10 STPP 3D Coordinate Transformation

3D COORDINATE TRANSFORMATIONS
RM184306 - Transformation System and Map Projection
Ira Mutiara Anjasmara, PhD
Department of Geomatics Engineering

Faculty of Civil, Planning, and Geo Engineering
Institut Teknologi Sepuluh Nopember
Learning Outcomes
Lesson Learning Outcomes Learning Materials
Able to transform 2-dimensional Transformation of 3-dimensional coordinates

and 3-dimensional coordinates in
1. Transformation between Geodetic and Cartesian
the field of geodesy / geomatics
Geocentric
2. Transformation between Geocentric and Topocentric
3. Transformation between Projection and Geodetic
-IM Anjasmara, 2021-
3D COORDINATE TRANSFORMATIONS 2/72 RM184306 - Transformation System & Map Projection

Three-dimensional Coordinate Systems
Commonly used to describe the position of point on the Earth system.
1. 3D Cartesian Geocentric: (𝑋, 𝑌 , 𝑍)

2. Elipsoidal or Spherical (Geocentric): (𝑟, 𝜙, 𝜆)
3. Geodetic or Geographic: (𝜙, 𝜆, ℎ)

3D Cartesian Geocentric Coordinates
• Origin of system coincides with geocentre

(centre of mass of the Earth).
• 𝑍-axis along Conventional International
Origin (CIO) (approximately the axis of
rotation)
• 𝑋-axis from geocentre through the
intersection of the equator and Greenwich
meridian
• 𝑌-axis making up a right handed orthogonal
coordinate system.
For example, coordinates of point 𝑃 is defined as ( 𝑋𝑃 , 𝑌𝑃 , 𝑍𝑃 )


3D Spherical Polar Coordinates
• The origin of the coordinate is at the center of the

sphere
• Latitude (𝜙) is the angle measured at the centre of
the Earth between the equator and the radius drawn
to the point.
• Longitude (𝜆) is the angle measured in the plane of
the equator between the plane of the meridian
through the point and the plane of some other
meridian selected as datum (usually the Greenwich
meridian).
• Radius 𝑟 is the distance from the center of the
Spherical Corrdinates(𝜙, 𝜆, 𝑟) sphere to the point on the surface of the sphere

Spherical polar coordinates
Graticule
• Parallels: lines of equal latitude
• Meridians: lines of equal longitude Sign Convention
A graticule is the resulting network of • Latitude (𝜙)
parallels and meridians, which comprise a +ve north of equator
coordinate system, with reference to the -ve south of equator
Earth’s surface and its representation on a • Longitude (𝜆)
plane surface by means of a map +ve east of Greenwich
projection. -ve west of Greenwich

The relationship between 3D cartesian and spherical polar
coordinates
𝑟 = √𝑋 2 + 𝑌 2 + 𝑍 2
𝑋 = 𝑟 cos 𝜙 cos 𝜆 𝑍
𝜙 = tan−1 √
𝑌 = 𝑟 cos 𝜙 sin 𝜆 𝑋2 + 𝑌 2
𝑌
𝑍 = 𝑟 sin 𝜙 𝜆 = tan−1
𝑋

Geodetic Coordinates System
• Is an ellipsoidal coordinate system where the coordinate

origin located at the center of the Earth’s mass
• Latitude (𝜙) is an angle formed by an equator plane
with a normal line at a point on the Surface of the
Earth towards the center of the Earth’s mass
• Longitude (𝜆) is an angle formed by the plane of the
main meridian that goes through Geeenwich with the
meridian that goes through a point on the surface of
the Earth.
• Height (𝑟) is the distance from the surface of the
reference ellipsoid to the surface of the Earth

Geodetic Coordinates System
The geodetic (geographic) coordinates of a point in the vicinity of the Earth are
(𝜙, 𝜆, ℎ).
𝜙 : geodetic latitude
𝜆 : longitude
ℎ : height above the ellipsoid
along the ellipsoidal normal

Transformation between
3D Geocentric Cartesian
and
Geodetic Coordinates
Geodetic ⇒ 3D Cartesian
Bowring Forwar d
𝑋 (𝜈 + ℎ) cos 𝜙 cos 𝜆
⎡ 𝑌 ⎤ = ⎡ (𝜈 + ℎ) cos 𝜙 sin 𝜆 ⎤
⎢ ⎥ ⎢ ⎥
𝑍
⎣ ⎦ ⎣ ((1 − 𝑒 2
) 𝜈 + ℎ) sin 𝜙⎦
with:
𝜈 : radius of curvature in the prime vertical
at a point
𝜈 = √ 𝑎2 2
1−𝑒 sin 𝜙
𝑎 : semi-major axis
𝑒2 : eccentricity-squared
These formulae work for any ellipsoid whose parameters 𝑎 and 𝑓 are known.

3D Cartesian ⇒ Geodetic
Bowring Reverse
−1
𝑍 𝜈
𝜙 = tan [ √
−1
(1 − 𝑒 2
) ]
𝑋2 + 𝑌 2 𝜈+ℎ
𝑌
𝜆 = tan−1
√ 𝑋
𝑋2 + 𝑌 2
ℎ= −𝜈
cos 𝜙
with:
𝜈 : radius of curvature in the prime vertical
at a point
𝑒 :eccentricity-squared
2
To solve the Bowring reverse formula, iteration is needed iteratif


Bowring’s Reverse Transformation
1. Compute longitude. This can be done directly:
𝑌
𝜆 = tan−1 ( )
𝑋
2. Compute a parameter 𝑝
𝑝 = √𝑋 2 + 𝑌 2
3. Compute an approximate value of latitude, from:
𝑍
𝜙 ̂ = tan−1 [ (1 − 𝑒2 )−1 ]
𝑝

4. Compute an approximate value for the transverse radius of curvature, from:

𝑎
𝜈̂ =
√1 − 𝑒2 sin2 𝜙 ̂
5. Compute an approximate value of the ellipsoidal height, from:

𝑝
ℎ̂ = − 𝜈̂
cos 𝜙 ̂

6. Compute an improved value for latitude, from:

−1
𝑍 𝑒2 𝜈 ̂
𝜙 = tan −1
[ (1 − ) ]
𝑝 𝜈 ̂ + ℎ̂
7. If 𝜙 = 𝜙,̂ then this value of latitude is acceptable. Otherwise, go back to step

4 and repeat the iteration.

Example
Find the GRS80 geodetic coordinates of a point whose GRS80 Cartesian

coordinates are:
𝑋 = −2 364 881.353 m, 𝑌 = 4 870 281.124 m, 𝑍 = −3 360 447.309 m.
1. Compute longitude. This can be done directly:
4 870 281.124
𝜆 = tan−1 ( ) = 15∘ 54′ or − 64∘ 6′
−2 364 881.353
Note the ambiguity in the inverse tangent. However, if you know roughly
where you are, then it is a simple matter to choose, as one longitude is the
other side of the world.

Example
𝑝 = √(−2 364 881.353)2 + (4 870 281.124)2 = 5 414 083.707 m
−3 360 447.309
𝜙 ̂ = tan−1 [ (1 − 0.0066943800229)−1 ] = −32∘ 00′ 0.002″
5 414 083.707
4. Compute an approximate value for the transverse radius of curvature, from:
6 378 137
𝜈̂ = √ = 6 384 140.527 m
1 − 0.0066943800229 sin2 −32∘ 00′ 0.002″

Example
5. Compute an approximate value of the ellipsoidal height, from:
5 414 083.707
ℎ̂ = − 6 384 140.527 = 30.056 m
cos −32∘ 00′ 0.002″
−3 360 447.309 0.0066943800229 × 6 384 140.527 −1

𝜙 = tan−1 [ (1 − ) ]
5 414 083.707 6 384 140.527 + 30.056
= −31∘ 59′ 59.999″

Example
7. Go back to step 4 and repeat the iteration:
6 378 137
𝜈̂ = √ = 6 384 140.527 m
1 − 0.0066943800229 sin2 −31∘ 59′ 59.999″
8. Compute a new approximate value of the ellipsoidal height, from:
5 414 083.707
ℎ̂ = − 6 384 140.527 = 30.000 m
cos −31∘ 59′ 59.999″

Example
−3 360 447.309 0.0066943800229 × 6 384 140.527 −1

𝜙 = tan−1 [ (1 − ) ]
5 414 083.707 6 384 140.527 + 30.000
= −31∘ 59′ 59.999″
Hence, we have: 𝜙 = −32∘ , 𝜆 = 115∘ 54′ , ℎ = 30 m.

Bowring Reverse Process
Start
no yes
𝜙𝑛 = 𝜙𝑛−1 𝜙, 𝜆, ℎ
𝑋, 𝑌 , 𝑍
End
−1
𝜆 = tan−1 ( 𝑋
𝑌
) 𝜙1 = tan−1 [ 𝑍𝑝 (1 − 𝑒2 𝜈 0
𝜈 0 +ℎ0
) ]
𝑝
𝜙0 = tan−1 [ 𝑍𝑝 (1 − 𝑒2 )−1 ] ℎ0 = cos 𝜙0
− 𝜈0
√ 𝜈0 = 𝑎
𝑝= 𝑋2 + 𝑌 2 √1−𝑒2 sin2 𝜙0

Exercise
Find the geodetic coordinates of BM N.3001 and BSBY whose the 3D cartesian
coordinates are known as follow.
N.3001: BSBY:
𝑋 = −2 678 478.1137 m 𝑋 = −2 444 441.6828 m
𝑌= 5 706 097.7083 m 𝑌= 5 836 864.6707 m
𝑍 = − 971 323.2515 m 𝑍 = − 795 298.5161 m
Reference Ellipsoid: WGS84

Do reverse computation to make sure that the results are correct.

and
Topocentric Coordinates
Topocentric Coordinates
• The origin of the coordinates is at the the

Earth’s surface
• 𝑍-axis aligns with normal line towards
Zenith
• 𝑌-axis is the tangent on meridian at the
point on the Earth’s surface towards the
Geodetic north
• 𝑋-axis is the tangent on the great circle at
Topocentric coordinate of point 𝐴
a point on the Earth’s surface
(𝐸𝐴 , 𝑁𝐴 , 𝑈𝐴 )

Geocentric Coordinates ⇔ Topocentric Coordinates
In the transformation between Geocentric
Coordinate System and Topocentric
Coordinate System, consider:
• the rotation of the axes of the

coordinates system
• the length of vector from the center

of coordinates to the point on the
Earth surface
• the topocentric measurements

(observations) must already be
reduced to the reference ellipsoid.

The axes of the Geocentric Coordinates System are (𝑋, 𝑌 , 𝑍) while the axes of the
Topocentric Coordinates System are (𝑁 , 𝐸, 𝑈 ) -IM Anjasmara, 2021-

Supposed point 𝐴 as an observation point is defined in Geodetic Coordinates

(𝜙𝐴 , 𝜆𝐴 , ℎ𝐴 ). The topographic measurements from point 𝐴 to point 𝐵 are
Azimuth from 𝐴 to 𝐵 : 𝛼𝐴𝐵
Distance from 𝐴 to 𝐵 : 𝑠𝐴𝐵
Slope angle from 𝐴 to 𝐵 : 𝑚
The geocentric coordinates of point A are computed using Bowring forward
𝑋𝐴 (𝜈 + ℎ) cos 𝜙𝐴 cos 𝜆𝐴
⎡ 𝑌 ⎤ = ⎡ (𝜈 + ℎ) cos 𝜙 sin 𝜆 ⎤
⎢ 𝐴⎥ ⎢ 𝐴 𝐴 ⎥
⎣ 𝑍𝐴 ⎦ ⎣((1 − 𝑒 ) 𝜈 + ℎ) sin 𝜙𝐴 ⎦
2

The topocentric coordinates of point 𝐵 relative to point 𝐴 are defined by
𝑁𝐵 𝑠𝐴𝐵 cos 𝑚 cos 𝛼𝐴𝐵

⎡ 𝐸 ⎤ = ⎡𝑠 cos 𝑚 sin 𝛼 ⎤
⎢ 𝐵 ⎥ ⎢ 𝐴𝐵 𝐴𝐵 ⎥
𝑈 𝑠
⎣ 𝐵 ⎦ ⎣ 𝐴𝐵 sin 𝑚 ⎦
The geocentric coordinates of point 𝐵 are defined using
𝑋𝐵 𝑁𝐵 𝑋𝐴
⎡ 𝑌 ⎤ = 𝜆 ⋅ 𝑅(𝜙 , 𝜆 ) ⎡𝐸 ⎤ + ⎡ 𝑌 ⎤
⎢ 𝐵⎥ 𝐴 𝐴 ⎢ 𝐵⎥ ⎢ 𝐴⎥
⎣ 𝑍𝐵 ⎦ ⎣𝑍𝐵 ⎦ ⎣ 𝑍𝐴 ⎦
with: 𝜆 is a scale factor (be careful not to mixed up with the symbol of Longitude)
and 𝑅(𝜙𝐴 , 𝜆𝐴 ) is a rotation matrix at point 𝐴

The rotation matrix at point 𝐴 is given as
− sin 𝜙𝐴 cos 𝜆𝐴 − cos 𝜆𝐴 cos 𝜙𝐴 cos 𝜆𝐴

𝑅(𝜙𝐴 , 𝜆𝐴 ) = ⎢− sin 𝜙𝐴 cos 𝜆𝐴 cos 𝜆𝐴 cos 𝜙𝐴 sin 𝜆𝐴 ⎤
⎡
⎥
⎣ cos 𝜙𝐴 0 sin 𝜙𝐴 ⎦

Example
The coordinates of BM-A in Geodetic coordinate system are known as follow
𝜙𝐴 : 5∘ 37′ 02.937″ S
𝜆𝐴 : 105∘ 47′ 20.750″ E
ℎ𝐴 : + 116.055 m
The topographic measurements from BM-A to BM-B are
𝛼𝐴𝐵 : 139∘ 44′ 18.05″
𝑚 : 00∘ 42′ 11.64″ E
𝑠𝐴𝐵 : 5 674.865 m
Compute: a. Geocentric coordinates of BM-B
b. Geodetic coordinates of BM-B
⇒ The reference ellipsoid is WGS84

Example: Solution
a. Geocentric coordinates of BM-B
1. Compute the geocentric coordinates of BM-A

On reference ellipsoid WGS84
𝜈 : 6 378 341.569691 m
𝜈+ℎ : 6 378 457.624691 m
(1 − 𝑒 ) 𝜈 + ℎ : 6 335 758.582454 m
2
Geocentric coordinates of BM-A
𝑋𝐴 (𝜈 + ℎ) cos 𝜙𝐴 cos 𝜆𝐴 − 1 727 225.201

⎡ 𝑌 ⎤ = ⎡ (𝜈 + ℎ) cos 𝜙 sin 𝜆 ⎤ = ⎡+ 6 108 320.778⎤ m
⎢ 𝐴⎥ ⎢ 𝐴 𝐴 ⎥ ⎢ ⎥
𝑍
⎣ 𝐴⎦ ⎣ ((1 − 𝑒 2
) 𝜈 + ℎ) sin 𝜙 𝐴⎦ ⎣ − 620 185.652 ⎦

Example: Solution
2. The topocentric coordinates of point 𝐵 relative to point 𝐴 are defined by
𝑁𝐵 𝑠𝐴𝐵 cos 𝑚 cos 𝛼𝐴𝐵 − 4 330.16923

⎡ 𝐸 ⎤ = ⎡𝑠 cos 𝑚 sin 𝛼 ⎤ = ⎡+ 3 667.27092⎤ m
⎢ 𝐵 ⎥ ⎢ 𝐴𝐵 𝐴𝐵 ⎥ ⎢ ⎥
𝑈 𝑠
⎣ 𝐵 ⎦ ⎣ 𝐴𝐵 sin 𝑚 ⎦ ⎣ 69.65005 ⎦
3. Rotation matrix at BM-A
−0.0266346549142 −0.9622697881446 −0.2707904170788

⎡
𝑅(𝜙𝐴 , 𝜆𝐴 ) = ⎢ 0.0941932852697 −0.2720971422564 0.9576485629844⎤⎥
⎣ 0.9951975784575 0 −0.0978865661483⎦

Example: Solution
4. Compute the Geocentric coordinates of BM-B
𝑋𝐵 𝑁𝐵 𝑋𝐴
⎡ 𝑌 ⎤ = 𝜆 ⋅ 𝑅(𝜙 , 𝜆 ) ⎡𝐸 ⎤ + ⎡ 𝑌 ⎤
⎢ 𝐵⎥ 𝐴 𝐴 ⎢ 𝐵⎥ ⎢ 𝐴⎥
⎣ 𝑍𝐵 ⎦ ⎣𝑍𝐵 ⎦ ⎣ 𝑍𝐴 ⎦
−3 434.432 − 1 727 225.201 −1 730 657.633
= ⎢−1 339.027⎥ + ⎢+ 6 108 320.778⎥ = ⎢+6 106 981.752⎤
⎡ ⎤ ⎡ ⎤ ⎡
⎥ m
⎣−4 316.192⎦ ⎣ − 620 185.652⎦ ⎣ −624 501.843⎦

Example: Solution
b. Geodetic coordinates of BM-B ⇒ Bowring reverse
1. Compute the longitude
𝑌
𝜆𝑜 = tan−1 ( ) = −74∘ 49′ 19.920″ E
𝑋
Because it is in quadrant 2 (𝑋 < 0 and 𝑌 > 0), then
𝜆𝐵 = 𝜆𝑜 + 180∘ = 105∘ 49′ 19.920″ E
𝑝 = √𝑋 2 + 𝑌 2 = 6 347 472.09194 m

Example: Solution
𝑍
0
𝜙𝐵 = tan−1 [ (1 − 𝑒2 )−1 ] = − 5∘ 39′ 23.898″
𝑝
4. Compute an approximate value for the transverse radius of curvature, 𝜈, at

BM-B
𝑎
0
𝜈𝐵 = = 6 378 344.422 m
√1 − 𝑒2 sin2 𝜙𝐵 0
5. Compute an approximate value of the ellipsoidal height at BM-B

𝑝
ℎ0𝐵 = 0
− 𝜈𝐵 = 188.252 m
cos 𝜙𝐵
0

Example: Solution
6. Compute an improved value for latitude of BM-B
−1
𝑍 𝑒2 𝜈 0
1
𝜙𝐵 = tan−1 [ (1 − 0 𝐵 0 ) ] = − 5∘ 39′ 23.894″
𝑝 𝜈𝐵 + ℎ 𝐵
7. Go back to step 4 and repeat the iteration,

𝑎
1
𝜈𝐵 = = 6 378 344.422 m
√1 − 𝑒2 sin2 𝜙𝐵
1
8. Compute a new approximate value of the ellipsoidal height at BM-B

𝑝
ℎ1𝐵 = 1
− 𝜈𝐵 = 118.239 m
cos 𝜙𝐵
1

Example: Solution
9. Compute an improved value for latitude of BM-B

−1
𝑍 𝑒2 𝜈 1
2
𝜙𝐵 = tan −1
[ (1 − 1 𝐵 1 ) ] = − 5∘ 39′ 23.894″
𝑝 𝜈𝐵 + ℎ 𝐵
10. Because 𝜙𝑛 = 𝜙𝑛−1 , the iteration is finish and we get

𝜙𝐵 = 5∘ 39′ 23.894″ N; 𝜆𝐵 = 105∘ 49′ 19.920″ S; ℎ𝐵 = 118.239 m

Exercise
The geodetic coordinates of BM-P are known as follow
𝜙𝑃 : 6∘ 40′ 52.935″ S
𝜆𝑃 : 106∘ 15′ 50.555″ E
ℎ𝑃 : + 125.135 m
The following topographic measurement were taken and and have been reduced to
the reference ellipsoid
Point Target Azimuth (𝛼) slope angle (𝑚) ellipsoidal distance (𝑠) [m]
P Q 201∘ 25′ 41.03″ +1∘ 09′ 53.26″ 15 329.975
Q GD-01 168∘ 50′ 11.55″ +1∘ 36′ 00.51″ 15 329.975
GD-01 GD-02 287∘ 41′ 00.25″ −0∘ 52′ 37.00″ 10 974.335
Find: a. Geocentric coordinates of BM-Q, GD-01, and GD-02
b. Geodetic coordinates of BM-Q, GD-01, and GD-02
⇒ The reference ellipsoid is WGS84 -IM Anjasmara, 2021-

Projection Coordinates
and
Geodetic Coordinates ⇔ Projection Coordinates
In here we only discuss the transformation between Geodetic coordinates and UTM
or TM-3∘ Projection Coordinates.
The difference between UTM and TM-3∘ is only in the scale factor on the central
meridian. Therefore, other formulas for the transformation are basically the same.

Geodetic Coordinates ⇒ UTM/TM-3∘ Coordinates
The following is the transformation from Geodetic coordinates (𝜙, 𝜆) to the

UTM/TM-3∘ coordinates (𝐸, 𝑁 )
As we know before, the UTM and TM-3∘ are a conformal projection.
Analitical function to represent conformal projection from ellipsoid to projection
surface is:
𝑁 + 𝑖𝐸 = 𝑓(𝑄 + 𝑖Δ𝜆)
with: Δ𝜆 = 𝜆 − 𝜆0
𝑄 = isometric latitude of point P
𝜆0 = the longitude of the central meridian

𝜙 1 − 𝑒 sin 𝜙 𝑒/2
𝑄 = ln {tan (45∘ + )( ) }
2 1 + 𝑒 sin 𝜙
with: 𝜆 = geodetic longitude of point P

𝜆0 = geodetic longitude of the central
meridian
𝜙 = geodetic latitude of point P
𝜙𝑓 = the foot-point latitude of point
P

Through computational application and Taylor expansion, the analytical function
gives the following formula to transform geodetic coordinates to UTM/TM-3∘
coordinates
𝐸 ′ = (𝑎1 )Δ𝜆 + (𝑎3 )Δ𝜆3 + (𝑎5 )Δ𝜆5
𝑁 ′ = (𝑎0 ) + (𝑎2 )Δ𝜆2 + (𝑎4 )Δ𝜆4
where: Δ𝜆 = 𝜆 − 𝜆0
(𝑎0 ) = 𝑘0 𝐺
𝐺 = 𝐸0 (𝜙/𝜌″ ) + 𝐸2 sin 2𝜙 + 𝐸4 sin 4𝜙 + 𝐸6 sin 6𝜙 + …
1 2 3 4 5 6 15 4 45 6
𝐸0 = 𝑎 (1 −
𝑒 − 𝑒 − 𝑒 ) 𝐸4 = 𝑎( 𝑒 + 𝑒 )
4 64 256 256 1024
3 3 4 45 6 35 6
𝐸2 = − 𝑎 ( 𝑒2 + 𝑒 + 𝑒 ) 𝐸6 = − 𝑎 ( 𝑒 )
8 32 1024 3072 -IM Anjasmara, 2021-

(𝑘0 𝜈 cos 𝜙) • The transformation formulas

(𝑎1 ) = +
𝜌″ applied for any zone
(𝑘 𝜈 sin 𝜙 cos 𝜙)
(𝑎2 ) = + 0 • 𝜌″ = 206264.80625″
2𝜌″2
(𝑘0 𝜈 cos3 𝜙 ( 𝜌
𝜈
− tan2 𝜙)) • 𝐸 ′ , 𝑁 ′ are true coordinates so
(𝑎3 ) = +
6𝜌″3 that
𝜈 2
(𝑘0 𝜈 sin 𝜙 cos 3
𝜙 (4 ( 𝜌 ) + 𝜈
(𝜌 ) − tan 𝜙))
2
(𝑎4 ) = + 𝐸 = 𝐸′ + 𝐹 𝐸
24𝜌″4
(𝑘0 𝜈 cos5 𝜙 (14 ( 𝜌
𝜈
) − 18 tan2 𝜙 − 9)) 𝑁 = 𝑁′ + 𝐹𝑁
(𝑎5 ) = +
120𝜌″2

Example: Geodetic ⇒ UTM/TM-3∘
For computation procedure in the example, the following steps should be consider:
1. Define the central meridian (𝜆0 ) that close to the object point (consider the
projection system)
2. Define the longitude diference (Δ𝜆) between the longitude and central
meridian. Convert the value to senconds to match the unit of 𝜌″
3. Compute the multiplication constants (𝑎0 ) to (𝑎5 )
• For (𝑎0 )
- compute 𝐺 then (𝑎0 )
- compute coefficients (𝐸0 ) to (𝐸6 )
• For (𝑎1 ) to (𝑎6 )
- compute 𝜈 and 𝜌 at the object point
- use the value of 𝜌″ = 206264.80625″
4. Compute the geodetic coordinates (𝜙, 𝜆) using the provided formula -IM Anjasmara, 2021-

The geodetic coordinates (RE: WGS84) of point TR-25 is known as follow:
𝜙 = 4∘ 23′ 15.375″ N
𝜆 = 107∘ 30′ 28.352″ E
Find the projection coordinates of the point on the UTM and TM-3∘ projections.
Solution:
Step 1: Find parameters and variables on WGS84
𝑎 = 6 378 137 m; 𝑒2 = 0.006 694 380; 𝑒′2 = 0.006 739 497
𝜌″ = 206264.80625″
𝜈 = 6 378 261.9532
𝜌 = 6 335 811.6848

Defining parameters
Notation UTM TM-3∘ Notation UTM TM-3∘

𝜆0 105∘ 106∘ 30′ (𝑎0 ) 484971.5991 485117.1488
𝑘0 0.9996 0.9999 (𝑎1 ) 30.81972946 30.82897907
Δ𝜆(″ ) 9028.352000 3628.352000 (𝑎2 ) 5.7155E-06 5.71721E-06
𝐸0 6367449.146 (𝑎3 ) 1.20124E-10 1.2016E-10
𝐸2 -16038.50836 (𝑎4 ) 5.62548E-17 5.62716E-17
𝐸4 16.83220078 (𝑎5 ) 6.99456E-22 6.99666E-22
𝐸6 -0.021800766 𝐸′ 278339.809 111 864.128
𝐺 485165.66537668 𝑁′ 485 437.850 485 192.425
𝐸 778 340.019 311 864.128
𝑁 10 485 437.850 1 985 192.425
Zone 48 48.2

UTM/TM-3∘ Coordinates ⇒ Geodetic Coordinates
The analytical function to define the projection coordinate system to the geodetic
coordinate system is as follow
𝑄 + 𝑖Δ𝜆 = 𝑔(𝑁 ′ + 𝑖𝐸 ′ )
Through computational application and Taylor expansion, the analytical function

gives the following formula to transform UTM/TM-3∘ coordinates to geodetic
coordinates
𝜙 = 𝜙𝑓 + (𝑐2 )𝐸 ′2 + (𝑐4 )𝐸 ′4
𝜆 = 𝜆0 + (𝑐1 )𝐸 ′ + (𝑐3 )𝐸 ′3 + 𝐸5

with:
1 sec 𝜙𝑓 ″
(𝑐1 ) = 𝜌
𝑘0 𝜈𝑓
1 tan 𝜙𝑓 ″
(𝑐2 ) = − 𝜌
2𝑘20 𝜈𝑓 𝜌𝑓
1 sec 𝜙𝑓 𝜈𝑓
(𝑐3 ) = − ( + 2 tan2 𝜙𝑓 ) 𝜌″
6𝑘30 𝜈𝑓3 𝜌𝑓
1 tan 𝜙𝑓 𝜈𝑓 2 𝜈𝑓
(𝑐4 ) = + 4 3
{−4 ( ) + 9 ( ) (1 − tan2 𝜙𝑓 ) + 12 tan2 𝜙𝑓 } 𝜌″
24𝑘0 𝜈𝑓 𝜌𝑓 𝜌𝑓 𝜌𝑓
𝐸′5 𝜈𝑓 3 𝜈𝑓 2
(𝐸5 ) = sec 𝜙𝑓 {−4 ( ) (1 − 6 tan2
𝜙𝑓 ) + ( ) (9 − 68 tan2 𝜙𝑓 ) +
120𝑘50 𝜈𝑓5 𝜌𝑓 𝜌𝑓
𝜈𝑓
+ 72 ( ) tan2 𝜙𝑓 + 24 tan2 𝜙𝑓 } 𝜌″
𝜌𝑓

Notes:
1. The foot-point latitude is computed using
𝑁′ ″
𝜙𝑓 = 𝜌
𝑎𝐴0 𝑘0
with: 𝐴0 = 0.9983243 (approximate value); 𝜌″ = 206264.80625″

2. The value of 𝜈𝑓 and 𝜌𝑓 is computed at 𝜙𝑓
3. The latitude 𝜙 is iterated computed until a constant value is gained.

Another method using approximation is as follow
1. Fundamental formula
𝐸2′ sin(2𝜙0 ) + 𝐸4′ sin(4𝜙0 ) + 𝐸6′ sin(6𝜙0 )
𝜙 = 𝜙0′ + { }
𝐴′0
𝑁 ′ (1 + 𝑛) ″
with: 𝜙0′ = 𝜌
𝑎𝐴′0 𝑘0
𝑛 = [𝑓/(2 − 𝑓)] 𝐸2′ = [3(𝑛 − (𝑛3 /8))/2]

𝐴′0 = [1 + (𝑛2 /4) + (𝑛4 /64)] 𝐸4′ = −[15(𝑛2 − (𝑛4 /4))/16]
𝐸6′ = [35(𝑛3 /48))/48)]
2. The latitude correction is iterated until constant

3. The latitude is computed using the fixed approximate value (𝜙0′ )

Example: UTM/TM-3∘ ⇒ Geodetic Coordinates
For solving the following example, the steps are:
1. Compute the ’true’ projection coordinates
2. Compute 𝜙𝑓 (consider the zone number)
3. Convert the angles to senconds to match the unit of 𝜌″
4. A the longitude is not used in coefficients (𝑐1 ), (𝑐3 ) or (𝐸5 ), then in the
iteration only compute (𝑐2 ) and (𝑐4 ) that will affect the value of 𝜙
5. Compute the latitude correction using coefficients (𝑐2 ) and (𝑐4 )
6. do iteration until the correction is constant
7. use the constant correction to compute (𝑐1 ), (𝑐3 ), and (𝐸5 ) based on the final
𝜙 value
8. compute longitude correction
9. compute the geodetic coordinates (𝜙, 𝜆) -IM Anjasmara, 2021-

The projection coordinates of point TR-25 is known as follow:
UTM Zone 48 TM3∘ Zone 48.2

N = 10 485 437.850 m N = 1 985 192.425 m
E= 778 340.023 m E = 311 864.130 m
Find the geodetic coordinates of the point (RE: WGS84)
Solution:
Find parameters and variables on WGS84
𝑎 = 6 378 137 m; 𝑒2 = 0.006 694 380; 𝑒′2 = 0.006 739 497
𝜌″ = 206264.80625″

Notation UTM TM-3∘ Notation UTM TM-3∘
𝑘0 0.9996 0.9999 Iteration 2
𝜆0 105∘ 106∘ 30′ 𝜙2 (″ ) 15810.55778648 15797.82362715
𝐸′ 278 340.019 111 864.13 𝜙2 (rad) 0.07665175 0.07659001
𝑁′ 485 437.850 485 192.425 Δ𝜙(rad) 0.00038384 0.00038353
𝑛 0.0016792203863837 Δ𝜙(″ ) 79.17196405 79.10869386
𝐴′0 1.0000007049454000 Iteration 3
𝐸2′ 0.0025188296917567 𝜙3 (″ ) 15810.55973132 15797.82557051
𝐸4′ -0.0000026435429234 𝜙3 (rad) 0.07665176 0.07659002
𝐸6′ 0.0000000000719298 Δ𝜙(rad) 0.00038384 0.00038353
𝜙𝑓 (″ ) 15731.38776727 15718.71687664 Δ𝜙(″ ) 79.17197372 79.10870352
𝜙𝑓 (rad) 0.07626792 0.07620649 Iteration 4
Δ𝜙(rad) 0.00038193 0.00038162 𝜙4 (″ ) 15810.55974098 15797.82558016
Δ𝜙(″ ) 78.77858517 78.71562194 𝜙4 (rad) 0.07665176 0.07659002
Iteration 1 Δ𝜙(rad) 0.00038384 0.00038353
𝜙1 (″ ) 15810.16635244 15797.43249858 Δ𝜙(″ ) 79.17197376 79.10870357
𝜙1 (rad) 0.07664985 0.07658811 Iteration 5
Δ𝜙(rad) 0.00038383 0.00038352 𝜙5 (″ ) 15810.55974103 15797.82558021
Δ𝜙(″ ) 79.17001922 79.10675051 𝜙5 (rad) 0.07665176 0.07659002

Notation UTM TM-3∘

𝜈𝑓 6378262.19312736 6378261.99193057
𝜌𝑓 6335812.39972656 6335811.80015334
(𝑐1 ) 0.03244693 0.032437043
(𝑐2 ) -1.96161E-10 -1.95884E-10
(𝑐3 ) -1.35496E-16 -1.35370E-16
(𝑐4 ) 2.02028E-24 2.01621E-24
(𝐸5 ) 0.00146176 0.00001530
𝜙(″ ) 15795.374683 15795.37467973

𝜆(″ ) 387028.358980 387028.35206403
𝜙 4∘ 23′ 15.375″ N 4∘ 23′ 15.375″ N

𝜆 107∘ 30′ 28.359″ E 107∘ 30′ 28.352″ E

Exercise
The geodetic coordinates of BM-P are known as follow
𝜙𝑃 : 6∘ 40′ 52.935″ S
𝜆𝑃 : 106∘ 15′ 50.555″ E
ℎ𝑃 : + 125.135 m
The following topographic measurement were taken and and have been reduced to
the reference ellipsoid
Point Target Azimuth (𝛼) slope angle (𝑚) ellipsoidal distance (𝑠) [m]
P Q 201∘ 25′ 41.03″ +1∘ 09′ 53.26″ 15 329.975
Q GD-01 168∘ 50′ 11.55″ +1∘ 36′ 00.51″ 15 329.975
GD-01 GD-02 287∘ 41′ 00.25″ −0∘ 52′ 37.00″ 10 974.335
Find: a. Geocentric coordinates of BM-Q, GD-01, and GD-02
b. Geodetic coordinates of BM-Q, GD-01, and GD-02
⇒ The reference ellipsoid is WGS84 -IM Anjasmara, 2021-

Projection Coordinates
and
Using Readfearn’s Formula
Redfearn’s Formula
• Redfearn’s formulas are used to convert between geodetic coordinates

(Latitude, Longitude) and Transverse Mercator (TM) grid coordinates
(Easting, Northing).
• They are valid for any ellipsoid, as long as the geodetic and TM grid
coordinates are both referenced to the same ellipsoid.
• They were derived by J.C.B. Redfearn and published in a 1948 edition of the
journal Empire Survey Review.
• Redfearn’s formulae are accurate to better than 1 mm in most TM zones
around the world including UTM, and for the purposes of definition may be
regarded as exact.

Geodetic to Grid
Easting:
𝐸 ′ = 𝑘0 𝜈𝜔 cos 𝜙{1 + Term1 + Term2 + Term3}

1
Term1 = 𝜔2 (𝜓 − 𝑡2 ) cos2 𝜙
6
1 4
Term2 = 𝜔 [4𝜓3 (1 − 6𝑡2 ) + 𝜓2 (1 + 8𝑡2 ) − 2𝜓𝑡2 + 𝑡4 ] cos4 𝜙
120
1 6
Term3 = 𝜔 (61 − 479𝑡2 + 179𝑡4 − 𝑡6 ) cos6 𝜙
5040
𝐸 = 𝐸′ + 𝐹 𝐸

Geodetic to Grid
Northing
𝑁 ′ =𝑘0 {𝑚 + Term1 + Term2 + Term3 + Term4}

1
Term1 = 𝜔2 𝜈 sin 𝜙 cos 𝜙
2
1
Term2 = 𝜔4 𝜈 (4𝜓2 + 𝜓 − 𝑡2 ) sin 𝜙 cos3 𝜙
24
1 6
Term3 = 𝜔 𝜈 [8𝜓4 (11 − 24𝑡2 ) − 28𝜓3 (1 − 6𝑡2 ) + 𝜓2 (1 − 32𝑡2 ) − 2𝜓𝑡2 + 𝑡4 ]
720
sin 𝜙 cos5 𝜙
1
Term4 = 𝜔8 𝜈 (1385 − 3111𝑡2 + 543𝑡4 − 𝑡6 ) sin 𝜙 cos7 𝜙
40320
𝑁 =𝑁 ′ + 𝐹 𝑁

Geodetic to Grid
Grid Convergence:
𝛾 =Term1 + Term2 + Term3 + Term4

Term1 = − 𝜔 sin 𝜙
1
Term2 = − 𝜔3 (2𝜓2 − 𝜓) sin 𝜙 cos2 𝜙
3
1
Term3 = − 𝜔5 [𝜓4 (11 − 24𝑡2 ) − 𝜓3 (11 − 36𝑡2 ) + 2𝜓2 (1 − 7𝑡2 ) + 𝜓𝑡2 ]
15
sin 𝜙 cos4 𝜙
1 7
Term4 = − 𝜔 (17 − 26𝑡2 + 2𝑡4 ) sin 𝜙 cos6 𝜙
315

Geodetic to Grid
Point Scale Factor:
𝑘 = 𝑘0 {1 + Term1 + Term2 + Term3}

1
Term1 = 𝜔2 𝜓 cos2 𝜙
2
1
Term2 = 𝜔4 [4𝜓3 (1 − 6𝑡2 ) + 𝜓2 (1 + 24𝑡2 ) − 4𝜓𝑡2 ] cos4 𝜙
24
1 6
Term3 = 𝜔 (61 − 148𝑡2 + 16𝑡4 ) cos6 𝜙
720

Geodetic to grid
where, 𝑚 is the meridian arc distance between the point and the equator, and:
𝜈
𝜓=
𝜌
𝑡 = tan 𝜙
𝜔 = 𝜆 − 𝜆0
where all angles are in radians.
Note that Redfearn’s geodetic to TM grid coordinate formulae give 𝐸 ′ and 𝑁 ′ : the
origin’s false coordinates must be added to these to give sensible coordinates.

Grid to Geodetic
Before converting TM Grid coordinates to geodetic coordinates, it is first necessary

to compute the foot-point latitude. This is defined as being the latitude for which
the meridian distance, 𝑚 , is equal to 𝑁 ′ /𝑘0 .
When the GRS80 are used, 𝑚 can be computed with the following formula:
𝑚≈ 111, 132.952547Δ𝜙 − 16, 038.50841 sin 2Δ𝜙

+ 16.83220089 sin 4Δ𝜙 − 0.021800767 sin 6Δ𝜙
for 𝑚 in metres and Δ𝜙 in degrees.

Grid to Geodetic
Foot-point latitude,𝜙′ , is derived from the following sequence of equations:
𝑎−𝑏 𝑓
𝑛= =
𝑎+𝑏 2−𝑓
9 225 4
𝐺 = 𝑎(1 − 𝑛)(1 − 𝑛2 )[1 + 𝑛2 + 𝑛 ]
4 64
𝑁′ = 𝑁 − 𝐹𝑁
𝑁′
𝑚=
𝑘0
𝑚
𝜎=
𝐺

Grid to Geodetic
Foot-point Latitude
3 27 3 21 55 4 151 3 1097 4
𝜙′ = 𝜎 + [ 𝑛 − 𝑛 ] sin 2𝜎 + [ 𝑛2 − 𝑛 ] sin 4𝜎 + 𝑛 sin 6𝜎 + 𝑛 sin 8𝜎
2 32 16 32 96 512
For the following Equations, 𝜓′ , 𝑡′ , 𝜌′ , and 𝜈 ′ are all evaluated for 𝜙 = 𝜙′ (the
foot-point) latitude. And use:
𝐸′ = 𝐸 − 𝐹 𝐸
𝐸′
𝑥=
𝑘0 𝜈 ′

Grid to Geodetic
Latitude:
𝜙 =𝜙′ − Term1 + Term2 − Term3 + Term4

𝑡′ 1
Term1 = ′
( 𝑥𝐸 ′ )
𝑘0 𝜌 2
𝑡′ 1
Term2 = ( 𝑥3 𝐸 ′ ) [−4𝜓′2 + 9𝜓′ (1 − 𝑡′2 ) + 12𝑡′2 ]
𝑘0 𝜌′ 24
8𝜓′4 (11 − 24𝑡′2 ) − 12𝜓′3 (21 − 71𝑡′2 )
𝑡′ 1 5 ′ ⎡ ⎤
Term3 = ( 𝑥 𝐸 ) ⎢ +15𝜓′2 (15 − 98𝑡′2 + 15𝑡′4 ) ⎥
𝑘0 𝜌′ 720 ′ ′2 ′4 ′4
⎣ +180𝜓 (5𝑡 − 3𝑡 ) + 360𝑡 ⎦
𝑡′ 1
Term4 = ′
( 𝑥7 𝐸 ′ ) [1385 + 3633𝑡′2 + 4095𝑡′4 + 1575𝑡′6 ]
𝑘0 𝜌 40320

Grid to Geodetic
Longitude:
𝜔 = Term1 − Term2 + Term3 − Term4

Term1 = 𝑥 sec 𝜙′
1
Term2 = 𝑥3 [𝜓′ + 2𝑡′2 ] sec 𝜙′
6
1 5
Term3 = 𝑥 [−4𝜓′3 (1 − 6𝑡′2 ) + 𝜓′2 (9 − 68𝑡′2 ) + 72𝜓′ 𝑡′2 + 24𝑡′4 ] sec 𝜙′
120
1 7
Term4 = 𝑥 [61 + 662𝑡′2 + 1320𝑡′4 + 720𝑡′6 ] sec 𝜙′
5040
𝜆 = 𝜆0 + 𝜔

Grid to Geodetic
Grid convergence:
𝛾 = −Term1 + Term2 − Term3 + Term4

Term1 = 𝑡′ 𝑥
1
Term2 = 𝑡′ 𝑥3 [−2𝜓′2 + 3𝜓′ + 𝑡′2 ]
3
1 𝜓′4 (11 − 24𝑡′2 ) − 3𝜓′3 (8 − 23𝑡′2 ) + 5𝜓′2 (3 − 14𝑡′2 )
Term3 = 𝑡′ 𝑥5 [ ]
15 +30𝜓′ 𝑡′2 + 3𝑡′4
1 ′ 7
Term4 = 𝑡 𝑥 [17 + 77𝑡′2 + 105𝑡′4 + 45𝑡′6 ]
315

Grid to Geodetic
For the following equation, use
𝐸 ′2
𝑦=
𝑘02 𝜌′ 𝜈 ′
Point Scale Factor:
𝑘 = 𝑘0 {1 + Term1 + Term2 + Term3}

1
Term1 = 𝑦
2
1 𝑡′2
Term2 = 𝑦2 [4𝜓′ (1 − 6𝑡′2 ) − 3 (1 − 16𝑡′2 ) − 24 ′ ]
24 𝜓
1 3
Term3 = 𝑦
720

Assignment
Write a program to perform coordinate transformation between projection
coordinates system and geodetic coordinate system. Use the following data to test
the program
N.0001 N.2007
Latitude 6 29’ 27.7958” S
∘
0 8’ 46.9620” S
∘
Longitude 106∘ 50’ 56.0750” E 109∘ 24’ 36.2377” E

Easting (m) 704462.046 323057.868
Northing(m) 9282139.677 9983814.521
UTM Zone 48 49
Grid Convergence 12’32.72” 0’14.63”
Point Scale Factor 1.000117 0.999988

10 STPP 3D Coordinate Transformation

Uploaded by

Copyright:

Available Formats

You might also like

10 STPP 3D Coordinate Transformation

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

10 STPP 3D Coordinate Transformation

Uploaded by

Copyright:

Available Formats

3D COORDINATE TRANSFORMATIONS

RM184306 - Transformation System and Map Projection

Ira Mutiara Anjasmara, PhD

Department of Geomatics Engineering

Lesson Learning Outcomes Learning Materials

Able to transform 2-dimensional Transformation of 3-dimensional coordinates

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 2/72 RM184306 - Transformation System & Map Projection

Commonly used to describe the position of point on the Earth system.

1. 3D Cartesian Geocentric: (𝑋, 𝑌 , 𝑍)

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 3/72 RM184306 - Transformation System & Map Projection

• Origin of system coincides with geocentre

For example, coordinates of point 𝑃 is defined as ( 𝑋𝑃 , 𝑌𝑃 , 𝑍𝑃 )

3D COORDINATE TRANSFORMATIONS 4/72 RM184306 - Transformation System & Map Projection

• The origin of the coordinate is at the center of the

3D COORDINATE TRANSFORMATIONS 5/72 RM184306 - Transformation System & Map Projection

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 6/72 RM184306 - Transformation System & Map Projection

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 7/72 RM184306 - Transformation System & Map Projection

• Is an ellipsoidal coordinate system where the coordinate

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 8/72 RM184306 - Transformation System & Map Projection

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 9/72 RM184306 - Transformation System & Map Projection

3D COORDINATE TRANSFORMATIONS 11/72 RM184306 - Transformation System & Map Projection

To solve the Bowring reverse formula, iteration is needed iteratif

3D COORDINATE TRANSFORMATIONS 12/72 RM184306 - Transformation System & Map Projection

1. Compute longitude. This can be done directly:

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 13/72 RM184306 - Transformation System & Map Projection

4. Compute an approximate value for the transverse radius of curvature, from:

5. Compute an approximate value of the ellipsoidal height, from:

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 14/72 RM184306 - Transformation System & Map Projection

6. Compute an improved value for latitude, from:

7. If 𝜙 = 𝜙,̂ then this value of latitude is acceptable. Otherwise, go back to step

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 15/72 RM184306 - Transformation System & Map Projection

Find the GRS80 geodetic coordinates of a point whose GRS80 Cartesian

1. Compute longitude. This can be done directly:

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 16/72 RM184306 - Transformation System & Map Projection

𝑝 = √(−2 364 881.353)2 + (4 870 281.124)2 = 5 414 083.707 m

3. Compute an approximate value of latitude, from:

3D COORDINATE TRANSFORMATIONS 17/72 RM184306 - Transformation System & Map Projection

5. Compute an approximate value of the ellipsoidal height, from:

−3 360 447.309 0.0066943800229 × 6 384 140.527 −1

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 18/72 RM184306 - Transformation System & Map Projection

7. Go back to step 4 and repeat the iteration:

-IM Anjasmara, 2021-

3D COORDINATE TRANSFORMATIONS 19/72 RM184306 - Transformation System & Map Projection

9. Compute an improved value for latitude, from:

−3 360 447.309 0.0066943800229 × 6 384 140.527 −1

Hence, we have: 𝜙 = −32∘ , 𝜆 = 115∘ 54′ , ℎ = 30 m.

-IM Anjasmara, 2021-