

Notation

Velocity of Light (in a Vacuum)

c

Dynamical

H

Earth’s

Ellipticity Angular

[Jniversal GM

of

Velocity

Constant

the Earth’s

w

of Gravitation Atmosphere

G GMA

Earth’s Gravitational Constant (Excluding the Mass of the EarEh’s Atmosphere)

GM ‘

Earth’s Principal Moments of Inertia (Dynamic Solution)

A B c

Meter Meter International

US Survey US Survey

Nautical

Foot Foot Mile

Conversion

Factors

Foot

to US Survey Feet to International Feet to Meter (Exact) to Meter (Exact) to Meter

to Meters (Exact) to US Survey Feet to International Feet

—r Statute

Mile

to Meters (Exact) to International Feet

(Exact)

FHL-STD-2401

Provides

Gravity

Values

at

(on) the ~

acceleration

of the

7=

Theoretical gravity.

of a unit

Ye -

Theoretical Ellipsoid)

K-

Constant=(byP/a~e)

a=

Semimajor

axis

(WGS 84 Ellipsoid)

b=

Semiminor

ax~s

(WGS 84 Ellipsoid)

Yp =

Theoretical Ellipsoid)

@=

Geodetic

~z =

First

test

WGS

mass

84 Ellipsoid

due to

acceleration at the equator (on the WGS 84 of a unit test mass due to gravity. -1

gravity

at

the

poles

(on the

WGS

84

.

latitude

eccentric~ty

squared

[WGS 84 Ellipsoid)

F?’= Ye (1 + k s~nz$)

/

(I - e~ ~ln~@)l/~ .

1 xnilligal = An acceleration centimeters/second2.

due to gravity

of

1 x 10-3

MIL-.STD-24O2

GM v =— r

..

.

v

Gravitational Earth’a

.

r

potential

gravitational

(!+s-2)

constant

Radius vector from the earth’s center of mass ●xis

of the WGS 84 Ellipsoid

a

Semima jor

nrm

Degree and order,

.

function

respectively

Geocentric

latitude

Geocentric

longitude

Normalized

gravitational

Normalized

associated

- geodetic

longitude

coefficients*

—

Pr4, m( sin +’)Note :

TABLE

V.

function

See DM&TR 8350.2 for complete description

for the

~

WGS earth

Parametex

Semimajor

Legendre

of this model.

~vit~

Notation

axis

of local

Reciprocal

flattening

Geocentric

translations

of

ellipsoid local

ellipsoid

a ~..l

Ax,

AY,

AZ

MIL-STD-2401

5.2.1 LialJiY~ . The WGS 84 coordinate system shall be a Conventional Terrestrial System (CTS) with its reference meridian coincident with the Bureau International de l’lieure (BIH)+efined Zero meridian, its origin at the mass center of the earth, its Z-axis parallel to the X-axis the intersection Conventional Terrestrial Pole (CTP), its of the reference meridian plane and the plane of the CTP equator earth-fixed, orthogonal and its Y-axis completing a right-handed~ system. The WGS 84 stem {~. 5.2.2 coordinate system is Lbe coordinate frame of a mean earth rotating at a constant rate around an average astronomic pole (CTP) . A (See polar motion rotation matrix relates the CTS to the ITS. 5.2.3). 1 Svstgn (cIs) . The Conventional 5.2.3 Inertial System (CIS) is defined by the FK5 Star Catalo9 sYstem The relationship between the and referred to the Epoch J2000.O. WGS 84 CTS and the CIS shall be [xJm~

=

[A] [B] [C]

[D]

The rotation matrices for polar motion astronomic nutation [Cl , and precession relationship .

L

[X]CIS

[A], sidereal time [D] define this

[B],

The WGS 84 ellipsoid shall be a geocentric 5.3.1 ~. oblate ellipsoid of revolution which prcvides a geometric surface This is the which approximates the size and shape of che earth. level (equipotentlal) surface upon which position in of latitude, and geodetic height (height above or below longitude, The geometric center and X, Y, and the ellipsoid) are calculated. Z axes of the WGS 84 ellipsoid shall be the origin and axes of the WGS 84 coordinate System. {The WGS 84 ellipsoid rotational axis System Z axis.) is the WGS Coordinate tv f~ . Given &hat the ellipsoid 5.3.2 is an equipotential surface, it is possible to calculate the theoretical (normal) acceleration due to gravity at this surface. The ellipsoidal gravity formula models normal gravity and terrestrial gravi.metric measurements are referred to it ,

—

r The three types of heights, 5.4 geodetic (h), orthometrir or elevation (H) , and geoid (N), are related to each other and shall be used to compute elevations from satellite survey-derived ellipsoid height and geoid height as follows ?

—.—. —

MIL-STD-2401

H = h84

- ’84

where N84 shall be interpolated from geoid height matrices, available from DMA with spacing at 10, 1.0 and 0.5 degree, or computed from spherical harmonic coefficients? available from D~, using the methods specified in DMA TR 8350.2. of the . Definition 5.5 earth gravity field is an integral part of ing the in force models for definition of WGS 84 and is also required various military systems. Each WGS has associated with it, an earth gravitation model (EGM} which is physically consistent with The EGM is represented by the rest of the WGS definition. The EGM shall be coefficients for a spherical harmonic expansion. used to calculate deflection of the

geoid

heights,

gravity

Pn between WGS 72 and WGS provided in DMA TR 8350.2

5.6.1 Transformations equations

5.6.2

force

components,

and

vertical.

?~ WRS 84 . 84 shall be made

using

the

WG s

~

Q&. Coordinates shall be transformed between local geodetic datums and WGS 84 by applying origin shifts, Ax, Ay, AZ( between the origins of the local datum rectangular coordinate system and the WGS 84 coordinate ‘frame. The origin shifts may be applied coordinates or converted to shifts in directly co the rectangular geodetic (curvilinear) coordinates using the standard Molodensky formulas. Methods for applying origin shifts and the Molodensky Other datum transformation formulas are given in DMA TR 8350.2. shall not be used methods, such as multiple regression equations? Datum for DoD Mapping and Charting (MC&G) applications. transformation between two local ciatums shall be performed by transforming from the first local datum to WGS 84 and then from local datum. WGS 84 to the second

-

. DMA shall maintain datum transformation identification, parameters , zegion of coverage for the transformation parameters, Because and estimated accuracy of the transformation parameters. of distortions in local geodetic systems or lack of data to some transformation parameters determine a datum transformation, of a local datum. (region) may be generated for only a portion parameters are s are responsible for insuring transformation applied only to positions within the valid area of coverage. 5.6.2.1 ~ a data base of datum

5.6,2.2 Transformation contained

parameters

in DMA

TR

8350.2.

for a number Since

this

of datums and regions are to chax]ge, iis~ is subject

_

M’fL-sTD-2401

developers and s shall obcaim the latest list of paramters from DMA when developing new or upgraded systems employing datum transformations . 5. ~ .2.3 ~DoD sYstem~ ;~~:h:;;y “se provided by Dm. datum transformation parameters provide datum transformation parameters in a standard format DMA shall maintain lists of datum transformation parameters s recommended for use for different classes of applications. shall use only those transformation parameters provided or by other competent authority. DMA validated by DNIA or provided shall maintain a list of those systems employing datum transformation techniques and provide notification when a new version of the data base is released. 5 ~~.~ .4 ~. since t=”’f”-tie” parameters may change and datums may be added to the data base as new data is acquired, systems employing datum transformation shall be designed to accept upgrades of transformation parameters. Systems should be designed to accept input of transformation parameters to accommodate changes or additional datums which occur between software upgrades.

MIL-STD-2401

6.

NOTES

information of a general or explanatory (This section contains but is not mandatory. ) nature that may be helpful, 6.1 ~. systems which

must

To provide a reference for development of operate in the DoD World Geodetic System 1984.

Geodetic heights (h) are purely ~. and independent of the effects of variation in the earth This height is directly obtained through satellite It positioning, but is not generally available in local datum. between vertical datum as no is not possible to transform information exists on the relationship of the various MSL In practical applications, the difference between determinant ions orthometric height and elevation is ignored. 6.1.1

geometric gravity.

6.2 acquisition, solicitation 6.3

When this standard is used in issue of DoDISS must be cited in the 2.2) .

re~. the applicable (see 2.1.1 and

Subiert

tg

-gular Velocity of Coordinate Systems Datum Transformations Earth Gravitational Ellipsoid Flattening Ellipsoidal Gravity Ellipsoid Semimajor

(Kev

,, wQrd ) 1~.

the Earth Model Formula Axis

Flattening

Geodetic Heights Geoids Geoid Heights Gravitational Potential Gravity Formula Gravity Potential Local Datums Local Geodetic Datums Local Geodetic Systems Molodensky Datum Transformation Reference Frames

Reference 6.4

Formulas

Systems a~. ‘r

may be subject EC Certain provisions of this specification international standardization agreements . When amendment, revision, of this specification ~s proposed that o: cancellation, the preparirlq the international agreement concerned, will modify action through international will take appropriate activiry standardiza:~an incluc!i.nq depa:~iuen:al st-anciardizatlon channeis,

MIL-STD-2401

--

~ffices, to change accommodations.

or make

the agreement

other

appropriate

6.4.1 I

This

I

section

tite

6,4.2 This 6.4.3 JASC!JLL . This 6.4,4 This

is not applicable

section

specification. 1~

Tt ~-=mq

is not applicable

to this

specification.

is not applicable

to this

specification.

co~

Aj r st~

section

to this

~“ section

is not

appl~cable

to this

specification.

section

is not applicable

to this

specification.

to this

specification.

6.4.5

This

Y v a~nty.

6.4.6 This

section

is not applicable

6.4,7 CJCS

MOP

45:

Position

Reference

L

.: A.

Procedures.

.

MIL-STD-2401

INDEX

Analytical Form, 8 BIH, 3 CIS, 3 constants, 7 Conventional Inertial System (CIS), 10 Conventional Terrestrial System (CTS) , 3, conversion factors, 7 Coordinate systems, 10 cm, 3 IX!4A,3 Earth Gravitational Model (EGM), 3, II Elevation (H), .3 Ellipsoid, 3, 10 Ellipsoidal gravity formula, 10 FK5, 3 Geodetic height (h), 3 Geoid, Geoidal

GPS,

3 height

(N),

3

3 formula, .9 relationship, systems, 13

gravity

Height Height

Instantaneous MC&G,

10

10

Terrestrial

3

MSL, 3 NNssr 3 Orthometric height (H), 3 10 Reference surfaces, WGS, 3 WGS 84 parameters, 5

System

(ITS) , 3,

10

— I

FIKL.-STD-2LO1

.—

CONCLUDING

MATERIAL

CXJSTOD1/@: ——

PREPARING ACTIVITY:

ARM-Y-PO

DMA-MP

I

NAVY - NO AIR FORCE - 09 DMA - MP

REVIJW —— ——-.ACTIVITY: NAVY - MC

--

(Project MCGT-0087)

}

STANDARDIZATION

b&x&s 1,23, and (3.lnb&&l,

1 The~rhgaclivitynukstOm@eb

-.

ktter Strew

DOCUMENT IMPROVEMENT

PROPOSAL

bc#hthe dcxumetimtiraM

raasion

be @an.

2. Theaw&dttefollhis~orm r’nustcon@@eti4,

5,6,aId7.

3. Theprap@ng anMtynustprovide am@ywahh30 c&ystrornrece@t dthekmn. NOTE: Thistifmmay notbe usedto_ copiesoldocuments,noriompest waivers, w cbfiftiion ot re@emwks on cam~ cxmtraas. @mments subrndted on this tom do notcons!ltute orimplyauthorization to waivemy pmlkm ofthetiemmed document(s) orb amend contra@ual mqukemetis. 2.DCX%MEm 3 CX)CUMENT TtTLE

Uilitary Standard for Department

4 NATURE OF CHANGE

(~

gwqwqah

nwrbr

d

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~~,

world

Defense

of

ii-.

Geodatic

DATE (YYMMDQ System

{wES)

A-aW8-8ms~)

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s

REaSON

FOR RECOMWNDATION

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,,,,,,Y<,, ,,..., ,:.:,, Mamw’mAmw::.:::

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ATTN :

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ACTMW De fen~e

ADDRESS

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.. .. ::....,.,.: :...,..::,. . ... ... . ....<..... . .

8 PREPARING .— a NAME

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TIJ, ST A-10 &uk?)

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God) 1 (2) AUTUV~

285-9238

356-3238

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