Resection Methods

THREE POINT RESECTION PROBLEM
Surveying Engineering Department

Ferris State University

INTRODUCTION

The three-point resection problem in surveying involves occupying an unknown point
and observing angles only to three known points. Today, with the advent of total
stations/EDMs, the problem is greatly simplified. If the unknown point P lies on a circle
defined by the three known control points then the solution is indeterminate or not
uniquely possible. There are, theoretically, an infinite number of solutions for the
observed angles. If the geometry is close to this, then the solution is weak. In addition,
there is no solution to this problem when all the points lie on a straight or nearly straight
line. There are a number of approaches to solving the resection problem.

KAESTNER-BURKHARDT METHOD

In the Kaestner-Burkhardt approach [Blachut et al, 1979, Faig, 1972, Kissam, 1981,
Ziemann, 1974] (also referred to as the Pothonot-Snellius method [Allan et. al., 1968])
the coordinates of points A, B, and C are known and the angles and measured at
point P. Inversing between the control points we can compute a, b, Az
AC
, and Az
BC
using
the following relationships:
Figure 1. Three point resection problem using the Kaestner-Burkhardt method.

8
SURE 215 Surveying Calculations Three Point Resection Problem Page 176

( ) ( )
( ) ( )
2
B C
2
B C
B C
B C 1
BC
2
A C
2
A C
A C
A C 1
AC
Y Y X X b
Y Y
X X
tan Az
Y Y X X a
Y Y
X X
tan Az
+
,
_
,
_

Compute

Compute the auxiliary angles and . First, recognize that the sum of the interior angles
is equal to 360
o
[the sum of interior angles of a polygon must equal (n 2)180
o
].

Rearrange

From the sine rule, compute the distance s

Combining these relationships yields

where is an auxiliary angle with an uncertainty of t180
o
. We then have

or

BC AC
CB CA
Az Az
Az Az

o
360 + + + +
( ) ( )
1
o
2
1
180
2
1
+ + +
sin
sin b
s and
sin
sin a
s

cot
sin
sin
a
b
sin
sin

cot
sin
sin
1 cot
1 cot
sin sin
sin sin
+

+


Since
1
cot
cot

and using trigonometric theorems, one can write

But, recognizing that cot 45
o
=1 and

Therefore,
Then,

Recall that
2
has an uncertainty of t180
o
due to the uncertainty in . Next, using the
sine rule, compute the distances c
1
and c
2
.

If was picked in the right quadrant then
2
is in the right quadrant and c
1
and c
2
are
positive. If they turn out to be negative,
2
, , and have to be changed by 180
o
. As a
check, recall that + + + + =360. The next step is to compute the azimuths to
point P.
( ) ( )
( ) ( )
o
o
45 cot cot
1 cot 45 cot
2
1
cos
2
1
sin 2
2
1
sin
2
1
cos 2
+

+
+
( ) ( ) ( ) ( ) + +
o
1
o
45 cot tan 45 cot
2
1
tan
2
1
tan
( ) ( ) [ ]
2
o
1
1
45 cot tan tan
2
1
+

2 1
2 1

+
( ) [ ] ( )
( ) [ ] ( )
sin
sin
b
sin
180 sin
b
sin
sin
b c
sin
sin
a
sin
180 sin
a
sin
sin
a c
o
2
2
o
1
1

Finally, compute the coordinates of point P.

An example, prepared using Mathcad is presented as follows.

Three Point Resection Problem
Kaestner-Burkhardt Method

dd ang ( ) degree floor ang ( )
mins ang degree ( ) 100.0
minutes floor mins ( )
seconds mins minutes ( ) 100.0
degree
minutes
60.0
+
seconds
3600.0
+
: radians ang ( ) d dd ang ( )
d

180.0
:

dms ang ( ) degree floor ang ( )
rem ang degree ( ) 60
mins floor rem ( )
rem1 rem mins ( )
secs rem160.0
degree
mins
100
+
secs
10000
+
:

trad

180
:

tdeg
180
:

________________________________________________________________________

Given

+
BC BP
AC AP
Az Az
Az Az
BP 2 B AP 1 A P
BP 2 B AP A P
Az cos c Y Az cos c Y Y
Az sin c X Az sin c X X
+ +
+ +

X
A
1000.00 : Y
A
5300.00 :
X
B
3100.00 :

Y
B
5000.00 :
X
C
2200.00 :

Y
C
6300.00 :
109.3045 :

115.0520 :

Solution - Find the coordinates of point P using the Kaestner-Burkhardt Method. Begin
by computing the azimuths and distances between the known points.

Az
AC
atan2 Y
C
Y
A
( ) X
C
X
A
( ) ,
1
]
1
]
: dms Az
AC
( ) tdeg ( )
1
]
50.11399

Az atan2 Y
C
Y
B
( ) X
C
X
B
( ) ,
1
]
1
]
: Az 0.60554

Az
BC
Az 2 ( ) + : dms Az
BC
( ) tdeg
1
]
325.18174

a X
C
X
A
( )
2
Y
C
Y
A
( )
2
+ : a 1562.04994

b X
C
X
B
( )
2
Y
C
Y
B
( )
2
+ : b 1581.13883

The angle at point C is computed as are the auxiliary angles

Az
AC
Az
BC
( ) tdeg ( ) 360 + : dms ( ) 84.53225

1
180
1
2
_
,
dd ( ) dd ( ) + + ( ) : dms
1
( ) 25.15163

0
b
a
_
,
sin radians ( ) ( )
1] 1]
sin radians ( ) ( )
1]
1
1
]
:

0
1.053482162

tdeg atan
1
0
( )
1
1
]
1
1
]
1
1
]
: dms ( ) 43.30291

Note that has an uncertainty of 180 degrees

2
atan tan radians dms
1
( ) ( ) ( ) ( )
1
tan radians dms 45 + ( ) ( ) ( )
_
,
_
,
1
1
]
1
1
]
tdeg :

dms
2
( ) 0.4214

1

2
+ : dms ( ) 25.57303


1

2
: dms ( ) 24.33022

Compute the distances between the point P and control points A and B

c
1
a
sin radians ( ) trad ( ) +
1]
sin radians ( ) ( )
: c
1
1162.1655

c
2
b
sin radians ( ) trad ( ) +
1]
sin radians ( ) ( )
: c
2
1130.60883

The azimuths between the control points A and B are now determined

Az
AP
Az
AC
trad + : dms Az
AP
tdeg ( ) 76.09102

Az
BP
Az
BC
trad : dms Az
BP
tdeg ( ) 300.45152

Finally, the coordinates of the unknown point are computed from both points for a check

X
P
X
A
c
1
sin Az
AP
( ) + : X
P
2128.390
Y
P
Y
A
c
1
cos Az
AP
( ) + : Y
P
5578.144

Check

X
P
X
B
c
2
sin Az
BP
( ) + : X
P
2128.390
Y
P
Y
B
c
2
cos Az
BP
( ) + :

Y
P
5578.144

Allan et. Al. [1968] present a slightly different approach called the Pothonot-Snellius
method. Recall that the distance from C to P was designated as s and was expressed
as
sin
sin b
s
sin
sin a
. From this there are two methods of solving this problem. The first
method is basically that already presented above. The second method is described as
follows. Write the ratio of to by a constant K as:

where ( ) + +
o
360 S . This relationship is based on the fact that the sum of the
interior angles in polygon ACBPA must equal 360
o
. Thus, one can write from this basic
relationship (refer to figure 1): ( ) [ ] + + S 360
o
. S represents the
known angles. Manipulation of this last relationship yields
( )
S cos
sin
cos S sin
sin
sin S cos cos S sin
sin
S sin
sin
sin
K

+ cot S sin
sin
cos S sin
S cos K

From which,

Solve for and then compute c
1
and the azimuth to determine the coordinates of point P.
Alternatively, use line-line intersection to find the coordinates of the unknown point.

Another modification of the Kaestner-Burkhardt Method is that reported by the United
States Coast and Geodetic Survey (USC&GS, now the National Geodetic Survey, NGS)
[Hodgson, 1957; Reynolds, 1934]. Figure 2 identifies three cases of the three point
resection problem. This is a modification of the USC&GS method presented in Kissam
(1981) and with a slight modification in Anderson and Mikhail (1998).

The solution can be broken down into a few steps, given here without derivation.
S sin
S cos K
cot
+

P
(a)
B
C
A
a
P
(b)
b
i
j
h
g
A
B
C
b
a
g
h
i
j
P
(c)
g
i
j
A
B
C
h
a
b
Figure 2. Three scenarios for the three-point resection problem.

(a) Compute ( ) ( ) j i 360 h g
o
+ + + + if the problem is the same as that
indicated in figure 2(a) and (b). For the configuration depicted in figure 2(c),
( ) ( ) ( ) + + + j i h g .
(b) Then, define,

( )
1
sin b
sin a
1
sin b
sin a
45 cot
o
+
+
where,
,
_

sin a
sin b
tan
1

(c) Further,
( ) ( ) ( ) h g
2
1
tan 45 cot h g
2
1
tan
o
+ +

(d) Then,
( ) ( ) ( ) ( )
2
h g h g
h and
2
h g h g
g
+
+ +

(e) Finally,

( ) ( ) + + h 180 j and g 180 i
o o

Now that all of the angles are known, the lengths of the different legs of the triangles can
be found using the sine law.

From the previous example, we can see that this follows the Case 2 situation shown in
figure 2. For this example we will renumber the points so that they coincide with the
figure for Case 2. Thus, from the original example, point C is now designated as point B
and the original B coordinate is now C. Therefore, the coordinates are:

X
A
=1,000.00 Y
A
=5,300.00
X
B
=2,200.00 Y
B
=6,300.00
X
C
=3,100.00 Y
C
=5,000.00
=109 30' 45" =115 05' 20"

It was already shown that the azimuths are


COLLINS METHOD

The Collins (or Bessels) method [Blachut et al, 1979, Faig, 1972, Klinkenberg, 1955,
Zeimann, 1974] is different in that the problem is broken down into two intersections. A
circle is drawn through two control points and the occupied point (as A, B, and P in
figure 3). The line from P to C is extended until it intersects the circle at a point labeled
H. This point is called the Collins Auxiliary Point.

Figure 3. Three point resection problem using the Collins method.
Figure 4. Geometry of circle showing that an angle on the circle subtending a base line is equal.

From the geometry of a circle, shown in figure 4, one can state that the angle formed at a
point on the circumference of a circle subtending a base line on the circle is the same
anywhere on the circle, provided that it is always on the same side of the base line. This
property is exploited in the Collins Method.

The solution involves five distinct steps:

1. Compute the coordinate of the Collins Auxiliary Point, H, by intersection
from both control points A and B.
2. Compute the azimuth Az
HC
which will also yield the azimuth between C and
P since Az
HC
=Az
CP
.
3. Compute the azimuth of the lines AP and BP

4. The coordinates can be computed by intersection from A and C and also
from B and C.
5. If desired, the solution can be performed using the auxiliary angles and .

Then, using the sine law,

This gives

BP BO B AP AP A P
BP BP B AP AP A P
Az cos D Y Az cos D Y Y
Az cos D X Az sin D X X
+ +
+ +

Following is a MathCAD program that solves the same problem as presented earlier but
this time using the Collins method.
+

CP BP
CP AP
Az Az
Az Az
BP BC
AC AP
Az Az
Az Az

( )
( )
sin
sin D
D
sin
sin D
D
BC
BP
AC
AP

Collins Method

See the same functions as defined in the Kaestner-Burkhardt MathCAD program.
________________________________________________________________________

Given
X
A
1000.00 : Y
A
5300.00 :
X
B
3100.00 : Y
B
5000.00 :
X
C
2200.00 : Y
C
6300.00 :
109.3045 :

115.0520 :

Solution - Find the coordinates of point P using the Collins Method. Begin by looking at
the triangle ABH Angles are designated by the variable "a" with subscript showing
backsight, station, and foresight lettering.

a
BAH
180 dd ( ) : dms a
BAH
( ) 64.5440

a
ABH
180 dd ( ) :

dms a
ABH
( ) 70.2915

D
AB
X
B
X
A
( )
2
Y
B
Y
A
( )
2
+ :

D
AB
2121.32034

Az
AB
atan2 Y
B
Y
A
X
B
X
A
, ( ) :

dms Az
AB
tdeg ( ) 98.07484

a
AHB
180 180 dd ( ) ( ) 180 dd ( ) ( ) +
1]
:

dms a
AHB
( ) 44.3605


Az
AH
Az
AB
trad 180 dd ( ) ( )
1]
+ :

dms Az
AH
tdeg ( ) 163.02284

D
AH
D
AB
sin trad a
AHB
( )
_
,
sin 180 dd ( ) ( ) trad
1]
:

D
AH
2847.58555

D
BH
D
AB
sin a
AHB
trad ( )
_
,
sin 180 dd ( ) ( ) trad
1]
: D
BH
2736.05413

X
H
X
A
D
AH
sin Az
AH
( ) + : X
H
1830.59443

Y
H
Y
A
D
AH
cos Az
AH
( ) + :

Y
H
2576.24223

Az atan2 Y
H
Y
C
X
H
X
C
, ( ) :

Az
CH
if Az 0 > Az , Az 2 + , ( ) : dms Az
CH
tdeg ( ) 185.39552

Az atan2 Y
A
Y
C
X
A
X
C
, ( ) :

Az
CA
if Az 0 > Az , Az 2 + , ( ) : dms Az
CA
tdeg ( ) 230.11399

a
ACP
Az
CA
Az
CH
:

dms a
ACP
tdeg ( ) 44.31447

180 dd ( ) a
ACP
tdeg + ( ) :

dms ( ) 25.57303

Az
AP
Az
CA
( ) trad + :

dms Az
AP
tdeg ( ) 76.09102

D
AC
X
C
X
A
( )
2
Y
C
Y
A
( )
2
+ :

D
AC
1562.04994

From the sine law:

D
AP
D
AC
sin dd ( ) trad ( )
_
,
sin a
ACP
( ) : D
AP
1162.1655

X
P
X
A
D
AP
sin Az
AP
( ) + :

X
P
2128.390

Y
P
Y
A
D
AP
cos Az
AP
( ) + :

Y
P
5578.144

For a check, compute the coordinates from point B by solving for the elements in triangle
BCP.


CASSINI METHOD

The Cassini approach [Blachut et al, 1979, Faig, 1972, Klinkenberg, 1955, Ziemann,
1974] to the solution of the three-point resection problem is a geometric approach. It
breaks the problem down to an intersection of two circles where one of the intersection
points is the unknown point P while the other is one of the three control points. This is
depicted in figure 5.

The solution is shown as follows:

Compute the coordinates of the auxiliary points H
1
and H
2
. First the azimuths between
A and H
1
and B and H
1
are determined.

From triangle ACH
1
, the distance from A to H
1
can be computed.

Figure 5. Three point resection problem as proposed by Cassini.
o
BC BH
o
AC AH
90 Az Az
90 Az Az
1
1

+

tan Az cos
Y Y
tan Az sin
X X
tan
D
D
D
D
tan
AC
A C
AC
A C AC
AH
AH
AC
1
1

Since the angle at A is 90
o
,

Then,

The coordinates for H
2
are computed in like fashion.

An alternative approach to coming up with the formulas for X
H
and Y
H
can also be
presented. This approach breaks the solution of the Cassini Method down to 5 equations.
From the equation of the intersections of two lines, we can write:

This can also be written as

But,

Solving these last two equations can be done by subtracting the last equation from the
preceding equation resulting in
AC AH ac AH
Az sin Az cos ; Az cos Az sin
1 1

( )
( ) +
+ +
cot X X Y Az cos D Y Y
cot Y Y X Az sin D X X
A C A AH AH A H
A C A AH AH A H
1 1 1
1 1 1
bc BH BC BH
bc
B C
bc
B C BC
BH
Az sin Az cos ; Az cos Az sin
tan Az cos
Y Y
tan Az sin
X X
tan
D
D
2 2
2

( )
BC B C B C
Az tan Y Y X X
( ) ( )
bc B A BC A C B C
Az tan Y Y Az tan Y Y X X +
( )
AC A C A C
Az tan Y Y X X
( )
( ) +
+
B C B BH BH B H
B C B bh BH B H
2 2 2
2 2 2

Rearranging yields

Using the form of this last equation, one can write express the Y-coordinate of the
Cassini auxiliary point, H
1
as

But,

and

then the Y-coordinate for H
1
becomes, after multiplication by tan Az
CA

The X-coordinate can also be developed in a similar fashion yielding

But ( )
o
CA CH
90 Az Az
1
. Then,

( ) ( )
( ) [ ]
( )( ) ( )
BC B A AC BC A C B A
AC A C A C
BC B A BC A C B C
Az tan X X Az tan Az tan Y Y X X
Az tan Y Y X X
Az tan Y Y Az tan Y Y X X
+

+
( ) ( )
AC BC
bc B A B A
A C
Az tan Az tan
Az tan Y Y X X
Y Y
+
+
( ) ( )
1 1
1
1
AH CH
A C CH A C
A H
Az tan Az tan
X X Az tan Y Y
Y Y

+
( ) ( )
A C CA A C
X X Az tan Y Y
1 Az tan Az tan
CA AH
1

( ) ( )
CA CH A C A H
Az Az tan X X Y Y
1 1
+
( ) ( )
CA CH A C A H
Az Az tan Y Y X X
1 1

( )
( ) +
+ +
A C A AH AH A H
A C A AH AH A H
1 1 1
1 1 1

The coordinates for H
2
can be developed in a similar fashion and they are given above.

Next, compute the azimuth between the two auxiliary points, H
1
and H
2
.

As before, one can write the equation of intersection containing the unknown point P as:

or,

But,

Thus,

where:
P H
1
Az tan n

( ) n / 1 n N +

The X-coordinate of the unknown point can be expressed in a similar form as:
1
1
]
1

1 2
1 2
2 1
H H
H H 1
H H
Y Y
X X
tan Az
( )
( )
P H CP
H C P H H CP C
P H CP
H C CP H CP C H H H CP H
P
1
1 1 1
1
1 1 2 1 1 1
Az tan Az tan
X X Az tan Y Az tan Y
Az tan Az tan
X X Az tan Y Az tan Y Az tan Y Az tan Y
Y
P H
CP
1
Az tan
1
Az tan
( ) ( )
P H CP
CP H C C H
H P
1
1 1
1
Az tan Az tan
Az tan Y Y X X
Y Y
+

( )
N
X X Y
n
1
Y n
Y
1 1
H C C H
P
+ +

The same problem used in the previous methods follows showing the application of the
Cassini method to solving the resection problem.

Cassini Method

See the same functions as defined in the Kaestner-Burkhardt MathCAD program.
________________________________________________________________________

Given

X
A
1000.00 : Y
A
5300.00 :
X
B
3100.00 :

Y
B
5000.00 :
X
C
2200.00 :

Y
C
6300.00 :
109.3045 :

115.0520 :

Solution - Find the coordinates of point P using the Cassini Method.

X
H1
X
A
Y
C
Y
A
( )cot dd ( ) trad ( ) + : X
H1
645.63588

Y
H1
Y
A
X
A
X
C
( ) cot dd ( ) trad ( ) + :

Y
H1
5725.23694

X
H2
X
B
Y
B
Y
C
( )cot dd ( ) trad ( ) + :

X
H2
3708.6571

Y
H2
Y
B
X
C
X
B
( ) cot dd ( ) trad ( ) + :

Y
H2
5421.378

Az
H1H2
atan2 Y
H2
Y
H1
X
H2
X
H1
, ( ) :

dms Az
H1H2
tdeg ( ) 95.39552

n tan Az
H1H2
( ) :
N n
1
n
+ :

Y
P
n Y
H1
1
n
_
,
Y
C
+ X
C
+ X
H1
1
1
]
N
: Y
P
5578.14421
( )
N
Y Y X
n
1
X n
X
1 1
H C H C
P
+ +

X
P
n X
C
1
n
_
,
X
H1
+ Y
C
+ Y
H1
N
:

X
P
2128.3902

TIENSTRA METHOD

The Tienstra method [see Bannister et al, 1984] is also referred to as the Barycentric
method. An easy to understand proof is given in Allan et al [1968]. Figure 6 shows a
triangle formed from the known control points. Line CD divides the angle at C into two
components: and . Line AB is also divided into two components: m and n. The angle
is formed by the intersection of the line CD with the line AB. From figure 6 one can
also see that line CE is perpendicular to line AB. Thus,

CE
DE
CE
EB
B
CE
AE
A
D
D
cot
D
D
cot
D
D
cot

Figure 6. Basic geometry outlining the principles of the Tienstra Method.

Then,

which upon further manipulation yields

or

Since lines AF and BG are perpendicular to line CF, one can write

From these relationships, equate D
AF

and equating the distance D
BG

From figure 6 we can also write
( )
( )

cot cot D
cot cot D
D D
D D
D
D
n
m
B CE
A CE
EB DE
DE AE
DB
AD
+
+

cot n cot n cot m cot m

cot cot
cot cot
n
m
A B
B
A
( )
B A
cot m cot n cot n m +

cot
D
D
D
D
cot
cot
D
D
D
D
cot
D
D
D
D
cot
cot
D
D
D
D
cot
CG
BG
BG
CG
GD
BG
BG
GD
DF
AF
AF
DF
CF
AF
AF
CF
cot
cot
D
D
cot
D
cot
D
DF
CF DF CF
cot
cot
D
D
cot
D
cot
D
CF
GD CG GD

Also, we have,

From above one can see that the distance from C to D can be expressed as

But from figure 6 we can write the following two relationships

Substitute these values for D
DF
and D
DG
into the relationships derived above. This is
shown as:

,
_

cot
cot cot
D
D D
1
cot
cot
D D D
D
cot
cot D
D D D
DF
DF CF
DF DF CF
DF
DF
DF CF CD
,
_
+
cot
cot cot
D
D D
1
cot
cot
D
D
cot
cot D
D D D
DG
DG CG
DG
DG
DG
DG CG CD
,
_
1
cot
cot
D D
DF CD

cos n D
n
D
cos
cos m D
m
D
D
D
cos
DG
DG
DF
DF
AD
DF

Equating the two values for D
CD
yields

The three-point resection problem is shown in figure 7. Point P is the occupied point and
points A, B, and C are the control points that are observed. The measured angles are ,
, and . The other angles are numbered in a clockwise manner from point A. Recall
that from the intersection problem, the coordinates of a point, such as point C, can be
computed as:

,
_

,
_
,
_

,
_
1
cot
cot
cos m 1
cot
cot
cos n
1
cot
cot
D D 1
cot
cot
D D
DF CD DG DG
( ) +
+
,
_

,
_
cot n cot m cot n m

cot m cot m cot n cot n
cot
cot cot
cos m
cot
cot cot
cos n
Figure 7. Three point resection problem using the Tienstra Method.

( )
( )
B A B A C
B A B A
C
Y Y cot X cot X cot cot X
cot cot
cot X cot X Y Y
X
+ + +
+
+ +

where is the angle at A and is the angle at B. Using this basic relationship, the X-
coordinate at point P can be computed as follows:

Adding these three equations yields:

This is usually represented as

where: L
1
=cot 3 +cot 6
L
2
=cot 2 +cot 5
L
3
=cot 4 +cot 1

The X-coordinate is computed as

In a similar fashion, the Y-coordinate can be written, from the intersection problem

which can be shown, after the same manipulation performed on the X-coordinate, as

( )
( )
( )
A C A C P
C B C B P
B A B A P
Y Y 6 cot X 1 cot X 6 cot 1 cot X
+ + +
+ + +
+ + +
( ) ( )
( ) ( ) 1 cot 4 cot X 5 cot 2 cot X
6 cot 3 cot X 6 cot 5 cot 4 cot 3 cot 2 cot 1 cot X
C B
A P
+ + + +
+ + + + + +
( )
C 3 B 2 A 1 3 2 1 P
X L X L X L L L L X + + + +
3 2 1
C 3 B 2 A 1
P
L L L
X L X L X L
X
+ +
+ +
( )
+
+ +
cot cot
cot Y cot Y X X
Y
B A A B
C
3 2 1
C 3 B 2 A 1
P
L L L
Y L Y L Y L
Y
+ +
+ +

From figure 7, the line BP was extended until it intersected the line AC at a point labeled
Q. This divides the line into two parts: m and n. Recall that the angle
CPQ
=180
O
-
and
APQ
=180
o
- . Recall that we wrote earlier: ( ) + cot n cot m cot n m .
Using the geometry from figure7, this becomes,

Recall that earlier we wrote the relationship: ( )
B A
cot n cot m cot n m + which
can be written as (considering the geometry in figure 7)

Equating these last two formulas yields the following formula,

Using ( ) + cot n cot m cot n m and ( )
B A
cot n cot m cot n m + again,
write

Equating these last two equations gives

Using this formula, equate it with ( ) ( ) 6 cot 3 cot n 1 cot 4 cot m + + giving us the next
equation

or

where:

cot cot
K
1
cot cot
K
1
cot cot
K
1
C
3
B
2
A
1

3 cot n 4 cot m cot ) n m ( +
( ) 1 cot m 6 cot n cot n m +
( ) ( ) 6 cot 3 cot n 1 cot 4 cot m + +
( )
( )
A C
cot m cot n cot n m
cot n cot m cot n m
+
+ +
( ) ( ) cot cot n cot cot m
C A

+
+
cot cot
cot cot
m
n
6 cot 3 cot
4 cot 1 cot
C
A
1
3
1
3
K
K
L
L

In a similar fashion, one can easily show that

Therefore,

from which,

and

Thus,

Substituting these relationships back into the equations for X
p
and Y
P
which were
expressed in terms of L
1
, L
2
, and L
3
that were presented earlier yields the final form for
computing the coordinates using the Tienstra method.

2
3
2
3
K
K
L
L
W
K
L
K
L
K
L
3
3
2
2
1
1

W K L
W K L
W K L
3 3
2 2
1 1
( )
3 2 1 3 2 1
K K K W L L L + + + +
3 2 1
3
3 2 1
3
3 2 1
2
3 2 1
2
3 2 1
1
3 2 1
1
K K K
K
L L L
L
K K K
K
L L L
L
K K K
K
L L L
L
+ +
+ +
+ +
+ +
+ +
+ +
3 2 1
C 3 B 2 A 1
P
3 2 1
C 3 B 2 A 1
P
K K K
Y K Y K Y K
Y
K K K
X K X K X K
X
+ +
+ +
+ +
+ +

An example using MathCAD follows:

Tienstra Method

See the same functions as defined in the Kaestner-Burkhardt MathCAD program
_______________________________________________________________________________
This MathCAD example is the same example used in the other methods. There is a slight
difference in that the triangle is lettered in a clockwise manner and is the clockwise
angle from line PB to line PC, is the clockwise angle from line PC to line PA, and is
the clockwise angle from line PA to line PB. See the following figure.

Given:
X
A
1000.00 :

Y
A
5300.00 : 115.0520 :
X
B
2200.00 : Y
B
6300.00 : 135.2355 :
X
C
3100.00 : Y
C
5000.00 : 109.3045 :

Solution - Find the coordinates of point P using the Tienstra Method.

Az
AB
50.1140 : Az
BA
Az
AB
180 + :
Az
CB
325.1817 : Az
BC
Az
CB
180 :
Az
AC
98.0748 : Az
CA
Az
AC
180 + :

A dd Az
AC
( ) dd Az
AB
( ) : dms A ( ) 47.5608
B dd Az
BA
( ) dd Az
BC
( ) : dms B ( ) 84.5323
C dd Az
CB
( ) dd Az
CA
( ) : dms C ( ) 47.1029

Place the angles into radians

Ar A trad : Br B trad : Cr C trad :
r radians ( ) : r radians ( ) : r radians ( ) :

Solve for the constants used in the Tienstra Method

K
1
cot Ar ( ) cot r ( ) ( )
1
: K
1
0.72959
K
2
cot Br ( ) cot r ( ) ( )
1
: K
2
0.90626
K
3
cot Cr ( ) cot r ( ) ( )
1
: K
3
0.78052

The solution is:

X
P
K
1
X
A
K
2
X
B
+ K
3
X
C
+ ( )
K
1
K
2
+ K
3
+
: X
P
2128.391

Y
P
K
1
Y
A
K
2
Y
B
+ K
3
Y
C
+ ( )
K
1
K
2
+ K
3
+
: Y
P
5578.1451

REFERENCES

Allan, A., Hollwey, J ., and Maynes, J ., 1968. Practical Field Surveying and
Computations, American Elsevier Publishing Co., Inc., New York.

Anderson, J . and Mikhail, E., 1998. Surveying: Theory and Practice, 7
th
edtion,
WCB/McGraw-Hill, New York.

Bannister, A., Raymond, S., and Baker, R., 1984. Surveying, 6
th
edition, Longman
Scientific & Technical, Essex, England.

Blachut, T., Chrzanowski, A., and Saastamoinen, J ., 1979. Urban Surveying and
Mapping, Springer-Vrlag, New York.

Faig, W., 1972. Advanced Surveying I (Preliminary Copy), Department of Surveying
Engineering Lecture Notes No. 26, University of New Brunswick, Fredericton, N.B.,
Canada, 225 p.

Hodgson, C., 1957. Manual of Second and Third Order Triangulation and Traverse,
USC&GS Special Publication No. 145 (Reprinted, 1957), U.S. Government Printing
Office, Washington, D.C.

Kissam, P., 1981. Surveying for Civil Engineers, 2
nd
edition, McGraw-Hill, New York.

Klinkenberg, H., 1955. Coordinate Systems and the Three Point Problem, The
Canadian Surveyor, XII(8):508-518.

Reynolds, W., 1934. Manual of Triangulation Computation and Adjustment,
USC&GS Special Publication No. 138 (Reprinted, 1955), U.S. Government Printing
Office, Washington, D.C.

Ziemann, H., 1974. Terrestrial Surveying Methods, Proceedings of ACSM Fall
Convention, Washington, D.C., September, pp 222-233.

Resection Methods

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THREE POINT RESECTION PROBLEM

Surveying Engineering Department

cot n cot n cot m cot m

cot n cot m cot n m

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