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To what 3D reference frame realization is the geoid based vertical datum referred to?

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To what 3D reference frame realization is the geoid based vertical datum referred to?

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A geoid model is determined from gravity measurements. Knowing that gravity points towards the center of mass, we assume that the reference frame is ITRF. Usually, we associate it to the latest ITRF realization (e.g., ITRF00). The geoid model is converted to NAD83 (CSRS) using a seven-parameter transformation (rotations, translations and scale). The epoch of the geoid model is determined from the observations period of the satellite data.

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