Gss614 - gls614 - Chapter 1b - Coordinates System

CHAPTER 1:
HYDROGRAPHIC
POSITIONING
COORDINATE SYSTEM
HYDROGRAPHY AND OCEAN MAPPING/HYDROGRAPHIC
SURVEYING
G S S 61 4 | G L S 61 4
PRESENT BY DR MUHAMMAD ABDUL HAKIM BIN MUHAMAD
P R E PA R E D B Y D R M O H D S H A H M Y B I N M O H D S A I D
GLS614 HYDROGRAPHIC SURVEYING CHAPTER 1: HYDROGRAPHIC POSITIONING MOHD SHAHMY MOHD SAID
Without Geography,
You are Nowhere!
- ANONYMOUS
Why Position Matters?
Around 80% of the data used by Oil & Gas
companies are spatially referenced.
Errors in positioning, or a poor understanding of

spatial relationships, can be extremely costly and
have hugely significant safety and commercial
implications.
Such as:
• Major HSSE incidents, legal costs, drilling
targets missed,
• incorrect interpretation and understanding of
reservoir characteristics,
• loss of asset value, loss of revenue, higher
• lifting costs, delays to schedules, loss of
reputation
Is your Survey
Referenced Correctly?
 Coordinate Systems & Datum
18 Offshore systems
15 Onshore systems
8 Datums (3 x ED50)
 Vertical reference
Units (metres/feet)
Drill Floor Elevation, Kelly bushing?
Datum, Mean Sea Level (MSL),
Lowest Astronomic Tide (LAT)?
 North References
True, Grid or Magnetic North ?
Teaching Contents
1. BASIC GEODESY
2. COORDINATE SYSTEMS
3. DATUM TRANSFORMATIONS
4. MAP PROJECTIONS
5. MALAYSIA’S COORDINATE SYSTEM
Remember GEODESY?
• Geodesy is possibly the oldest Earth Science
• literally means "dividing the earth” (From the Greek)
• Geodesy is the study of the shape and size of the Earth
(simplest, least precise)
• Geodesy is the science concerned with the study of the shape and
size of the earth in the geometric sense as well as the form of the
equipotential surfaces of the gravity potential (Friedrich Helmert,
1880)
• Geodesy is the discipline that deals with the measurement and

representation of the earth, including its gravity field, in a three
dimensional time varying space (Vanicek & Krakiwsky, 1986)
Let’s NASA and NOAA remind you
about Geodesy
https://www.youtube.com/watch?v=Ramawc3uKgM
https://www.youtube.com/watch?v=kXTHaMY3cVk
Why do we need Coordinate
Transformation and Projection?
1st Ellipsoid - WGS-84
When using GPS, the resulting
coordinates are in geographical (lat and
Long) Datum shift – 3 or 7 parameters
GPS use WGS-84 ellipsoid (Geographical Coordinates)
Malaysia use MRT (Malaysian Revised 2nd Ellipsoid - MRE
Triangulation) – MRE Ellipsoid
Hydrographer works in local grid Projection - mercator
system (Easting and Northing) – MRSO,
BRSO, UTM and Casinni.
Local Grid System (Grid Coordinates)
Why do we need Coordinate
Transformation and Projection?
…and a Datum?
We still have our Ellipsoid...
…but now we reference it to the earth.
T
The Process Of Representing The Earth On A Flat Map.
MAIN REFERENCES
Pekeliling KPUP Bil 3 2009
Chapter 4 of the ITC Educational Textbook Principles of Geographic

Information Systems: an introductory textbook - fourth edition. -
ISBN 978–90–6164–269–5 ITC, Enschede, The Netherlands.
OTHER REFERENCES
Snyder, J.P. (1984), Map projections used by the U.S. Geological

Survey.
Geological Survey Bulletin 1532, U.S. Geological Survey.
WEBSITES
https://kartoweb.itc.nl/geometrics/index.html
http://www-atlas.usgs.gov/articles/mapping/a_projections.html
http://itrf.ensg.ign.fr
http://www.flexprojector.com/index.htm
COORDINATES
SYSTEM
GLS 614 – CHAPTER 1
Definition
SPATIAL COORDINATES (ALSO KNOWN AS GLOBAL
COORDINATES) (1) Global Cartesian coordinates
(x,y,z) for the whole earth
used to locate objects either on the Earth’s surface in a 3D
space, or on the Earth’s reference surface (ellipsoid or (2) Geographic coordinates (φ, λ, z)
sphere) in a 2D space.
(3) Projected coordinates (x, y, z)
Examples : 3D Global Cartesian coordinates. on a local area of the earth’s
surface
PLANAR COORDINATES
The z-coordinate in (1) and (3) is
defined geometrically; in (2) the z-
used to locate objects on the flat surface of the map in a 2D
space. coordinate is defined
gravitationally
Examples : 2D polar coordinates
The latitude (φ) and longitude The latitude (φ ) and longitude (λ) angles
(λ) angles represent the 2D geographic and the ellipsoidal height (h) represent
coordinate system. the 3D gegraphic coordinate system.
2D AND 3D Global Cartesian Coordinate (X,Y,Z)
Z
Greenwich
Meridian
O
• Y
X
Equator
Geographic Coordinate (φ, λ, z)
Latitude (φ) and Longitude (λ) defined using an ellipsoid, an ellipse rotated
about an axis
Elevation (z) defined using geoid, a surface of constant gravitational

potential
Earth datums define standard values of the ellipsoid and geoid
Ellipsoid or Spheroid
b
a O a Y
Rotational axis
X For the earth:
Major axis, a = 6378 km
Minor axis, b = 6357 km
Flattening ratio, f = (a-
b)/a
~
1/300
Latitude And Longitude On The Sphere
Greenwich Z Meridian of longitude

meridian N Parallel of latitude
λ=0°
P λ - Geographic longitude
•
ϕ - Geographic latitude
W O ϕ •E
R Y
λ
• R - Mean earth radius
• Equator =0°
X O - Geocenter
Representation Of The Earth
Sea surface
Mean Sea Level

is a surface of
constant
Gravitational
potential called
the Geoid
Geoid
Geoid and Ellipsoid
Ocean
Geoid Gravity Anomaly
Definition of Elevation
Elevation Z
z = zp
• z=0
Mean Sea level = Geoid

Elevation is measured from the Geoid
DATUM
TRANSFORMATION
Definition
Datum transformations are
transformations from a 3D
coordinate system (i.e. horizontal
datum) into another 3D coordinate
system.
The transformation parameters to

take us from one datum system to
another datum system are
estimated on the basis of a set of
selected points whose coordinates
are known in both datum systems.
Mathematically a datum transformation can be realized by relating the
geographic coordinates (phi, lambda, h) of both datum systems directly, or
indirectly by relating the geocentric coordinates (x,y,z) of the datums.
Methods for a Datum
Transformation
1. The Geocentric translation ( 3
Parameters)
2. Helmert 7-parameter transformations

(position vector or coordinate frame)
3. Bursa Wolf 7 Parameter
4. Multiple Regression
5. Molodensky-Badekas 10-parameter
transformation
Transformation – 3 parameters
◦ used 3 translation
parameters;
◦ Translation X-axis (∆X)

◦ Translation Y-axis(∆Y)
◦ Translation Z-axis(∆Z)
Coordinates
GLS614 HYDROGRAPHIC Transformation
SURVEYING & MapCHAPTER
Projections
1: HYDROGRAPHIC POSITIONING MOHD SHAHMY MOHD SAID
The Geocentric Translation – 3 parameters
The method applies a shift

between the centres of the two Ellipsoid
geocentric coordinate systems.
This shift is defined by the

parameters DX, DY and DZ
(or Xo,Yo and Zo) 1 2
29
Coordinates CHAPTER 1: HYDROGRAPHIC POSITIONING MOHD SHAHMY MOHD SAID
GLS614 HYDROGRAPHIC SURVEYING
Transformation – 7 parameters ◦ 7 Parameters transformation;
- use 3 translation parameters;

◦ Translation X-axis (∆X)
◦ Translation Y-axis(∆Y)
◦ Translation Z-axis(∆Z)
- use 3 rotation parameters;

◦ Rotation of X-axis (Rx)
◦ Rotation of Y-axis(Ry)
◦ Rotation of Z-axis(Rz)
- use 1 scale correction

◦ Scale (s)
Coordinates
Projections
Bursa Wolf Model
In Malaysia, Bursa-Wolf model and Multiple
Regression method are used in transformation
process.
Bursa-Wolf formulae is a seven-parameter model for
transforming three-dimensional cartesian
coordinates between two datums
This transformation model is more suitable for
satellite datums on a global scale (Krakwisky and
Thomson, 1974).
The transformation involves three geocentric datum
shift parameters (∆X, ∆Y , ∆Z ), three rotation
elements ( RX RY RZ ) and a scale factor (1 + ∆L ).
Bursa-Wolf Model – 7 parameters
◦ Model Bursa-Wolf (Bursa, 1962; Wolf, 1963)
R11 = cos(Ry)*cos(Rz)
R12 = cos(Rx)*sin(Rz)+sin(Rx)*sin(Ry)*cos(Rz)
R13 = sin(Rx)*sin(Rz)-cos(Rx)*sin(Ry)*cos(Rz)
R21 = -cos(Ry)*sin(Rz)
R22 = cos(Rx)*cos(Rz)-sin(Rx)*sin(Ry)*sin(Rz)
R23 = sin(Rx)*cos(Rz)+cos(Rx)*sin(Ry)*sin(Rz)
R31 = sin(Ry)
R32 = -sin(Rx)*cos(Ry)
R33 = cos(Rx)*cos(Ry)
◦ If the rotation values are small, the formulae is simplified as follow:
 X  ΔX   1 + s Rz − Ry   X 
Y =  ΔY  +  − Rz 1+ s  
Rx  x  Y  
    
 Z  NEW  ΔZ   Ry − Rx 1 + s   Z  OLD
GDM2000 to WGS84
 X  ΔX   1 + s Rz − Ry   X
Y = ΔY  +  − Rz 1 + s Rx  x  Y 
       
 Z  WGS  ΔZ   Ry − Rx 1 + s   Z  GDM
Translations parameters  Translations

 ∆X = 1.6m parameters
 ∆Y = -1.9m  Rx = 0.04”
 ∆Z = 2.0m  Ry = -0.03”
 Rz = 0.01”
 Scale correction
 s = 0.24ppm
TRANSLATIONS (3 PARAMETERS)
ROTATION (3 PARAMETERS)
SCALE (1 PARAMETER)
Coordinates
Projections
.
MAP PROJECTION
Definition
A mathematically described technique of how to
represent the Earth’s curved surface on a flat
map.
To represent parts of the surface of the Earth

on a flat paper map or on a computer screen,
the curved horizontal reference surface must be
mapped onto the 2D mapping plane.
Mapping onto a 2D mapping plane means

transforming each point on the reference
surface with geographic
coordinates (sigma,lambda) to a set of
Cartesian coordinates (x,y) representing
positions on the map plane
Classification of Map Projections
1. class (cylindrical, conical or azimuthal),
2. point of secancy (tangent or secant),
3. aspect (normal, transverse or oblique), and

4. distortion property (equivalent, equidistant or conformal).
i) Class
The three classes of map projections
are cylindrical, conical and azimuthal.
The Earth's reference surface projected on

a map wrapped around the globe as a
cylinder produces a cylindrical map
projection.
Projected on a map formed into a cone

gives a conical map projection.
When projected directly onto the mapping

plane it produces an azimuthal
(or zenithal or planar) map projection.
ii) Point of Secancy
tangent ;
touch the horizontal reference surface in one
point (plane) or along a closed line (cone and
cylinder) only - planar, conical, and cylindrical
surfaces
secant
to (to intersect with) the horizontal reference
surface;
the reference surface is intersected along
one closed line (plane) or two closed lines
(cone and cylinder).
iii) Aspect
The direction of the projection plane's orientation
(whether cylinder, plane or cone) with respect to the
globe.
The three possible apects:
Normal projection, the main orientation of the

projection surface is parallel to the Earth's axis
A transverse projection has its main orientation

perpendicular to the Earth's axis.
Oblique projections are all other, non-parallel and

non-perpendicular, cases.
iv) distortion property
conformal (orthomorphic) equidistant
the angles between lines in the map are indentical to the length of particular lines in the map are the
the angles between the original lines on the curved
reference surface. same as the length of the original lines on the
curved reference surface (taking into account the
angles (with short sides) and shapes (of small areas)
are shown correctly on the map. map scale).
equal-area (equivalent) A particular map projection can have any one of

these three properties.
the areas in the map are identical to the areas on the
curved reference surface (taking into account the map No map projection can be both conformal and equal-
scale), which means that areas are represented
correctly on the map. area. A projection can only be equidistant (true to
scale) at certain places or in certain directions.
Scale Distortions On A Map
any map projection is associated with scale
distortions.
There is simply no way to flatten out a piece of

ellipsoidal or spherical surface without stretching
some parts of the surface more than others
The amount and which kind of distortions a map

will have depends largely - next to size of the area
being mapped - on the type of the map projection
that has been selected.
Scale Distortions On A Map
The ellipses of distortion plotted on the cylindrical equal-area projection.

The flattening of the ellipses towards the polar regions shows that shape distortions increase
towards the polar regions.
Earth to Globe to Map
Map Scale: Map Projection:
Representative Fraction Scale Factor

Globe distance Map distance
= =
Earth distance Globe distance
(e.g. 1:24,000) (e.g. 0.9996)
MALAYSIA’S
.
COORDINATE
SYSTEM
World Geodetic System 1984 (WGS84)
A global geodetic datum
Reference datum for GPS
Ellipsoid WGS84
Semi-major axis, a = 6378137m
Ellipsoid flattening, f =1/298.257223563
Coordinates 53
CHAPTER 1: HYDROGRAPHIC POSITIONING
GLS614 HYDROGRAPHIC SURVEYING MOHD SHAHMY MOHD SAID
IGS STATIONS – ITRF
The Department of Survey and
Mapping Malaysia (JUPEM)
defines and maintains:
The Coordinate Reference

System (CRS)
and,
The
Vertical Reference System
(VRS)
In Malaysia.
Malaysian Revised Triangulation Borneo Triangulation 1968 (BT68)
(MRT 48)
• Computed using data collected in • Resulted from the re-adjustment
the period 1948 to 1966  MRT of the primary control of East
48 Malaysia
• Modified Everest ellipsoid • Modified Everest ellipsoid

• Origin – Kertau, Pahang • Origin – Timbalai, Labuan
• The network consists of 77 • The network consists Borneo

geodetic, 240 primary, 837 West Coast Triangulation of
secondary and 51 tertiary stations Brunei and Sabah (1930-1942),
Borneo East Coast
• Recompute on 1994  MRT 94 Triangulation(1955-1960) and
some new points
• surveyed between 1961-1968
Datum Transformation In Malaysia
Map Projection In Malaysia
The Rectified Skew Orthomorphic (RSO) Map Projection
An oblique Mercator projection developed by Hotine in 1947

(Snyder, 1984).
This projection is orthomorphic (conformal) and cylindrical.
All meridians and parallel are complex curves.
Scale is approximately true along a chosen central line

(exactly true along a great circle in its spherical form).
a suitable projection for an area like Switzerland, Italy, New

Zealand, Madagascar and Malaysia as well.
The RSO provides an optimum solution in the sense of

minimizing distortion whilst remaining conformal for
Malaysia.
The Cassini Soldner Map Projection
The Cassini projection is classified as cylindrical, tangent,
transverse, equidistant and semi geometric
The basis for the Standard Cadastral Sheets in each States

(Northing, Easting).
The Cassini-Soldner map projection has been used for over

one hundred years and shall continue to be used for
cadastral surveys in the new geodetic frame.
There are nine (9) state Cassini-coordinate systems in

Peninsular Malaysia with their respective origins.
Universal Transverse Mercator (UTM) Map Projection
A UTM zone is a 6° segment of the Earth.
Because a circle has 360°, this means that there

are 60 UTM zones on Earth. (360 ÷ 6 = 60)
The Mercator uses an upright cylinder for its map

projection.
The Transverse Mercator takes a cylinder and

places it on its side (rotates it 90°)
the Universal Transverse Mercator places this

cylinder 60 times for each UTM zone.
This means that all 60 wedges are flattened out
with a transverse cylinder.
Each time it’s slightly rotated using a different

meridian as a central line.
Zone 1 ( longitude 180o west – 174o west )

Zone 60 ( longitude 174o east – 180o east )
0.9996 scale factor of central meridian
Origin at intersection of central meridian and
equator
False coordinates
(500 000 m E, 10 000 000 m N)
Peninsular Malaysia – Zone 47 & 48
East Malaysia – Zone 49 & 50
Distortion is small near the central meridian, and as you move away it worsens.
makes it most fitting for narrow regions and not well-suited for world maps.
Geocentric Datum of Malaysia GDM2000
New coordinate system, adoption of geocentric

datum and ITRF2000 GDM2000
Datum unification between East and West
3D
Map (φ,λ,h) Map
Closely coincident with WGS84 system Projection Projection
Implementation of geocentric datum for
mapping and cadastral surveying
Geocentric Geocentric
Ellipsoid = Geodetic Reference System 80
(GRS80) RSO Cassini
2D 2D
(N,E) (N,E)
Coordinates
Projections
1: HYDROGRAPHIC POSITIONING 65 SAID
MOHD SHAHMY MOHD
Re-definition of State
Cadastral Origins in
GDM2000 and
GDM2000 (2009) Coordinates
MAP PROJECTION IN MALAYSIA
Coordinate Systems in Peninsular Malaysia
Datum Datum
Transformation Transformation
(7 parameter) (7 parameter)
3D 3D 3D
GDM2000 WGS84 MRT
φ,λ,h X,Y,Z φ,λ,h X,Y,Z φ,λ,h X,Y,Z
GLS614 HYDROGRAPHIC SURVEYING CHAPTER 1: HYDROGRAPHIC POSITIONING 68 SAID

MOHD SHAHMY MOHD
Coordinate Systems in East Malaysia
Datum
Transformation Map
(7 parameter) Projection
3D 3D 2D
WGS84 BT68 Borneo RSO
φ,λ,h X,Y,Z φ,λ,h X,Y,Z N,E
Coordinates
Projections
MOHD SHAHMY MOHD
Coordinate Systems in Peninsular Malaysia
Map Map
Projection Transformation
3D 2D 2D
MRT MRSO Cassini
φ,λ,h N,E N,E
Coordinates
Projections
MOHD SHAHMY MOHD
.
WELCOME TO THE
REAL WORLD
DO YOU UNDERSTAND?
ANY QUESTION?
Enjoy The
View
See You
Next Week!

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CHAPTER 1:

PRESENT BY DR MUHAMMAD ABDUL HAKIM BIN MUHAMAD

Errors in positioning, or a poor understanding of

5. MALAYSIA’S COORDINATE SYSTEM

• Geodesy is the discipline that deals with the measurement and

…but now we reference it to the earth.

Pekeliling KPUP Bil 3 2009

Chapter 4 of the ITC Educational Textbook Principles of Geographic

Snyder, J.P. (1984), Map projections used by the U.S. Geological

Elevation (z) defined using geoid, a surface of constant gravitational

Earth datums define standard values of the ellipsoid and geoid

Greenwich Z Meridian of longitude

Mean Sea Level

Geoid Gravity Anomaly

Mean Sea level = Geoid

The transformation parameters to

2. Helmert 7-parameter transformations

3. Bursa Wolf 7 Parameter

◦ Translation X-axis (∆X)

The method applies a shift

This shift is defined by the

- use 3 translation parameters;

- use 3 rotation parameters;

- use 1 scale correction

◦ If the rotation values are small, the formulae is simplified as follow:

Translations parameters  Translations

To represent parts of the surface of the Earth

Mapping onto a 2D mapping plane means

3. aspect (normal, transverse or oblique), and

The Earth's reference surface projected on

Projected on a map formed into a cone

When projected directly onto the mapping

The three possible apects:

Normal projection, the main orientation of the

A transverse projection has its main orientation

Oblique projections are all other, non-parallel and

equal-area (equivalent) A particular map projection can have any one of

There is simply no way to flatten out a piece of

The amount and which kind of distortions a map

The ellipses of distortion plotted on the cylindrical equal-area projection.

Map Scale: Map Projection:

Representative Fraction Scale Factor

(e.g. 1:24,000) (e.g. 0.9996)

The Coordinate Reference

• Modified Everest ellipsoid • Modified Everest ellipsoid

• The network consists of 77 • The network consists Borneo

An oblique Mercator projection developed by Hotine in 1947

This projection is orthomorphic (conformal) and cylindrical.

All meridians and parallel are complex curves.

Scale is approximately true along a chosen central line

a suitable projection for an area like Switzerland, Italy, New

The RSO provides an optimum solution in the sense of

The basis for the Standard Cadastral Sheets in each States

The Cassini-Soldner map projection has been used for over

There are nine (9) state Cassini-coordinate systems in

Because a circle has 360°, this means that there

The Mercator uses an upright cylinder for its map

The Transverse Mercator takes a cylinder and

the Universal Transverse Mercator places this

Each time it’s slightly rotated using a different

Zone 1 ( longitude 180o west – 174o west )

New coordinate system, adoption of geocentric

φ,λ,h X,Y,Z φ,λ,h X,Y,Z φ,λ,h X,Y,Z