Matrix form

Observation equations X Y Z
[A] (6*3) * [X]
X + v1 = 7.67 1 0 0
Y + v2 = 13.985 0 1 0
Z + v3 = 7.995 0 0 1 X
X+Y+ v4 = 21.658 1 1 0 * Y
Y+Z + v5 = 21.979 0 1 1 Z
X +Y+Z + v6 = 29.65 1 1 1

[ At ] (3x6)
1 0 0 1 0
0 1 0 1 1
0 0 1 0 1

[ AtA ] (3x6)*(6*3)=(3x3)
3 2 1
2 4 2
1 2 3

[ (AtA)-1 ] Covariance matrix

0.5 -0.25 0
-0.25 0.5 -0.25 X=
0 -0.25 0.5
 Precision: Standard deviation

[L] [V] [ AX ] (6x3)(3x1)=(6x1) [V]

7.67 v1 7.671 0.001
13.985 v2 13.9855 0.0005
7.995 v3 7.994 -0.001
= -
21.658 v4 21.6565 -0.0015
21.979 v5 21.9795 0.0005
29.65 v6 29.6505 0.0005

[ AtL](3x6)(6x1)=(3x1) m= 6
1 58.978 n= 3
1 87.272 r= 3
1 59.624
[ Vt ]
0.001 0.0005 -0.001 -0.0015 0.0005

[ VtV ] (1x6)(6x1)=(1x1)
5E-06

(3x3)(3x1)=(3x1) so= 0.001291 m 1.29 mm

X 7.671
Y = 13.9855 sX= 0.000913 m 0.91 mm
Z 7.994
sy= 0.000913 m 0.91 mm

sz= 0.000913 m 0.91 mm

 0.001
0.0005
-0.001
-0.0015
0.0005
0.0005

0.0005
 ECUACIONES DE OBSERVACIO

DH2A=-9,169 m H(A) =
H(A) =
DH4B=-2.202 m H(B) =
H(B) =
H(B) =
DH1A=+10,997 m
DHAB=+3,532 m DH3B=+4.858 m [A]
H(A)
1
1
-1
0
0

[ At ]
1
0

[ AtW ]
0.25
0

[ AtWA ]
4.5
-4

[ (AtWA)-1 ] : Covariance mat

0.545455
0.363636
ECUACIONES DE OBSERVACION

796.229 + v1 H(A) = 796.229 + v1

796.241 + v2 H(A) = 796.241 + v2
H(A) + 3.532 + v3 -H(A) + H(B) = 3.532 + v3
799.739 + v4 H(B) = 799.739 + v4
799.728 + v5 H(B) = 799.728 + v5

H(B) [L] [V] [W]

0 [X] 796.229 v1 0.25 0
0 X 796.241 v2 0 0.25
1 * Y = 3.532 + v3 0 0
1 799.739 v4 0 0
1 799.728 v5 0 0

[ AtWL ] (2x5)(5x1)=(2x1)
1 -1 0 0 383.9895
0 1 1 1 1613.595

(2x5)(5x5)=(2x5) [ X ] (2x2)((2x1)=(2x1)
0.25 -4 0 0 796.2106
0 4 1 1 799.7396

(2x5)(5x2)=(2x2) PRECISION METRICS

-4 [ AX ] (5X2)(2X1)=(5X1)
6 796.2106
796.2106
[ (AtWA)-1 ] : Covariance matrix 3.528955
0.363636364 799.7396
0.409090909 799.7396

[ Vt ]
-0.018364 -0.030364 -0.003045 0.000591

so = 0.012736 m 0.013

sX= 0.009406 m 0.009

sy= 0.008146 m 0.008

 0 0 0
0 0 0
4 0 0
0 1 0
0 0 1

[V]
-0.018364 -0.018364
-0.030364 -0.030364
-0.003045 -0.003045
0.000591 0.000591
0.011591 0.011591

[ VtW ] (1x5)(5x5)=(1x5)
0.011591 r= 3 -0.004591 -0.007591 -0.012182 0.000591 0.011591

m [ VtWV ] (1x5)(5x1)=(1x1)
0.000487
m