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Transformation
• Given two different coordinate systems:
Applications in Plane – One system is rotated with respect to the other
Coordinate Surveys at an angle β
– One system’s scale is different from the other
by a scale factor λ
Coordinate Transformation β and λ are the two parameters
(Two-Parameter and Four-Parameter involved in the transformation
Similarity Transformation) • Assumption: The two systems have a common
origin
Y
T
S Y
T
xp P
β sp tp S
X
rp
yp
θp β
The relationship between the two coordinate systems for Using trigonometric properties, sp and tp become:
any point P can be obtained by:
s p = rp cos θ p cos β + rp sin θ p sin β
x p = rp cos θ p
s p = x p cos β + y p sin β
y p = rp sin θ p
s p = rp cos (θ p − β ) t p = rp sin θ p cos β − rp cos θ p sin β
t p = rp sin (θ p − β ) t p = y p cos β − x p sin β
1
Scale Parameter (λ) Scale Parameter (λ)
Y’ = λT
• To simplify the previous equations, we can let: • When parameters a and b are already computed, the
scale and rotation parameters can readily be computed
a = λ cos β using:
b = λ sin β
• The coordinate transformation then becomes: λ = a 2 + b2
x′p = ax p + by p b
β = arctan
y′p = −bx p + ay p a
2
Cases for two-parameter
transformation
Practical Application
• One point has known (true) coordinates in both • xp and yp may represent survey coordinates in a
systems a and b can be solved directly local rectangular system while xp’ and yp’ may be
• Two or more points have known (true) coordinates in a shifted Universal Transverse
coordinates in both systems redundancy Mercator (UTM) system
exists (least squares solution is needed)
• The local system is oriented at an angle β with
• Both sets of coordinates are observed variables respect to the UTM system
use General Least Squares
• Only one set of coordinates are considered as • The scale factor λ is applied to the UTM system
observed variables (the other set is known/true)
use Least Squares Adjustment of Indirect
Observations
• More often in practice, the two coordinate • The transformation equations for any point P will
systems have different origins therefore be:
Four-Parameter Similarity
Transformation
Example
3
Solution to 2-Parameter Similarity Solution to 2-Parameter Similarity
Transformation Transformation
The coefficient matrix of the normal equations can be The vector of constants can be derived as:
derived as:
n n
2
∑ ( xi xi′ + yi yi′) − a0 ∑ ( xi + yi )
2
n 2
∑ ( xi + yi ) t = we n
2
0
i =1 i =1
2
n
N = we ∑ ( yi xi′ − xi yi′) − b0 ∑ ( xi + yi )
i =1 2
n
2 i =1
0 ∑
i =1
( xi + yi )
2
i =1
Where:
1
we =
(a + b )Q1 + Q2
2
0
2
0
1 q′ − b0 p
aˆ = a0 + ∆a =
we p
0 p
q′
q
− a0 bˆ = b0 + ∆b =
∆a p p
∆= =
∆b q′ − b
p 0
4
Solution to 2-Parameter Similarity Solution to 2-Parameter Similarity
Transformation Transformation
The covariance matrix of a and b can also be derived Using the previously discussed equations, we get:
using:
n
p = ∑ ( xi2 + yi2 ) = 73849842 m 2
1 i =1
p 0 n
σ2
q = ∑ ( xi xi′ + yi yi′) = 69358096 m 2
Σ ∆∆ = σ Q∆∆2
0 = σ 02 N −1 = 0
i =1
we 1
0 p
n
Using the previously discussed equations, we get: The variances are: σ 12 = (0.20) 2 = 0.0400 m 2
σ 22 = (0.05)2 = 0.0025 m 2
q 69358096
aˆ = = = 0.939177
p 73849842 Selecting a reference variance: σ 02 = 0.0100 m 2
q′ 25241381
bˆ = = = 0.341793
p 73849842
We get: σ 12 0.0400
Q1 = = =4
σ 02 0.0100
σ 22 0.0025
Q2 = = = 0.25
σ 02 0.0100
5
Solution to 2-Parameter Similarity
Transformation
λˆ = aˆ 2 + bˆ 2 = 0.998876
λˆ = 0.999438
bˆ 0.341793
βˆ = arctan = arctan
aˆ 0.939177
βˆ = 19.99787° = 19°59 '52"