LECTURE 5

SUG/GLS456
GEODESY

PPSUG, FSPU, ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI (MRICS, MRISM)
UiTM, SHAH ALAM
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

8.0 ASTROGEODETIC INFORMATION

Astronomic Coordinates :
In the real world where measurements are made with respect to the direction of the gravity
vector, at a point on the surface of the earth, we cannot directly determine geodetic
latitude, longitude, normal section azimuth, vertical angle etc. since the instrument plate of
the instruments used for measurements are oriented by making the horizontal plate of the
instrument perpendicular to the direction of gravity.

The quantities measured with respect to a gravity vector orientation are generally called
astronomic quantities.

We have Astronomic Latitude (Φ); Astronomic Longitude (Λ), Astronomic Azimuth (A);
Astronomic Vertical (V) ; or Astronomic Zenith Distance (z).
In order to define a coordinate system and initial planes for referencing, for example,
astronomic latitude and astronomic longitude. The definition of these systems is widely
tied to observables related to the physical earth.

The Z axis used for astronomic referencing purposes is related to the rotation axis of the
earth. Such an axis requires a precise definition since the instantaneous does not remain
fixed in position with respect to the earth crust of the earth.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

Polar Motion : The first monitoring of the motion of the pole was started in 1899
through the defined latitudes of five stations of the International Latitude Service. The
data from these stations have been used to define the Conventional International Origin,
(CIO) which is the Average Terrestrial Pole of 1900-1905. Polar motion values have also
been determined by the International Polar Motion Service (IPMS) which uses data
from a large number of observatories, and by the Bureau International de l’Heure (BIH).
Changes in Polar Motion are now also routinely obtained from the analysis of the
motion of the satellites. Each determination of Polar Motion may be slightly different
depending on star catalogues used, adopted station coordinates, observational
procedures, constants adopted etc.

We assume that we have Z axis of the Conventional Terrestrial System (CTS) (Mueller,
1981). The instantaneous rotation axis is located with respect to this Z axis by the
elements of polar motion xp, yp.

The astronomic latitude of a point, on the surface of the earth, would be the angle
measured between the equator (perpendicular to the mean rotation axis) and the
direction of gravity vector at the point of interest.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

The direction of gravity vector in terms of astronomic Φ and Λ is

⎡cosΦ. cosΛ⎤
= − ⎢⎢ cosΦ.sin Λ ⎥⎥ DUE TO POLAR MOTION (see Figure 8.1)
⎢⎣ sin Φ ⎥⎦

Thus we have temporary pole and the measurement made of ΦT and ΛT. Therefore
we have to transform to Φ and Λ system and later to φ and λ system. That is

Measured Astronomic Geodetic

⎡cosΦT . cosΛT ⎤ ⎡cosΦ. cosΛ⎤ ⎡cosφ. cosλ ⎤
⎢ cosΦ .sin Λ ⎥ ⇒ ⎢ cosΦ.sin Λ ⎥ ⇒ ⎢ cosφ.sin λ ⎥
⎢ T T⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ sin ΦT ⎥⎦ ⎢⎣ sin Φ ⎥⎦ ⎢⎣ sinφ ⎥⎦
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

ZP

P
xp
yp ZT

λ0o

Figure 8.1 The Polar Motion

ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

The mean astronomic latitude Φm can be obtained from the instantaneous

astronomic latitude Φi (i.e. with respect to the instantaneous equator) using the
coordinates ( xp, yp ) of the instantaneous pole with respect to the reference pole,
using Mueller, 1969 we have
Φm = Φi + y p sin Λ − x p cosΛ (8.1)

To define the instantaneous astronomic latitude, we first define the instantaneous

astronomic meridian plane as that plane containing the astronomical normal at P and
parallel to the instantaneous rotation axis of the earth. The mean astronomic meridian
will be that plane containing the astronomic normal at P, and that is parallel to the Z
axis of the Conventional Terrestrial System. The astronomic longitude is the angle
between the initial meridian (today defined by BIH) and the astronomic meridian
passing through the point of interest. Values of mean astronomic longitude (Λm ) can
be obtained from the instantaneous astronomic longitude (Li) through the
application of the polar motion correction (Mueller, 1969);
Λm = Λi − (x p sin Λ + y p cosΛ). tan Φ (8.2)
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

The astronomic azimuth is the angle between astronomic north (or the astronomic
meridian plane) and the plane containing the gravity vector at the observation point
and that passes through the point being observed. Since the astronomic plane can
vary due to variations in the rotation axis describe by polar motion, we should use
the term of an instantaneous astronomic azimuth (Ai) and mean astronomic azimuth
(Am) given by Mueller, 1969 as follows :
Am = Ai − (x p sin Λ + y p cosΛ).secΦ (8.3)

In matrix form : ⎡cosφ. cosλ ⎤

The ellipsoidal outward normal is ηˆ = ⎢⎢ cosφ.sin λ ⎥⎥
⎢⎣ sinφ ⎥⎦

⎡cosΦ. cosΛ⎤
The astronomic outward normal is ĝ = ⎢⎢ cosΦ.sin Λ ⎥⎥
⎢⎣ sin Φ ⎥⎦
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

xp and yp can be obtained through observation.

We have to rotate the temporary system to astronomic system (mean pole) by :

R2 .(− x p ).R1.( y p )

Where;
⎡ 1 0 xp ⎤ ⎡1 0 0 ⎤
⎢ ⎥ ⎢ ⎥
R2 (−x p ) = ⎢ 0 1 0 ⎥ R1 ( y p ) = ⎢0 1 − y p ⎥
⎢− x p 0 1 ⎥ ⎢0 y p 1 ⎥⎦
⎣ ⎦ ⎣

Note : Cosine of a small angle ≈ 1

Therefore ; ⎡ 1 0 x p ⎤ ⎡1 0 0 ⎤ ⎡ 1 0 xp ⎤
⎢ ⎥⎢ ⎥ ⎢ ⎥
R2 .(− x p ).R1.( y p ) = ⎢ 0 1 0 ⎥ ⎢0 1 − y p ⎥ = ⎢ 0 1 − yp ⎥
⎢− x p 0 1 ⎥ ⎢0 y p 1 ⎥⎦ ⎢⎣− x p yp 1 ⎥⎦
⎣ ⎦⎣
Note : xp and yp are small, thus x p , y p ≈ 0
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

Therefore the astronomic coordinates (the transformation from temporary system to

astronomic system) ;

⎡cosΦ. cosΛ⎤ ⎡ 1 0 x p ⎤ ⎡cosΦT . cosΛT ⎤

⎢ cosΦ.sin Λ ⎥ = ⎢ 0 ⎥
1 − yp⎥ ⎢⎢ cosΦT .sin ΛT ⎥⎥
⎢ ⎥ ⎢
⎢⎣ sin Φ ⎥⎦ ⎢⎣− x p yp 1 ⎥⎦ ⎢⎣ sin ΦT ⎥⎦

Thus ;
cosΦ. cosΛ = cosΦT . cosΛT + x p .sin ΦT
cosΦ.sin Λ = cosΦT .sin ΛT − y p .sin ΦT (8.4)
sin Φ = −x p . cosΦT . cosΛT + y p . cosΦT .sin ΛT + sin ΦT

sin Φ − sin ΦT = − x p . cosΦT . cosΛT + y p . cosΦT .sin ΛT (8.5)

ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

FOR LATITUDE:

Expanding sin ΦT we have,

sin ΦT = sin Φ + cosΦT .[ΦT − Φ] (8.6)

But ; [ΦT − Φ] = −[Φ − ΦT ]

Equation (8.6) may be written as ;
sin ΦT = sin Φ − cosΦT .[Φ − ΦT ]
Therefore ;
sin Φ − sin ΦT = cosΦT .[Φ − ΦT ]
= cosΦT .Δφ (8.7)
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

From (8.5) we have ;

[
sin Φ − sin ΦT = cosΦT . − x p . cosΛT + y p sin ΛT ] (8.8)

Substituting (8.7) into (8.8) we have ;

[
cosΦT .Δφ p = cosΦT . − x p . cosΛT + y p sin ΛT ]
Therefore, the correction for the observed (astronomic ΦT ) latitude is ;
Δφ p = [Φ − ΦT ] = − x p . cosΛT + y p .sin ΛT (8.9)
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

FOR LONGITUDE:

The effect of polar motion on longitude of the station may be derived from equation
8.4 by substituting the following Taylor’s expansions :

Expanding sin ΦT and cos ΛT we have,

sin ΦT = sin Φ − cosΦ.[Φ − ΦT ]

[
= sin Φ − cosΦ. − x p . cosΛT + y p .sin ΛT ] (8.10)
cosΦT = cosΦ − sin Φ.[x . cosΛ
p T − y p .sin ΛT ] (8.11)
cosΛT = cosΛ − sin ΛT .[Λ − ΛT ] (8.12)

where [Λ − ΛT ] = ΔΛ p
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

Astrogeodetic Deflection of Vertical

Deflection of vertical is the angle between the line normal to the geoid and the line
normal to the ellipsoid. The elements that introduces the variation are the latitude,
longitude, azimuth and zenith distance.
Astronomic and geodetic quantities
Normal to the ellipsoid such as latitude, longitude, azimuth
Normal to and zenith distance will primarily be
the geoid different because such quantities are
measured with respect to different
geoid zenith directions.

The astronomic quantities are

measured with respect to a zenith
ellipsoid defined by the direction of a gravity
vector while the geodetic quantities
are defined with respect to a zenith
Deflection of vertical. defined by a normal to the ellipsoid.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : ASTRO-GEODETIC

The deflection of vertical consists of two components : the vertical component in the
meridian ( ξ ), and the vertical component in the prime vertical (η).

The relationship of the components

Normal to the ellipsoid in term of latitude, longitude and
Normal to azimuth are as follows (given
the geoid without derivation)

geoid 1. The deflection of vertical

component in the prime vertical
η = (λA − λG ). cosφA or
η = ( A − α ). cotφA
ellipsoid

2. The deflection of vertical

Deflection of vertical. component in the meridian
ξ = (φA − φG )
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : DATUM

9.0 GEODETIC DATUM AND REFERENCE ELLIPSOID

9.1 Datum Development.

Historically, geodetic datums have been needed for the development of geodetic
networks. These datum usually provided an initial point (φo, λo), and initial azimuth
(αo) for orientation purposes, and the ellipsoid parameters. There are five parameters
needed for this simple definition of a geodetic datum.
As need for geodetic control grew, various countries developed their own geodetic
datum. As more complete and reliable data was obtained, new and more accurate
geodetic datum were defined. The list of some major Geodetic datum parameters is
given in Table 1.
9.2 Datum Transformation.
A recognized goal of geodesy has historically been to obtain geodetic coordinates on one
common system. With so many geodetic datums in the world this is a difficult procedure.
However, using satellite techniques it is possible to determine the rectangular coordinates
of points in a defined coordinate system that is close to being geocentric. If a set of
ellipsoid parameters are defined, these rectangular coordinates can be converted to a
latitude, longitude and height above the reference ellipsoid. If we make satellite
observations on a point whose coordinates are defined in a specific datum we can
compare the satellite coordinates and the datum coordinates to obtain the connection
between the two system.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : DATUM

For simplicity we assume that our datum coordinate system and the satellite system have
a different center (origin) but have their X, Y, Z axes parallel as shown in Figure 9.1.

ZD

Figure 9.1 A Satellite (S)

and Datum (D) system ZS
with parallel axes

YD

ΔΖ

ΔX
YS
XD ΔY

XS
 ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : DATUM

Consider the rectangular coordinates of point P in the Datum system. Such quantities can
be computed using equation (9.1) below ;

ZD X D = ( N + H + N AG ). cos φ . cos λ
YD = ( N + H + N AG ). cos φ . sin λ (9.1)
( ( )
Z D = N 1 − e 2 ) + H + N AG . sin φ )
ZS
.P Where ;
N is the radius of curvature in the prime vertical
H is the orthometric height of point P
NAG is the astro-geodetic undulation of point P
H+NAG is h (the ellipsoidal height of point P)
YD
If we let ΔX, ΔY, ΔZ be the datum shift
ΔΖ wrt the satellite system, we have ;
X s = X D + ΔX
ΔX
YS Ys = YD + ΔY (9.2)
XD ΔY
Z s = Z D + ΔZ
Figure 9.1 A Satellite (S)
Where the datum shift is the three
and Datum (D) system
transformation parameters between
XS with parallel axes
Datum system and Satellite system.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : DATUM

Given a sufficient number of stations where the coordinates are determined in both
systems, the datum shift can be obtained.

If we then go to an arbitrary point and find satellite coordinates we can subtract the datum
shifts to obtain the rectangular coordinates in the datum system. These coordinates can be
converted to geodetic coordinates using the datum ellipsoid parameters.
X D = X s − ΔX
YD = Ys − ΔY (9.3)
Z D = Z s − ΔZ

The datum conversion model represented by equation (9.2) is based on the assumption
that the axes of the two systems are parallel and the systems have the same scale, and the
geodetic network has been consistently computed.
In reality, none of these assumptions are true so that ΔX, ΔY, ΔZ values can vary from
point to point. A more general transformation involves seven parameters which are ;
three translations, three rotations representing the non-parallelity of the axes of the two
system and a scale factor representing the scale difference between the two systems. This
general transformation can be represented in matrix form as follows :
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : DATUM

This general transformation can be represented in matrix form as follows :

⎡X ⎤ ⎡X ⎤ ⎡ ΔX ⎤ ⎡ X ⎤ ⎡ 0 ωZ − ωY ⎤ ⎡ X ⎤
⎢ Y ⎥ = ⎢ Y ⎥ + ⎢ ΔY ⎥ + ⎢ Y ⎥ .ΔL + ⎢ − ω 0 ω X ⎥⎥.⎢⎢ Y ⎥⎥ (9.4)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ Z
⎢⎣ Z ⎥⎦ S ⎢⎣ Z ⎥⎦ D ⎢⎣ ΔZ ⎥⎦ ⎢⎣ Z ⎥⎦ D ⎢⎣ ωY − ωX 0 ⎥⎦ ⎢⎣ Z ⎥⎦ D

In this equation,
ΔL is the scale difference factor
ωX, ωY, ωZ are the rotations about X, Y, Z datum axis to bring them parallel to
satellite system axis.
 ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

9.3 COORDINATE TRANSFORMATION FROM CENTER

OF THE EARTH TO LOCAL COORDINATE SYSTEM.

Geodetic coordinates Rectangular coordinates Local Rectangular coordinates

(φ, λ, h) ⇒ ( X, Y, Z ) ⇒ (e, n, u)
Z n
u

e
Fig. 9.2
Geodetic and
Local
Coordinate
O . φ Y
Systems λ

X
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

The steps of transformation from Geodetic Coordinate to Local Coordinate using

rotation matrix are as follows ;

STEP 1 : Convert the geodetic coordinate ( φ, λ, h ) to rectangular coordinate ( X, Y, Z )

⎡ X ⎤ ⎡(N + h). cosφ. cosλ ⎤
⎢ Y ⎥ = ⎢ (N + h). cosφ.sin λ ⎥
⎢ ⎥ ⎢ ⎥ Z’
( ( ) )
⎢⎣ Z ⎥⎦ ⎢⎣ N 1 − e + h .sinφ ⎥⎦
2

Z
STEP 2 : Rotate the coordinate about the Y’
Z axis R3(λE)

⎡ X '⎤ ⎡ cosλE sin λE 0⎤

⎢ Y ' ⎥ = ⎢− sin λ cosλ 0⎥
⎢ ⎥ ⎢ E E ⎥
⎢⎣ Z ' ⎥⎦ ⎢⎣ 0 0 1⎥⎦
Y
λE

X’
X
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

STEP 3 : Rotate about the Y axis R2(90-φ)

⎡ X ' '⎤ ⎡cos(90 − φ ) 0 − sin(90 − φ )⎤ ⎡ X '⎤ Z”

⎢Y ' ' ⎥ = ⎢ 0 1 0 ⎥ ⎢Y ' ⎥ Z’
Y’
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢⎣ Z ' ' ⎥⎦ ⎢⎣sin(90 − φ ) 0 cos(90 − φ ) ⎥⎦ ⎢⎣ Z ' ⎥⎦
Y”

X’
X”
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

STEP 4 : Rotate about the Z axis R3(90o)

Z”’=u
⎡ X '"⎤ ⎡e⎤ ⎡ cos90 sin 90o 0⎤ ⎡ X "⎤
o

⎢ Y '" ⎥ = ⎢n⎥ = ⎢− sin 90o cos90o 0⎥ ⎢ Y " ⎥ Z”

⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎢ ⎥ X’”=e
⎢⎣ Z '"⎥⎦ ⎢⎣u⎥⎦ ⎢⎣ 0 0 1⎥⎦ ⎢⎣ Z"⎥⎦
Y”’=n Y”

X”
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

9.4 TRANSFORMATION OF COORDINATES

9.4.1 It would be convenient if all the world used the same spheroid for their surveying
and mapping purposes. Many different spheroid are in used, each one having been
selected to best fit the geoid in the particular area. Normally, regional survey are
conducted wrt to a local datum.
In Malaysia, the Modified Everest Ellipsoid is in used and the satellite positioning system
provides ground coordinates of any point in an earth-centered coordinate system. As for
NAVSTAR GPS, the world wide datum of WGS84 are being used.
In order to relate the coordinates determined by GPS to the local geodetic datum, the
coordinate transformation need to be done. The transformation which are often to be
performed in geodetic computations are :
i. The transformation of the ellipsoidal coordinates ( φ, λ, h ) to their respective
Cartesian Coordinates ( X, Y, Z ) and vice-versa.
ii. The datum transformation of Cartesian Coordinates ( X, Y, Z ) from one datum to
another.
iii. The transformation of ellipsoidal coordinate into a map coordinates on a plane and
vice-versa.
iv The transformation of map coordinates of one coordinate system into another map
coordinate system.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

9.4.2 Transformation of coordinates from WGS84 GPS Datum

to the Peninsular Malaysia MRT94 Datum and vice-versa.

In peninsular Malaysia, the local datum which is Kertau Datum is basically a horizontal
datum other than a 3D datum. The definition of Kertau is incomplete because both geoid
height and value for deflection of vertical are not available.
Basically, there are two different ways to define the transformation between WGS84(GPS)
and the local datum MRT94:

i. To set a condition that the axes of the two ellipsoids (datum) are parallel (with 3
translation parameters)
ii. The axes of the two ellipsoid are not parallel which require the seven parameters
similarity transformation ( with 3 translation, 3 rotation, and a scale factor)

The transformation parameters are determined by the coordinates of coincident points

obtained from GPS satellite and the terrestrial network values. The method of 7
parameters transformation can guarantee the transformed results to be consistent.
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

The matrix representation for the transformation are :

i. WGS84 to Kertau (MRT94) – Parallel Axes.To set a condition that the axes of the
two ellipsoids (datum) are parallel (with 3 translation parameters)
⎡X ⎤ ⎡ ΔX ⎤ ⎡X ⎤
⎢Y ⎥ = ⎢ ΔY ⎥ + (1 + δs )R.⎢ Y ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ Z ⎥⎦ MRT ⎢⎣ ΔZ ⎥⎦ ⎢⎣ Z ⎥⎦ GPS

Where ;

(X, Y, Z )GPS is the coordinates of the point in WGS84 (GPS)

(X, Y, Z )MRT is the coordinates of the point in MRT
ΔX, ΔY, ΔZ are the translation parameters.
δs is the scale factor correction
R is the 3x3 rotation matrix about axis X, axis Y and axis Z.

In matrix form is ;

⎡ cos ω Z sin ω Z 0⎤ ⎡cos ωY 0 − sin ωY ⎤ ⎡1 0 0 ⎤

R = ⎢⎢ − sin ω Z cos ω Z 0⎥⎥.⎢⎢ 0 1 0 ⎥⎥.⎢⎢0 cos ω X sin φ X ⎥⎥
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ sin ωY 0 cos ωY ⎥⎦ ⎢⎣0 − sin ω X cos ω X ⎥⎦
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

i. Kertau (MRT94) to WGS84 – Parallel Axes.

The matrix representation is

⎡X ⎤ ⎛ ⎡X ⎤ ⎡ ΔX ⎤ ⎞
⎢Y ⎥ ⎜ ⎢ ⎥ ⎢ ⎥ ⎟
⎢ ⎥ = R .⎜ ⎢ Y ⎥
T
− ⎢ ΔY ⎥ ⎟ + (1 + δs )
⎢⎣ Z ⎥⎦ GPS ⎜⎢ ⎥ ⎢ ⎥ ⎟
Z Δ
⎝ ⎣ ⎦ MRT ⎣ ⎦ ⎠Z
Note : The computation of rectangular Cartesian coordinates requires the value of geoid
undulation or geoid height ( N ) where ;

N MRT = −3.833 − 2.701U + 17.161V + 0.382 U 2 + 0.980 V 2 − 0.793V 2

− 2.390 UV 2 + 1.455 U 2 V 2

Where ; The transformation parameters are ;

U = K(La-3) : V = K(Lo – 102) Translation : ΔX = 397.77603m

K is a constant = 0.41887902 ΔY = -77538371m
La is the geodetic latitude in degrees ΔZ = 86.60926m
Lo is the geodetic longitude in degrees. Rotation : ωX = 2.59674”
ωY = 2.10212”
ωZ = -12.11377”
ASSOC. PROF. Sr. DR. AZMAN BIN MOHD. SULDI PPSUG, FSPU, UiTM, SHAH ALAM SUG456 GEODESY : TRANSFORMATION

iii. Transformation of local coordinate system (MRT) to State Plan Coordinate System
MRSO and vice-versa.

The Malaysian Rectified Skew Orthomorphic (MRSO) is a coordinates system of

mapping for peninsular Malaysia

a) Coordinates of MRT to MRSO coordinates

The map coordinates, Northing (N) and Easting (E) are computed from the skew
coordinates ( x, y ) by ;

N = 0.6y – 0.8x
E = 0.8y – 0.6x

b) Conversion of MRSO to MRT coordinates.

The conversion begin with the determination of the skew coordinates ( x, y ) from
map coordinates then to MRT ;

x = 0.8N – 0.6E + 482802.360m

y = 0.6N + 0.8E – 643736.481m