Geodesy
Datum Transformation
Standard Molodensky
Abridged Molodensky
Five Parameter

© All Rights Reserved

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Geodesy
Datum Transformation
Standard Molodensky
Abridged Molodensky
Five Parameter

© All Rights Reserved

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TRANSFORMATION FORMULAE

R.E. Deakin

Department of Mathematical and Geospatial Sciences, RMIT University

GPO Box 2476V, MELBOURNE VIC 3001, AUSTRALIA

email: rod.deakin@rmit.edu.au

April 2004

ABSTRACT

The standard and abridged Molodensky coordinate transformation formulae are sometimes used by

practitioners in the surveying and geodesy professions and are two of the standard models of

coordinate transformation widely used in Geographic Information System (GIS) software. The

formulae enable latitudes, longitudes and heights (, ,h ) related to one ellipsoid to be transformed to

, ,h related to another ellipsoid on the implicit assumptions that: (i) the X,Y,Z Cartesian axes of

both ellipsoids are parallel, (ii) the coordinate differences X , Y , Z between the origins of the two

reference ellipsoids are known and (iii) the defining geometric parameters of both reference ellipsoids

are known. The formulae accept , ,h as input variables and give changes , , h , thus the

standard and abridged Molodensky transformation formulae are known as curvilinear transformation

formulae. This paper provides a detailed derivation of the formulae together with a worked example

that may be useful to the interested practitioner.

INTRODUCTION

In Molodensky et al. (1962), the authors derive a set of differential equations for transforming

coordinates from one geodetic datum to another. Their equations (Molodensky et al., (I.3.2), p. 14),

linked changes in x, y, z Cartesian coordinates of a point with, (i) rotations x , y , z of the Cartesian

axes about some fixed point x 0 , y 0 , z 0 , (ii) "progressive translations" dx 0 , dy 0 , dz 0 of the ellipsoid origin

between x, y, z Cartesian axes, and changes in the ellipsoid parameters a and f with changes in

curvilinear coordinates , , h . Subsequent publications by other authors have described

"Molodensky's" transformation in terms different from the original. This confusion was addressed by

Soler (1976, p.2) who states:

" the differential equations published in the English translation of [Molodensky et al.,

1962] are equivalent to conventional conformal transformations. This dissipates the

confusion created recently by some authors [Badekas, 1969], Krakiwsky and Thomson,

1974], who credited [Molodensky et al., 1962] with a model they never wrote."

(i)

similarity transformation) linking rotations X , Y , Z and translations X , Y , Z between

the X,Y,Z Cartesian axes and a scale factor s to changes in the Cartesian coordinates.

translations X , Y , Z between the X,Y,Z Cartesian axes, and changes in the ellipsoid

parameters a and f with changes in curvilinear coordinates , , h .

(iii) The abridged Molodensky transformation: a modified version of the standard Molodensky

transformation obtained by certain simplifying assumptions. The abridged Molodensky

transformation equations do not contain the ellipsoidal heights h of points to be transformed.

The standard and abridged Molodensky transformations, the subject of this paper, are two of the

transformations adopted by the National Imagery and Mapping Agency (NIMA 2000) formerly the

Defense Mapping Agency (DMA) and are also two of the methods recommended by the Geoscience

Australia (ICSM 2003). It is the purpose of this paper is to set out a detailed derivation of the

standard and abridged Molodensky transformations to provide the interested reader with some

understanding of the mathematics involved. The derivation follows a method suggested by Krakiwsky

and Wells (1971). A worked example is included.

DERIVATION OF THE STANDARD MOLODENSKY TRANSFORMATION FORMULAE

Z2

Z1

centre of ellipsoid 1

O1

Z

Y

ellipsoid 2

h

Q

l

rma

no

O2

X

H

Y1

Y2

id 2

l lipso

e

f

o

r

equato

X1

X2

Figure 1 shows a point P (, , h ) on the Earth's terrestrial surface related to the centre O2 of an

ellipsoid ( a2 , f2 ) by the normal to the ellipsoid. The normal intersects the ellipsoidal surface at Q and

the rotational axis of the ellipsoid at H. The distance PQ is the ellipsoidal height h and the distance

QH = is the radius of curvature in the prime vertical plane of the ellipsoid. , , h are latitude,

longitude and ellipsoidal height respectively, a is the semi-major axis of the ellipsoid and f is the

flattening of the ellipsoid. O1 is the centre of another ellipsoid ( a1, f1 ) and two assumed parallel

Cartesian coordinate axes are shown with origins at O1 and O2 . The Z 1 and Z 2 axes are assumed to

be parallel and are the rotational axes of the ellipsoids, the X1O1Y1 and X 2O2Y2 equatorial planes are

parallel and are the origin planes of latitude. The X1O1Z1 and X 2O2Z 2 planes are parallel and are the

origin planes of longitude. The origins O1 and O2 are related by the translations X , Y and Z .

The Cartesian coordinates of a point, related to the centre of an ellipsoid, are

X = ( + h ) cos cos

Y = ( + h ) cos sin

(1)

Z = ( (1 e 2 ) + h ) sin

is the radius of curvature of the ellipsoid in the prime vertical plane and e 2 is the square of the

=

(1 e

1/ 2

sin 2 )

e 2 = f (2 f )

(2a)

1 e 2 = (1 f )

The eccentricity e, the flattening f, the semi-major and semi-minor axes of the ellipsoid (a and b,

respectively) and , the radius of curvature of the ellipsoid in the meridian plane are defined by the

following equations

a 2 b2

a2

a b

f =

a

b = a (1 f )

e2 =

(2b)

a (1 e 2 )

3/2

(1 e 2 sin2 )

X =

Y =

a cos cos

1/ 2

+ h cos cos

1/ 2

+ h cos sin

1/ 2

+ h sin

(1 f (2 f ) sin2 )

a cos sin

(1 f (2 f ) sin2 )

(3)

Z =

a (1 f ) sin

(1 f (2 f ) sin2 )

Using the theorem of the total differential (Sokolnikoff & Redheffer 1966), small changes in the X,Y,Z

coordinates can be linked to small changes in a, f , , and h .

X

X

X

X

X

a +

f +

+

+

h

a

f

h

Y

Y

Y

Y

Y

Y =

a +

f +

+

+

h

a

f

h

Z

Z

Z

Z

Z

Z =

a +

f +

+

+

h

a

f

X =

(4)

In equations (4), all -values are formed by subtracting ellipsoid 1 values from ellipsoid 2 values, e.g.,

a = a1 a2 . These equations are the basis of the standard Molodensky transformation.

The standard Molodensky transformation formulae are derived in the following manner.

The derivatives in (4) can be found from equations (3).

Derivatives

X Y Z

,

,

a a a

X

cos cos

cos cos

cos cos

=

=

=

1/ 2

1/ 2

2

2

2

a

a

(1 f (2 f ) sin )

(1 e sin )

(5a)

Y

cos sin

=

a

a

(5b)

2

(1 e 2 ) sin

(1 f ) sin

Z

=

=

a

a

a

(5c)

Similarly

Derivatives

X Y Z

,

,

f f f

3 / 2

X

1

= a cos cos (1 f (2 f ) sin 2 )

((2 2 f ) sin2 )

f

2

but =

3/2

(1 e 2 sin2 )

a (1 e 2 )

3/2

(1 e 2 sin2 )

a (1 f )

3/2

(1 e 2 sin2 )

hence

X

sin 2

cos cos

=

1 f

f

(6a)

Y

sin 2

cos sin

=

1 f

f

(6b)

Similarly

d u

=

Using the quotient rule of calculus:

dx v

du

dv

u

dx

dx

v2

1/ 2

(1 f (2 f ) sin2 )

Z

=

f

(1 f ) sin 2

1 f (2 f ) sin

2

1/ 2

1/ 2

1/ 2

2a sin (1 f ) (1 e 2 sin 2 )

+ a (1 e 2 ) sin (1 e 2 sin2 )

(1 f ) sin 2

1 e 2 sin 2

2a sin (1 f )

1/ 2

(1 e 2 sin2 )

a (1 e 2 ) sin 2 sin (1 f )

3/2

(1 e 2 sin2 )

= 2 sin (1 f ) + sin 2 (1 f )

giving

Z

= ( sin 2 2 ) sin (1 f )

f

Derivatives

(6c)

X Y Z

,

,

1/ 2

(1 e 2 sin2 )

X

=

h sin cos

=

a sin cos

1/ 2

(1 e 2 sin2 )

1/ 2

2

e 2 sin cos

1 e sin

3/2

(1 e 2 sin2 )

h sin cos

e 2 cos2

h sin cos

1 e 2 sin 2

e 2 cos2

= sin cos 1

h sin cos

1 e 2 sin 2

= sin cos + sin cos

{ }

{ }

is

2

2

2

1 e 2 sin 2 e 2 cos2 1 e (sin + cos )

1 e2

=

=

=

2

2

2

2

2

2

1 e sin

1 e sin

1 e sin

giving

X

= ( + h ) sin cos

(7a)

Y

= ( + h ) sin sin

(7b)

Similarly

1/ 2

(1 e 2 sin2 )

Z

=

+h cos

=

1/ 2

2

e 2 sin cos

1 e sin

a (1 e 2 ) cos 1 e 2 sin 2

a (1 e 2 ) cos 2

+

e sin 2 + h cos

1/

2

3/2

2

2

2

2

2

2

(1 e sin ) 1 e sin (1 e sin )

giving

Z

= ( + h ) cos

Derivatives

(7c)

X Y Z

,

,

1/ 2

X

=

h cos sin

1 e 2 sin 2

a

cos sin h cos sin

=

1/ 2

2

(1 e sin2 )

giving

X

= ( + h ) cos sin

(8a)

Y

= ( + h ) cos cos

(8b)

Z

=0

(8c)

Similarly

Derivatives

X Y Z

,

,

h h h

X

= cos cos

h

(9a)

Y

= cos sin

h

(9b)

Z

= sin

h

(9c)

X

a

Y = B + J

f

Z

h

(10)

where

X

Y

B=

a

Z

X cos cos

a

f

Y cos sin

=

a

f

Z (1 f )2 sin

f

a

sin2

cos sin

1 f

( sin2 2 ) sin (1 f )

sin 2

cos cos

1 f

(11)

Y

J=

Y

= ( + h ) sin sin ( + h ) cos cos cos sin

h

0

sin

Z ( + h ) cos

(12)

= J Y + B

(13)

The inverse of J can be found by the method of cofactors and adjoints (Mikhail 1973, pp. 442-5).

a

11 a12 a13

a 31 a 32 a 33

A1 =

adj A

where adj A is the adjoint matrix and A is the determinant of A, a scalar quantity. Each element

aij of A has a minor mij and a cofactor cij . The minor of each element is the determinant of the

elements of A remaining after row i and column j are deleted, eg, m11 = a22a 33 a23a 32 ,

m22 = a11a 33 a13a 31 and m32 = a11a23 a13a21 . The cofactors cij = (1)i + j mij form a matrix C whose

The determinant A =

a c

j =1

ij ij

c11 = + {[( + h ) cos cos ][ sin ] [ cos sin ][ 0 ]}

= ( + h ) sin cos cos

= {( + h ) sin (sin2 + cos2 )}

= ( + h ) sin

c13 = + {[( + h ) sin sin ][ 0 ] [( + h ) cos cos ][( + h ) cos ]}

= ( + h ) cos cos ( + h ) cos

c21 = {[ ( + h ) cos sin ][ sin ] [ cos cos ][ 0 ]}

= ( + h ) sin cos sin

= ( + h ) cos (sin 2 + cos2 )

= ( + h ) cos

c23 = {[ ( + h ) sin cos ][ 0 ] [ ( + h ) cos sin ][( + h ) cos ]}

= ( + h ) cos sin ( + h ) cos

c31 = + {[ ( + h ) cos sin ][ cos sin ] [ cos cos ][( + h ) cos cos ]}

= ( + h ) cos2 (sin 2 + cos2 )

= ( + h ) cos2

c32 = {[( + h ) sin cos ][ cos sin ] [ cos cos ][( + h ) sin sin ]}

= { ( + h ) cos cos (sin sin sin sin )}

=0

c33 = + {[ ( + h ) sin cos ][( + h ) cos cos ] [ ( + h ) cos sin ][( + h ) sin sin ]}

= + {( + h ) sin cos ( + h ) (cos2 + sin 2 )}

= ( + h ) sin ( + h ) cos

J = j 31c31 + j 32c32 + j 33c33

= ( + h ) cos ( ( + h ) cos2 ) + 0 + sin (( + h ) sin ( + h ) cos )

= ( + h ) cos (( + h ) cos2 + ( + h ) sin 2 )

= ( + h ) cos ( + h )

The inverse J1 =

J1

adj J

J

CT

J

sin cos

+h

sin

=

( + h ) cos

cos cos

sin sin

+h

cos

( + h ) cos

cos sin

cos

+h

sin

(14)

sin cos

+h

sin

=

( + h ) cos

h

cos cos

sin sin

+h

cos

( + h ) cos

cos sin

cos cos

sin 2 cos cos

cos

a +

f X

a

1 f

+h

cos sin

sin cos sin

0

a +

f Y

1 f

a

2

sin (1 f ) sin

sin

sin

1

f

Z

(

)

(

)

(15)

1

{X sin cos Y sin sin + Z cos

+h

e 2 sin cos

a

a

sin cos

+

e 2 sin 2 + 2 (1 e 2 )) f

1 f

{ }

(16)

manner

sin cos

(e 2 sin2 + + 2 (1 e 2 ))

1 f

sin cos

=

( (1 e 2 sin2 ) + + 2 (1 e 2 ))

1 f

3rd term =

but

1 e2

=

giving (1 e 2 sin 2 ) = (1 e 2 ) hence

1 e 2 sin 2

3rd term =

sin cos

+ (1 f )

+ (1 e 2 )) = sin cos

(

1 f

1 f

=

1

{X sin cos Y sin sin + Z cos

+h

e 2 sin cos

a

a

+ sin cos

+ (1 f ) f

1 f

(17)

Multiplying the right-hand-side of (15) and simplifying gives and expression for

=

1

(X sin + Y cos )

( + h ) cos

(18)

Multiplying the right-hand-side of (15) and simplifying gives and expression for h

h = X cos cos + Y cos sin + Z sin

e 2 sin 2

a

+ +

a

sin2 cos2

+

( sin2 2 ) sin 2 (1 f ) f

1 f

{ }

manner

2nd term =

and since =

a

1/ 2

(1 e 2 sin2 )

(1 e 2 sin2 )

a

then 1 e 2 sin 2 =

2nd term =

a2

and

2

(19)

{ }

manner

3rd term =

sin 2

( cos2 sin2 (1 f )2 + 2 (1 f )2 )

1 f

sin 2

( cos2 sin2 + e 2 sin2 + 2 (1 e 2 ))

1 f

sin 2

( (1 e 2 sin2 ) + 2 (1 e 2 ))

1 f

sin 2

( (1 e 2 ) + 2 (1 e 2 ))

1 f

sin 2

(1 e 2 )

1 f

Now, since 1 e 2 = (1 f )

h = X cos cos + Y cos sin + Z sin

a

a + (1 f ) sin 2 f

(20)

Equations (17), (18) and (20) are the standard Molodensky transformation formulae

1

{X sin cos Y sin sin + Z cos

+h

e 2 sin cos

a

a

+ sin cos

+ (1 f ) f

1 f

+

(21)

1

(X sin + Y cos )

( + h ) cos

a

a + (1 f ) sin 2 f

sin cos

+h

sin

=

( + h ) cos

h

cos cos

sin sin

+h

cos

( + h ) cos

cos

+h

e 2 sin cos

a ( + h )

cos sin

sin

10

X

sin cos

+ (1 f )

+ h 1 f

Y

Z

0

a

2

(1 f ) sin

f

(22)

RN = = radius of curvature in the prime vertical plane

RM = = radius of curvature in the meridian plane

Noting that b = a (1 f ) ,

b

a

1

an alternative presentation of the standard

= (1 f ) , =

a

b

(1 f )

1

{X sin cos Y sin sin + Z cos

RM + h

+

RN e 2 sin cos

a

a

b

+ sin cos RM + RN f

b

a

=

(23)

1

(X sin + Y cos )

(RN + h ) cos

a

b

a + RN sin 2 f

RN

a

The abridged Molodensky transformation formulae do not contain the parameter h, the ellipsoidal

heights of the points to be transformed. Their derivation depends upon several approximations that

are set out below.

Approximations involving : the radius of curvature in the prime vertical plane

(1 e

1/ 2

sin 2 )

n

(1 + x ) = 1 + nx +

n (n 1) 2 n (n 1)(n 2) 3

x +

x +"

2!

3!

giving

1/ 2

(1 e 2 sin2 )

2

1 1 3

1

= 1 + (e 2 sin 2 ) + (e 2 sin 2 ) + "

2

2 2 2

1

3

= 1 + e 2 sin 2 + e 4 sin 4 + "

2

8

11

(24a)

1/ 2

(1 e 2 sin2 )

=1+

2

1

3

(2 f f 2 ) sin2 + (2 f f 2 ) sin 4 + "

2

8

The flattening f is a small quantity ( f 0.003) and f 2 is exceedingly small ( f 2 0.00001) ; hence, in

the equation above, ignoring terms containing f 2 , f 3 , f 4 , etc

1/ 2

(1 e 2 sin2 )

1 + f sin 2

(24b)

1 + f sin 2

a

(24c)

Other approximations may be derived from (24c), again ignoring terms f 2 , f 3 , f 4 , etc

e 2

1

e 2 (1 + f sin 2 )

2a

2

1

= (2 f f 2 )(1 + f sin 2 )

2

1

= (2 f + 2 f 2 sin 2 f 2 f 3 sin 2 )

2

f

(24d)

(1 f ) a (1 f )(1 + f sin 2 )

= a af + af sin 2 af 2 sin 2

(24e)

a af + af sin

a (1 e 2 )

3/2

(1 e 2 sin2 )

(25a)

3 / 2

(1 e 2 sin2 )

2

1 3 5

3

= 1 + (e 2 sin 2 ) + (e 2 sin2 ) + "

2

2 2 2

3 2

15

= 1 + e sin 2 + e 4 sin 4 + "

2

8

3 / 2

(1 e 2 sin2 )

= 1+

2

3

15

(2 f f 2 ) sin2 + (2 f f 2 ) sin 4 + "

2

8

3 / 2

(1 e 2 sin2 )

1 + 3 f sin 2

(25b)

1 + 3 f sin2

a (1 e 2 )

(25c)

12

(1 f )

a (1 f )(1 + 3 f sin 2 )

= a + 3af sin 2 af 3af 2 sin 2

(25d)

a af + 3af sin 2

Approximations given in equations (24) and (25) are used in the following derivation of the abridged

Molodensky transformation formulae

Equation for :

The 2nd and 3rd lines of the equation for in (21) can be combined as

e 2

(1 f )

a +

f

2 sin cos

+

2

2 (1 f )

2a

{ }

(26)

e 2

a f a

2a

(27a)

Using the approximations in (24e) and (25d) the second term in the braces

{ }

as

(1 f )

1

2 (1 f ) +

2

2

= (a af + 2af sin 2 ) f

(27b)

f is a small quantity ( f 0.003) and f = f1 f2 , the difference in ellipsoid flattening, will be very

small ( f 8 108 ) and products f f 0 . Hence, (27b) can be written as

(1 f )

+

f a f

2 (1 f )

2

(27c)

Substituting (27a) and (27c) into equation (26) and noting that 2 sin cos = sin 2 we have an

approximation

e 2

(1 f )

+

2 sin cos

a +

f f a + a f sin 2

2

2 (1 f )

2a

Using this approximation and ignoring the ellipsoidal height h, we may write the equation for as

=

1

{ X sin cos Y sin sin + Z cos + f a + a f sin 2}

13

(28)

Equation for :

The equation for in (21) is modified by omitting the parameter h giving

=

1

(X sin + Y cos )

cos

(29)

Equation for h :

In the equation for h in (21) the last two terms can be written as

a

A = a + (1 f ) sin 2 f

(30a)

1

a

(1 + f sin 2 )

2

1

a

= 1 + (1)( f sin 2 ) + (1)(2)( f sin 2 ) + "

2

1 f sin 2

(30b)

(1 f ) sin 2 f (a af + af sin2 ) sin 2 f

= af sin 2 af f sin 2 + af f sin 4

a f sin 2

(30c)

a

A = a + (1 f ) sin 2 f a + f a + a f sin 2

(30d)

(31)

Equations (28), (29) and (31) are the abridged Molodensky transformation formulae

1

{X sin cos Y sin sin + Z cos + f a + a f sin 2}

1

(X sin + Y cos )

cos

(32)

14

The derivation of the standard Molodensky transformation formulae follows a method suggested by

Krakiwsky and Wells (1971). The author has not found a derivation of these formulae in the readily

available Geodesy and Surveying textbooks although it surely exists in the associated literature

(technical reports, papers and associated articles) and the author makes no claims of originality. The

abridged Molodensky transformation formulae that were probably derived in an era when formulae

were "difficult" to evaluate and simplifications were warranted no longer seem to have the relevance

they once might have had. Simply setting the ellipsoidal height h to zero in the standard Molodensky

transformation formulae achieves the same result.

A worked example is set out in detail in the Appendices and may be useful in checking computer

programs. Test values are computed that can be used to verify the transformation.

REFERENCES

Badekas, J., 1969. Investigations Related to the Establishment of a World Geodetic System, Report

124, Department of Geodetic Science, Ohio State University, Columbus, Ohio, USA.

ICSM, 2003. Geocentric Datum of Australia Technical Manual - Version 2.2, Intergovernmental

Committee on Surveying & Mapping (ICSM), February 2002, available online at:

www.icsm.gov.au/icsm/gda/gdatm/index.html

NIMA, 2000. Department of Defense World Geodetic System 1984: Its Definition and Relationships

with Local Geodetic Systems, Technical Report No. 8350.2, 3rd ed., amendment 1, 3 January

2000, National Imagery and Mapping Agency, Washington.

Mikhail, E.M., 1976. Observations and Least Squares, IEPA Dun-Donnelley, New York.

Molodensky, M.S., Eremeev, V.F. and Yurkina, M.I., 1962. Methods for Study of the External

Gravitational Field and Figure of the Earth, Israeli Programme for the Translation of Scientific

Publications, Jerusalem.

Krakiwsky, E.J. and Thomson, D.B., 1974. 'Mathematical models for the combination of terrestrial

and satellite networks', The Canadian Surveyor, Vol. 28, No. 5, December 1974, pp. 606-15.

Krakiwsky, E.J. and Wells, D.E., 1990. Coordinate Systems in Geodesy, Geomatics Engineering UCGE

Report No. 10012, University of Calgary, Calgary, Alberta, Canada.

15

Sokolnikoff, I.S. and Redheffer, R.M., 1966. Mathematics of Physics and Engineering, 2dn edn,

International Student Edition, McGraw-Hill, Inc., London.

Soler, T., 1976. On Differential Transformations between Cartesian and Curvilinear (Geodetic)

Coordinates, Report No. 236, Department of Geodetic Science, Ohio State University,

Columbus, Ohio, USA.

16

APPENDIX 1

TEST VALUES FOR MOLODENSKY TRANSFORMATION

Transformation from Australian Geodetic Datum 1966 (AGD66) to World Geodetic System 1984

(WGS84).

AGD66 Geodetic coordinates:

a = 6378160 m

X = ( + h ) cos cos

= 4131857.9379 m

Y = ( + h ) cos sin

= +2896741.9218 m

f = 1 298.25

Z = ( (1 e 2 ) + h ) sin = 3887971.3157 m

e 2 = f (2 f )

a

=

1/ 2

2

(1 e sin2 )

= 6.69454185459 103

= 6386195.1797 m

X

X

X

= Y

+ Y

Y

Z

WGS 84 Z AGD 66 Z

X

134

= Y

+ 48

AGD 66 +149

X = 4131991.9379 m

Y = +2896693.9218 m

Z = 3887822.3157 m

a = 6378137 m

tan =

f = 1 298.257223563

Z + ve 2 sin

r

Y

tan =

X

r

h=

cos

r = X 2 +Y 2

17

(1 e

1/ 2

sin 2 )

e 2 = f (2 f ) = 6.69437999014 103

n

Iteration n

6386171.9561 m

n +1

37 48 00.0000

37D 47 54.5522

.4079

37D 47 54.5294

37D 47 54.5294

.4056

37D 47 54.5293

37D 47 54.5293

.4056

37D 47 54.5293

= 37D 47 54.5293

= +144D 58 04.7508

h = 46.382 m

18

37 47 54.5522

D

APPENDIX 2

STANDARD MOLODENSKY TRANSFORMATION

EXAMPLE

Australian Geodetic Datum 1966 (AGD66)

TO

World Geodetic System 1984 (WGS84)

Formulae:

=

1

{X sin cos Y sin sin + Z cos

+h

e 2 sin cos

a

a

+ sin cos

+ (1 f ) f

1 f

1

(X sin + Y cos )

( + h ) cos

a

a + (1 f ) sin 2 f

a = 6378160 m

f = 1 298.25

a = 6378137 m

f = 1 298.257223563

X = 134 m

Y = 48 m

Z = +149 m

a = 23 m

f = 8.120449 108

=

a

1/ 2

(1 e sin2 )

a (1 e 2 )

=

3/2

(1 e 2 sin2 )

2

19

= 6386195.179722 m

= 6359435.481976 m

1

{67.249167380 16.888371512 + 117.733096844

+h

+0.074662477

+ 0.501242257}

168.669797446

+h

= 5.470669

=

1

{76.923088948 + 39.303274197}

( + h ) cos

= 4.750856

(22.971061152)

+ (0.194156922)

= 3.621500 m

= 37D 48 00.0000 + 5.4707 = 37D 47 54.5293

= +144D 58 00.0000 + 4.7509 = +144D 58 04.7509

h = 50.000 m 3.622 m

20

= 46.378 m

APPENDIX 3

ABRIDGED MOLODENSKY TRANSFORMATION

EXAMPLE

Australian Geodetic Datum 1966 (AGD66)

TO

World Geodetic System 1984 (WGS84)

Formulae:

=

1

{X sin cos Y sin sin + Z cos + f a + a f sin 2}

1

(X sin + Y cos )

cos

a = 6378160 m

f = 1 298.25

a = 6378137 m

f = 1 298.257223563

X = 134 m

Y = 48 m

Z = +149 m

a = 23 m

f = 8.120449 108

=

a

1/ 2

(1 e sin2 )

a (1 e 2 )

=

3/2

(1 e 2 sin2 )

= 6386195.179722 m

= 6359435.481976 m

1

{67.249167380 16.888371512 + 117.733096844

168.670249809

= 5.470727

21

1

{76.923088948 + 39.303274197}

cos

= 4.750727

h = 86.697104181 21.772357361 91.323150994

(23) + (0.077116513 0.517935228) sin2

= 3.621938 m

= 37D 48 00.0000 + 5.4707 = 37D 47 54.5293

= +144D 58 00.0000 + 4.7509 = +144D 58 04.7509

h = 50.000 m 3.622 m

22

= 46.378 m

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