Lecture 6 - Adjustment of Horizontal Surveys

LEAST SQUARES ADJUSTMENT
OF HORIZONTAL SURVEYS
Lecturer: Mphatso Soko;
Bsc (Surveying), Msc (Geomatics Engineering)
Department of Land Surveying and Physical Planning
School of Built Environment
LEAST SQUARES ADJUSTMENT OF HORIZONTAL SURVEYS
Outline
✓Introduction
✓Linearization of Distance, Azimuth and Angle Observation Equations
Using First-Order Tailor Series Approximation
✓Trilateration Adjustment
✓Triangulation Adjustments: Intersection and Resection
✓Adjustment of Traverses and Horizontal Networks (2D)
✓Practice Questions
Introduction
✓Purpose of performing Horizontal Surveys is to determine
precise relative horizontal positions of points.
✓Traditionally they have been accomplished by trilateration,
triangulation, and traverse.
✓These traditional types of surveys involve making distance,
direction, and angle observations.
✓As with all types of surveys, errors will occur in making these
observations, and thus they must be analyzed and, if acceptable,
adjusted.
Linearization of Distance Observation Equation
✓Observation equation relate observed quantities and their inherent random
errors to the MPVs for the x and y coordinates
✓Distance Observation equation
✓Non-linear function involving unknow parameters (coordinates)
✓Can be re-written as
✓Linearized and solved using Tailor series approximation

Substituting the partial derivatives, the Linearized distance observation
equation is obtained
Linearization of Azimuth Observation Equation
✓Parametric form of Azimuth equation : azimuth = α + C, where, α=
And C is the constant that depends on quadrant of I and J
To determine the partial derivatives requires the prototype equation for the
derivative of tanˉ¹ u with respect to x, which is
the procedure for determining the ∂F/∂xi is demonstrated as follows

Employing same procedure
Substituting, Prototype Equation

Linearization of the Angle Observation Equation
Angle is the difference between 2 Azimuths
For Clockwise angle
where θbif is the observed clockwise angle, νθ the residual in the observed angle,
xb and yb the most probable values for the coordinates of the backsight station B.
Using First-Order Tailor series expansion

Substituting
Trilateration Adjustment
✓When one end of the observed line is a control station, its coordinates are fixed, and thus
those terms can be dropped in prototype equation for distance. This can be thought of as
setting the dx and dy corrections for the control station equal to zero
✓Using appropriate substitutions
Where
. In Matrix Form
Trilateration Adjustment
✓In Matrix Form
If procedure is followed, Jacobian Matrix

Trilateration Adjustment Example
✓To clarify the computational procedure, a numerical example for figure is
presented. Suppose that the observed distances lAU , lBU , and lCU are 6049.00,
4736.83, and 5446.49 ft, respectively, and the control stations have
coordinates in units of feet of
xa = 865.40 xb = 2432.55 xc = 2865.22
ya = 4527.15 yb = 2047.25 yc = 27.15
Compute the Most Probable Coordinates for station U

SOLUTION Perform the first iteration.
Step 1: Calculate approximate coordinates for station U .
(a) Calculate azimuth AB from the coordinate values of stations A and B.
(b) Calculate the distance between stations A and B from their coordinate values.
Step 1: Calculate approximate coordinates for station U .
(c) Calculate azimuth AU0 using the law of cosines in triangle AUB
(d) Calculate the coordinates for station U .

Step 3: Formulate the matrices. The elements of the Jacobian matrix

The elements of the K matrix are
K1 = 6049.00 − 6049.00 = 0.000
k2 = 4736.83 − 4736.83 = 0.000
k3 = 5446.49 − 5446.298 = 0.192
Step 4: The matrix Solution
Triangulation Adjustments
❑Preferred method for extending horizontal control over long
distances prior to development of EDM and GNSS.
❑Positions of widely spaced stations were computed from observed
angles & a minimal number of observed distances called baselines.
❑Method still being used by Surveyors in establishing horizontal
control, although triangulateration surveys are in common.
❑LSA of triangulation can use conditional equations or
observation equations written in terms of either azimuths or
angles.
❑We present the method of Observation equation.
❑Procedure involves a parametric adjustment where
parameters are coordinates in a plane rectangular system.
Recall Azimuth and Angle Linearized equations
Recall Azimuth and Angle Linearized equations
Triangulation Adjustments: Intersection Example

Using the method of least squares, compute the most
probable coordinates of station U in the figure. The
following equally weighted horizontal angles were
observed from control stations R, S, and T:
Step 1 : Determine initial approximations for the coordinates of station U.
Step 2 : Formulate the linearized equations. Form J & K Matrices.
Step 3 : Matrix solution to compute corrections
Step 4 : Add the corrections to the initial coordinates for station U.
Step 5 : Repeat steps 2 through 4 until negligible corrections occur.
Step 6 : Compute post-adjustment statistics. The residuals for the angles
--Reference standard deviation for the adjustment.
--Estimated errors for the adjusted coordinates
--Estimated error in the position of station U.
Step 1: Determine initial approximations for the coordinates of station U
(a) Using the coordinates of stations R and S, the distance RS is computed
(b) From the coordinates of stations R and S, the azimuth of the line between
R and S is determined using Equation above, Then the initial azimuth of
line RU is computed by subtracting θ1 from the azimuth of line RS
(c) Using the law of sines with triangle RUS, an initial length for RU0 can be
calculated
(d) Using the azimuth and distance for RU0 computed in steps 1(b) and (c),
initial coordinates for station U are computed
(e) Using the appropriate coordinates, the initial distances for SU and TU are
calculated

Step 2: Formulate the linearized equations. As in the trilateration adjustment,
control station coordinates are held fixed during the adjustment by assigning zeros to their
dx and dy values. Thus, these terms drop out of angle prototype equation. In forming the
observation equations, b, i, and f are assigned to the backsight, instrument, and foresight
stations, respectively, for each angle. For example, with angle θ1, B, I, and F are replaced
by U, R, and S, respectively. Four observation equations written for 4 angles

Step 2: Formulate the linearized equations.
Substituting the appropriate values into Equations and multiplying the left side of the
equations by ρ to achieve unit consistency, the following J and K matrices are formed

Step 3: Matrix Solution.
dxu = −0.62, dyu = −0.11


Step 4: Add the corrections to the initial coordinates for station U.
Step 5: Repeat steps 2 through 4 until negligible corrections occur. The next iteration
produced negligible corrections


The reference standard deviation for the adjustment is computed using
Equation
✓ The estimated errors for the adjusted coordinates of station U
✓ The estimated error in the position of station U is given by

Triangulation Adjustments: Resection

Practice Question
The following data are obtained for Figure 15.4. Control
stations P, Q, R, and S have the following (x, y) coordinates: P
(1303.599, 1458.615), Q (1636.436, 1310.468), R (1503.395,
888.362), and S (1506.262, 785.061). The observed values for
angles 1, 2, and 3 with standard deviations are as follows:
Compute the most

probable coordinates of
station U
Adjustment of Traverses and Horizontal Networks (2D)
❑ Distance, angle, and direction observations are adjusted
simultaneously.
❑Adjusted observations satisfy all geometrical conditions for the
traverse and also provide the most probable values for the given
set of data.
❑The observations can be weighted rigorously based on their
estimated errors and adjusted accordingly.
❑Traverse adjusted by least squares using observation equations or
conditional.
❑We employ the parametric observation equation
approach.
❑An observation equation is written for each
distance, direction, or angle.
❑Recall the necessary linearized observation
equations developed previously for each quantity.
❑Recall the necessary linearized observation equations
developed previously for each quantity.
Redundant Equations Adjustment of Traverses and Horizontal Networks (2D)
❑One observation can be written for

each angle, distance or direction in a
closed traverse.
❑Thus, if there are n sides in the
traverse, there are n distances and n +
1 angles, assuming that one angle
exists for orientation of the traverse.
❑E.g. each closed traverse in the figure
has 4 sides, 4 distances, and 5 angles.
Polygon & Link Traverses
Numerical Example
❑Given the following Observation Data for the
Link Traverse.
Distance (m) Angle
Simple Link Traverse

Step 1 : Calculate initial approximations for the unknown station coordinates.

Step 2 : Formulate the X and K matrices. Note 1st and 3rd observations were used to
compute initial approximations for station U, their K-matrix values will be zero in first
iteration.
Step 3 : Calculate the Jacobian matrix.
Step 4 : Formulate the W matrix.
Step 5 : Solve the matrix system.
Step 6 : Compute the a posteriori adjustment statistics.
Step 2: Formulate X and K Matrices

Step 3: Calculate Jacobin Matrix

Step 4: Formulate the W matrix
Step 5: Solve the matrix system

References
Ghilani, C. D. & Wolf, P. (2006). Adjustment Computation –Spatial Data
Analysis (4th edition). John Wiley & Sons. London.
END OF LECTURE
THANK YOU

Lecture 6 - Adjustment of Horizontal Surveys

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LEAST SQUARES ADJUSTMENT

Linearization of Distance Observation Equation

the procedure for determining the ∂F/∂xi is demonstrated as follows

Substituting, Prototype Equation

Using First-Order Tailor series expansion

If procedure is followed, Jacobian Matrix

Compute the Most Probable Coordinates for station U

(d) Calculate the coordinates for station U .

Step 3: Formulate the matrices. The elements of the Jacobian matrix

Triangulation Adjustments: Intersection Example

Triangulation Adjustments: Intersection Example

Triangulation Adjustments: Intersection Example

Triangulation Adjustments: Intersection Example

dxu = −0.62, dyu = −0.11

Triangulation Adjustments: Intersection Example

Triangulation Adjustments: Intersection Example

Triangulation Adjustments: Intersection Example

✓ The estimated errors for the adjusted coordinates of station U

✓ The estimated error in the position of station U is given by

Triangulation Adjustments: Resection

Compute the most

❑One observation can be written for

Simple Link Traverse

Step 1 : Calculate initial approximations for the unknown station coordinates.

Adjustment of Traverses and Horizontal Networks (2D)

Step 2: Formulate X and K Matrices

Adjustment of Traverses and Horizontal Networks (2D)

Step 3: Calculate Jacobin Matrix

Step 5: Solve the matrix system

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