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Vermeille (2002 2004) - Transformação de Coordenadas
Vermeille (2002 2004) - Transformação de Coordenadas
DOI 10.1007/s00190-002-0273-6
1 Notation Z
sin u ¼ ð6Þ
kn
a, b, e = semi-major axis, semi-minor axis, eccen- After substitution of sin u from Eq. (6) into Eq. (4)
tricity of reference ellipsoid squared, we extract n
X , Y , Z = Cartesian geocentric coordinates rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
k, u, h = geodetic longitude, geodetic latitude, geo- Z2
detic height n ¼ a2 þ e 2 2 ð7Þ
k
Squaring Eqs. (1) and (2) and replacing h by its value
given by Eq. (5), we obtain
2 Description of the method
X 2 þ Y 2 ¼ ðh þ nÞ2 cos2 u ¼ ðk þ e2 Þ2 n2 cos2 u
The geocentric coordinates are related to the geodetic
coordinates by the following formulae (see Fig. 1): i.e.
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
X ¼ ðh þ nÞ cos u cos k ð1Þ X2 þ Y2
cos u ¼ ð8Þ
ðk þ e2 Þn
Y ¼ ðh þ nÞ cos u sin k ð2Þ
X 2 þ Y 2 ¼ ðk þ e2 Þ2 n2 ð1 sin2 uÞ
2
Z ¼ ðh þ n e nÞ sin u ð3Þ
In this equation, by replacing sin u by Eq. (6) and n by
where Eq. (7), we obtain
a X2 þ Y2 ð1 e2 Þ Z 2
n ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð4Þ þ ¼ a2 ð9Þ
1 e2 sin2 u ðk þ e2 Þ 2 k2
452
u
¼1þmþt ð13Þ
r
Equation (12) becomes
t3 þ 3ðmt 1Þðm þ tÞ 2ð1 þ sÞ þ m3 ¼ 0
We may always impose the condition mt ¼ 1, then after
multiplying the previous equation by t3 , the equation is
reduced to
t6 2ð1 þ sÞt3 þ 1 ¼ 0
whence
Our aim is to solve k from this expression. When we
have solved k, h can be computed with Eqs. (5), (7) and qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
3
(9) and u with Eqs. (6) and (8). Now, if we write t ¼ 1 þ s þ sð2 þ sÞ
X2 þ Y2 On account of Eq. (13) and since we have imposed
p¼
a2 mt ¼ 1, then u results in
1 e2 2
q¼ Z 1
a2 u¼r 1þtþ
t
from Eq. (9) we deduce an algebraic equation of degree
4 in k For this value of u, Eq. (11) is verified and if we let
k 4 þ 2e2 k 3 ðp þ q e4 Þ k 2 2e2 q k e4 q ¼ 0 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
v ¼ u2 þ e4 q
Whatever the parameter u is, the above equation may be
and substitute the term p þ q 2u of the expression
rewritten as
between square brackets in Eq. (10) by its value
extracted from Eq. (11), we obtain
ðk 2 þ e2 k uÞ2 ½ðp þ q 2uÞ k 2
qu 2
þ 2e2 ðq uÞ k þ u2 þ e4 q ¼ 0 ð10Þ ðk 2 þ e2 k uÞ2 e2 kþv ¼0
v
The expression between square brackets will be a perfect i.e.
square if its discriminant is null, i.e. if
vuþq 2 uþvq 2
e4 ðq uÞ2 ðu2 þ e4 qÞ ðp þ q 2uÞ ¼ 0 ð11Þ k2 þ e k þ v u k2 þ e kuv
v v
or, after expansion ¼0
2u3 ðp þ q e4 Þ u2 e4 p q ¼ 0
Since v u, v and q are positive, with reference to the
Let us introduce two new parameters r and s first expression between brackets in the above equation,
the result cannot be null for a positive value of k. Let us
p þ q e4 write
r¼
6
4p q
uþvq
s¼e 3 w ¼ e2
4r 2v
then the previous equation in u is reduced, after division Therefore the second expression between brackets will
by 2r3 , to be null if
u3 u2 k 2 þ 2wk u v ¼ 0
3
3 2 2s ¼ 0 ð12Þ
r r Since u þ v is positive, the only positive solution of this
This is an equation of degree 3 in u=r which, since s is equation of degree 2 in k is
positive, has one unique real root which, in addition, is pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
positive. Let us write this root in the form k ¼ u þ v þ w2 w
453
Table 1.
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
X2 þ Y2 Z uarticle harticle uBowring hBowring
m m deg m deg m
00 000 000.000 )6 359 593.314 )90.000 000 000 00 002 841.000 (See note) (See note)
05 442 896.133 03 313 081.153 31.500 000 000 )0 000 394.000 31.500 000 000 )0 000 394.000
26 578 137.000 00 000 000.000 00.000 000 000 20 200 000.000 00.000 000 000 20 200 000.000
26 477 160.722 02 312 729.964 05.000 000 000 20 200 000.000 05.000 000 002 20 200 000.000
26 174 989.441 04 607 941.737 10.000 000 000 20 200 000.000 10.000 000 018 20 200 000.002
25 673 890.779 06 868 244.851 15.000 000 000 20 200 000.000 15.000 000 057 20 200 000.007
24 977 627.324 09 076 503.683 20.000 000 000 20 200 000.000 20.000 000 120 20 200 000.020
24 091 431.413 11 215 963.350 25.000 000 000 20 200 000.000 25.000 000 203 20 200 000.044
23 021 969.796 13 270 373.735 30.000 000 000 20 200 000.000 30.000 000 293 20 200 000.078
21 777 298.135 15 224 110.924 35.000 000 000 20 200 000.000 35.000 000 375 20 200 000.122
20 366 805.351 17 062 295.288 40.000 000 000 20 200 000.000 40.000 000 431 20 200 000.168
18 801 147.859 18 770 905.389 45.000 000 000 20 200 000.000 45.000 000 451 20 200 000.209
17 092 173.807 20 336 886.789 50.000 000 000 20 200 000.000 50.000 000 431 20 200 000.238
15 252 837.537 21 748 254.818 55.000 000 000 20 200 000.000 55.000 000 374 20 200 000.248
Note – The calculator cannot evaluate arctanð1Þ ¼ 90 deg and even with this value of u, h is indeterminate. Bowring (1985) has given a
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
better expression for h, correct for every u, namely h ¼ R cos u þ Z sin u a 1 e2 sin2 u: For u ¼ 90 deg, this formula gives
h ¼ 2841:000 m:
454
Next, we compute the geodetic coordinates k, u and h by using Eqs. (1)–(4). With these values as initial data, we
next applied the present algorithm and Bowring’s
Y formulae in order to recover the known values of u
k ¼ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
X þ X2 þ Y2 and h. The computation was carried out with
Z a ¼ 6 378 137 m and e ¼ 0:081819191. The first line of
u ¼ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
D þ D2 þ Z 2 the table corresponds to the South Pole at the height of
k þ e 1 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 ffi 2841 m and the second, to a point in the Dead Sea
h¼ D2 þ Z 2 depression of height 394 m and latitude 31:5 deg
k North. The remaining lines correspond to points at the
constant height of 20 200 km, with latitudes taken every
5 degrees from 0 to þ55 deg.
4 Conclusion All the computations have been performed with a HP
32 SII, 12-digit scientific calculator.
In Table 1 we give some results obtained with both the Borkowski (1987), (1989), Heikkinen (1982) and
above method and the approximation formulae of Lapaine (1991) have proposed their own solutions
Bowring (1976), namely based also on an equation of degree 4. The resulting
formulae are more complicated than the method
Z þ be0 2 sin3 h described here.
tan u ¼
R ae2 cos3 h
R a
h¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
cos u References
1 e2 sin2 u
Received: 4 December 2003 / Accepted: 15 December 2003 / Published online: 21 June 2004
Abstract. A closed-form algebraic method to transform 1
geocentric coordinates to geodetic coordinates has pre- u¼r 1þtþ
t
viously been proposed. The validity domain of latitude
and height formulae in the vicinity of the Earth’s core is pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
v¼ u 2 þ e4 q
specified. A new expression of longitude is proposed,
excluding indetermination and sensitivity to round-off
error around the 180 degrees longitude discontinuity. uþvq
w ¼ e2
2v
Key words: Coordinate transformation – Geocentric pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
k¼ u þ v þ w2 w
coordinates – Geodetic coordinates
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
k X2 þ Y2
D¼
k þ e2
1 Notation k þ e2 1 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi
h¼ D2 þ Z 2
k
a, e semi-major axis, eccentricity of reference
ellipsoid Z
X , Y , Z Cartesian geocentric coordinates u ¼ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
h, u, k geodetic height, geodetic latitude, geodetic D þ D2 þ Z 2
longitude
In a previous paper (Vermeille 2002), we have supposed
s positive to solve an equation of degree 3 in u=r. This
2 Validity domain of geodetic height and geodetic latitude defines the validity domain of height and latitude: from
Eq. (4), as p and q are positive, we conclude that r must
The geodetic coordinates h and u can be computed from be positive. Then Eq. (3) gives, from Eq. (1) and Eq. (2)
the geocentric coordinates by the following sequence of
algebraic formulae (Vermeille 2002): X 2 þ Y 2 þ ð1 e2 ÞZ 2 > a2 e4
X2 þ Y2 Since
p¼ ð1Þ
a2 X 2 þ Y 2 þ ð1 e2 ÞZ 2 > ð1 e2 ÞðX 2 þ Y 2 þ Z 2 Þ
1 e2 2
q¼ Z ð2Þ a sufficient condition for r > 0 is
a2
p þ q e4 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ae2
r¼ ð3Þ X 2 þ Y 2 þ Z 2 > pffiffiffiffiffiffiffiffiffiffiffiffiffi
6
1 e2
4 pq
s¼e 3 ð4Þ
4r The height and latitude formulae will be valid if the
distance between the point X ; Y ; Z and the origin, the
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
3 centre of the Earth, is greater than 43 km. In practice,
t¼ 1 þ s þ sð2 þ sÞ this is always true.
95
p X uþvq
k¼ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð6Þ w ¼ e2
2 X þ Y2 þ Y
2
2v ffi
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
where k is continuous from p=2 to 3p=2. k ¼ u þ v þ w2 w
In the same manner, when Y < 0 we write Eq. (5) as pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
k X2 þ Y2
D¼
p Y k þ e2
k ¼ þ 2 arctan 1 þ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 X þ X2 þ Y2 k þ e2 1 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ffi
h¼ D2 þ Z 2
i.e. k
Z
p X u ¼ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
k ¼ þ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð7Þ D þ D2 þ Z 2
2 X þ Y2 Y
2
Next, if we have not both X and Y ¼ 0
where k is continuous from 3p=2 to p=2.
In Eqs. (6) and (7), when X < 0 and Y ’ 0 a round- when Y 0
off error may produce a value of arctan slightly less than
p X
p=4. Then Eqs. (6) and (7) return a value of k slightly k¼ 2 arctan pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
exceeding p without discontinuity between p and þp. 2 X þ Y2 þ Y
2