09 STPP 2D Coordinate Transformation

2D COORDINATE TRANSFORMATIONS
RM184306 - Transformation System and Map Projection
Ira Mutiara Anjasmara, PhD
Department of Geomatics Engineering

Faculty of Civil, Planning, and Geo Engineering
Institut Teknologi Sepuluh Nopember
Learning Outcomes
Lesson Learning Outcomes Learning Materials
Able to explain the basic concepts Coordinate Transformation

of coordinate transformation and
1. Definition and purpose of coordinate transformation
to distinguish various methods of
coordinate transformation 2. Coordinate transformation parameters (translation,
rotation, scale)
Transformation of 2-dimensional coordinates
1. 2D Conform Transformation
2. 2D Affine Transformation
-IM Anjasmara, 2021-
2D COORDINATE TRANSFORMATIONS 2/45 RM184306 - Transformation System & Map Projection

Coordinate Systems
1. Two-dimensional coordinate systems - used on flat surfaces

• Cartesian: (𝑋, 𝑌 ) or (𝐸, 𝑁 )
• Polar: (𝑟, 𝜙)
2. Three-dimensional coordinate systems
• Cartesian: (𝑋, 𝑌 , 𝑍)
• Spherical (or geocentric ellipsoidal): (𝑟, 𝜙, 𝜆)
• Geodetic or Geographical: (𝜙, 𝜆, ℎ)

2D Cartesian Coordinates
A two-dimensional Cartesian coordinate

system is a coordinate system consisting of
two perpendicular axis (e.g., 𝑋 and 𝑌)
Distance 𝑑 between two points in a 2D
Cartesian coordinate system can be defined
with :
𝑑 = √(𝑥2 − 𝑥1 )2 + (𝑦2 − 𝑦1 )2

2D Cartesian Coordinates
On maps, 𝑋 and 𝑌 are often replaced by

Easting and Northing (𝐸, 𝑁) respectively.
Many map grids are orientated such that

the 𝑌-axis is directly aligned with
geographical north and the 𝑋-axis is
aligned with geographical east.

2D Polar Coordinates
In polar coordinates, the coordinates of a

point are expressed as the distance and angle
from the center of the coordinates.
If 𝑂 is the origin of the coordinates, the
coordinate of point 𝑃 can be defined based on
radius (𝑟) and angle (𝜃) of vector
𝑂𝑃 → (𝑟, 𝜃)
Angle of the vector (𝜃) is positive if it is in the
opposite direction to the clockwise direction
and is negative if it is clockwise.

Transformation between Cartesian and Polar CS
𝑥 = 𝑟 cos 𝜃
𝑦 = 𝑟 sin 𝜃
𝑟 = √𝑥2 + 𝑦2
𝑦
𝜃 = tan−1 ( )
𝑥

Transformation between coordinate systems
• Different applications may have different coordinate systems, e.g., different

origin, orientation, etc.
• Example : Local coordinate system, aerial photographs, satellite images, GIS,
vector digitised maps, UTM coordinates, etc.
• To convert coordinates in one system to coordinates in another it is necessary
to transform them.

Transformation between coordinate systems
Example : Map Coordinates (𝐸, 𝑁 ) transforms into digitizer coordinates (𝑋, 𝑌 )

2D Conformal Transformation
Helmert transformations
These are 2D coordinate transformations, and can be resolved into 3 components.
• Change in scale
• Change in orientation - rotation
• Change of origin - translation
To find the components of the coordinate transformations some common points

are needed. The coordinates of these points must be known in both coordinate
systems.

2D Helmert transformations
1. Change in scale
Scale factor (𝑚) is defined by the following formula :
√(𝑥′𝐵 − 𝑥′𝐴 )2 + (𝑦𝐵

′ − 𝑦 ′ )2
𝐴
𝑚=
√(𝑥𝐵 − 𝑥𝐴 )2 + (𝑦𝐵 − 𝑦𝐴 )2
Therefore
𝑥′ 𝑥
( ′ ) = 𝑆( )
𝑦 𝑦
if there are no origin shifts or rotations
Question: what is the scale factor to convert a 1:50000 map to 1:25000 map?

2. Change in orientation
Rotations can be clockwise or anticlockwise. Here is a clockwise rotation through

an angle 𝛼, which is represented by a 2 × 2 rotation matrix:
𝑥′ cos 𝛼 − sin 𝛼 𝑥
( ′ )=( )( )
𝑦 sin 𝛼 cos 𝛼 𝑦
The above transformation formula is valid in a clockwise positive convention only:


3. Change of origin
All coordinate systems must have an origin, though they don’t often have the same
origin.
The difference between the two origins
can be expressed as:
𝑥′ 𝑥 Δ𝑥
( ′ )=( )+( )
𝑦 𝑦 Δ𝑦
if there are no scale changes or rotations

The matrix equation for all three transformations is:
𝑥′ 𝑚 cos 𝛼 −𝑚 sin 𝛼 𝑥 Δ𝑥
( )=( )( ) + ( )
𝑦′ 𝑚 sin 𝛼 𝑚 cos 𝛼 𝑦 Δ𝑦
When converting from (𝑥, 𝑦) to (𝑥′ , 𝑦′ ), the order these transformations must be
performed in is:
1. find scale change
2. find rotation angle
3. find origin shift
4. use the above formula to find (𝑥′ , 𝑦′ )

Example
You are given the coordinates of two benchmarks (𝐴 and 𝐵) in both local (𝑈 , 𝑉 )
and national (𝑋, 𝑌 ) reference systems. Given the national coordinates of a third
point, 𝐶, find its local coordinates.
𝑈(m) 𝑉(m) 𝑋(m) 𝑌 (m)

𝐴 25 30 1000 2000
𝐵 325 430 1500 2000
𝐶 ? ? 1200 2300

Example
Because we want to find (𝑈𝐶 , 𝑉𝐶 ) from (𝑋𝐶 , 𝑌𝐶 ), the national (𝑋, 𝑌 )system is
the “from” system, while the local (𝑈 , 𝑉 ) system is the “to” system. As a first
step, draw some sketches of the scenario:

Example
It is important to remember with this kind of problem, that you are rotating the
coordinate frame, and not the line (𝐴𝐵) itself. That is …
So, assuming a positive-clockwise convention, the rotation of the (𝑋, 𝑌 ) axes into
the (𝑈 , 𝑉 ) axes is positive. -IM Anjasmara, 2021-

Example: Solution
Step 1: find scale change

√
√(𝑈𝐵 − 𝑈𝐴 )2 + (𝑉𝐵 − 𝑉𝐴 )2
3002 + 4002
𝑆= = √ =1
√(𝑋𝐵 − 𝑋𝐴 )2 + (𝑌𝐵 − 𝑌𝐴 )2 5002 + 02

Example: Solution
Step 2: find rotation angle
Compare the angle between line AB and the vertical (𝑉 or 𝑌) axis in each frame. Since
the line is fixed in real, physical space and cannot move, it must be the coordinate
systems that are moving.
𝑋𝐵 − 𝑋 𝐴 500
Dari XY →𝜃𝑋𝑌 = tan−1 ( ) = tan−1 ( ) = 90∘
𝑌𝐵 − 𝑌𝐴 0
𝑈 − 𝑈𝐴 300
Ke UV →𝜃𝑈𝑉 = tan−1 ( 𝐵 ) = tan−1 ( ) = +36∘ 52′ 11.63″
𝑉𝐵 − 𝑉 𝐴 400
When rotating coordinate axes, always do “Rotation” = “From” − “To”, but you should
always check this by drawing some pictures like the ones above.
Rotation: 𝜃𝑋𝑌 − 𝜃𝑈𝑉 = +53∘ 07′ 48.37″


Example: Solution
Step 3: find origin shift
Δ𝑋 = 𝑈𝐴 − (𝑆𝑋𝐴 cos 𝛼 − 𝑆𝑌𝐴 sin 𝛼) = 1025 m

Δ𝑌 = 𝑉𝐴 − (𝑆𝑋𝐴 sin 𝛼 + 𝑆𝑌𝐴 cos 𝛼) = −1970 m
Do the same using the coordinates of point 𝐵: if you don’t get the same answers
then you have made a mistake in step 1 or step 2.

Example: Solution
Step 4: find local coordinates of point 𝐶
𝑈𝐶 = (𝑆𝑋𝐶 cos 𝛼 − 𝑆𝑌𝐶 sin 𝛼) + Δ𝑋 = −95 m

𝑉𝐶 = (𝑆𝑋𝐶 sin 𝛼 + 𝑆𝑌𝐶 cos 𝛼) + Δ𝑌 = 370 m
These parameters (𝑚, 𝛼, Δ𝑋, Δ𝑌 ) can now be used to transform any number of
coordinates from the national to local grid, or vice versa.

Example: Solution
Step 5: if you want to go the other way, i.e., from the local to the national,
without having to work out new values of (𝑚, 𝛼, Δ𝑋, and Δ𝑌 ) then use the
following formula:
𝑋𝐶 1 cos 𝛼 sin 𝛼 𝑈 − Δ𝑋
( )= ( )( )
𝑌𝐶 𝑆 − sin 𝛼 cos 𝛼 𝑉 − Δ𝑌
Notice the change in the rotation matrix, because we now have to rotate the axes
in an opposite direction.

Exercise - 1
Point Old Coordinate System New Coordinate System

𝑥(m) 𝑦(m) 𝑋(m) 𝑌(m)
A + 121.622 - 128.066 + 1 049 422.400 + 51 089.200
B + 141.228 + 187.718 + 1 049 413.950 + 49 659.300
1 + 175.802 - 120.262 ? ?
2 + 513.520 - 192.130 ? ?
Transform the coordinates of point 1 and 2 from the old coordinate system to the
new coordinate system using the Helmert transformation method.

2D Helmert Transformation
2D Helmert Transformation can be done with the assumptions:

• There is no change of scale between the coordinate systems. Therefore the
scale factor, 𝜆 = 1
• The transformation parameters are: translations (Δ𝑥 and Δ𝑦) and rotation
(𝛼)
• Transformation is performed on a flat surface so the lines between points are
straight lines.

With the defined assumptions, the 2D Helmert transformation only applies to:
• conformal transformation
• small coverage area ( < 50 km perimeter or distance between points <15 km)

𝑥, 𝑦 = coordinates in old coordinate system

𝑋, 𝑌 = coordinates in new coordinate system
𝑋′ , 𝑌 ′ = coordinates in ’intermediate’ coordinate system
Δ𝑥, Δ𝑦 = translantion parameter between the old and new coordinate systems -IM Anjasmara, 2021-

Rotation: (from 𝑥, 𝑦) to (𝑋 ′ , 𝑌 ′ )
If 𝐷 is the distance from the center of the coordinates, then
in system 𝑥, 𝑦 : 𝑥 = 𝐷 sin 𝜔
𝑦 = 𝐷 cos 𝜔
in system 𝑋 ′ , 𝑌 ′ : 𝑋 ′ = 𝐷 sin(𝜔 + 𝛼)
𝑌 ′ = 𝐷 cos(𝜔 + 𝛼)𝑎
or
𝑋 ′ = 𝐷(sin 𝜔 cos 𝛼 + cos 𝜔 sin 𝛼) = 𝐷 sin 𝜔 cos 𝛼 + 𝐷 cos 𝜔 sin 𝛼
𝑌 ′ = 𝐷(cos 𝜔 cos 𝛼 − sin 𝜔 sin 𝛼) = 𝐷 cos 𝜔 cos 𝛼 − 𝐷 sin 𝜔 sin 𝛼
Therefore,
𝑋 ′ = 𝑥 cos 𝛼 + 𝑦 sin 𝛼
𝑌 ′ = −𝑥 sin 𝛼 + 𝑦 cos 𝛼

Translation: (from 𝑋 ′ , 𝑌 ′ ) to (𝑋, 𝑌 )
𝑋 = 𝑋 ′ + Δ𝑥
𝑌 = 𝑌 ′ + Δ𝑦
cos 𝛼 = 𝑎
− sin 𝛼 = 𝑏
If Then
Δ𝑥 = 𝐶1
Δ𝑦 = 𝐶2
𝑋 = 𝑎𝑥 − 𝑏𝑦 + 𝐶1
𝑌 = 𝑏𝑥 + 𝑎𝑦 + 𝐶2

If there is a constant change of scale between coordinate systems (i.e., 𝜆), the
Helmert transformation is defined by using the following parameters.
𝑎 = 𝜆 cos 𝛼 𝑏 = −𝜆 sin 𝛼
𝐶1 = Δ𝑥 𝐶2 = Δ𝑦
𝜆 and 𝜔 are computed using
𝜆 = √𝑎2 + 𝑏2
−𝑏
𝛼 = tan−1 ( )
𝑎
To solve the 2D Helmert transformation formula, at least two (2) common points
are needed. -IM Anjasmara, 2021-

2D Helmert Transformation using Matrix
If there are more than two common points available to define the Helmert
transformation parameters, an adjustment is needed. Here, we are goig to use
Parametric Least Square Adjustment method to do so.
With two common points, the above formula can be presented in matrix form as
follow
𝑥𝐴 −𝑦𝐴 1 0 𝑎 𝑋𝐴
⎡ 𝑥 −𝑦 1 0 ⎤ ⎡ 𝑏 ⎤ ⎡ 𝑌 ⎤
⎢ 𝐵 𝐵 ⎥×⎢ ⎥−⎢ 𝐵 ⎥=0
⎢ 𝑦𝐴 𝑥𝐴 0 1 ⎥ ⎢ 𝐶1 ⎥ ⎢ 𝑋 𝐴 ⎥
⎣ 𝑦𝐵 𝑥𝐵 0 1 ⎦ ⎣ 𝐶2 ⎦ ⎣ 𝑌𝐵 ⎦
𝐴×𝑋−𝐹 =0

2D Helmert Transformation using Matrix
Then, the trasformation parameter matrix can be solved as follow
𝑎
⎡ 𝑏 ⎤
𝑋=⎢ ⎥ = [𝐴𝑇 × 𝐴]−1 × 𝐴𝑇 × 𝐹
⎢ 𝐶1 ⎥
⎣ 𝐶2 ⎦
If the number of common points is 𝑛, the dimension of the matrices are:

• Dimension of matrix 𝐴 ∶ [2𝑛 × 4]
• Dimension of matrix 𝑋 ∶ [4 × 1]
• Dimension of matrix 𝐹 ∶ [2𝑛 × 1]

Exercise - 2
𝐴, 𝐵, and 𝐶 are common points that the coordinates are known in an old and new
coordinate systems as follow:
Points Old Coordinate System New Coordinate System
A 0.000 0.000 - 22 571.826 - 629 103.926
B - 47 872.192 - 82 547.077 - 70 533.576 - 711 559.830
C 48 020.343 -83 415.004 25 338.591 - 712 559.830
1 966.737 1 678.967 ? ?
2 - 40 719.525 - 70 521.340 ? ?
new coordinate system using the Helmert transformation method.

2D Affine Transformation
Affine Transformation
The Affine transformation has the following characteristics:

• Transformation parameters: transtaltions, rotation, scale
• The scaling attribute:
“the scaling factor along the 𝑥 axis ≠ the scaling factor along the 𝑦 axis”
• It is a non conformal transformation ⇒ The shape change is possible after
the transformation
• Only applied for the coverage area up to 36 × 36 km2

Affine Transformation: Basic Formula
The basic formula for First Order Affine transformation is
𝑋 = 𝑎 𝑥 + 𝑏 𝑦 + 𝐶1
𝑌 = 𝑐 𝑥 + 𝑑 𝑦 + 𝐶2
with: 𝑎, 𝑏, 𝑐, 𝑑, 𝐶1 and 𝐶2 are the transformation parameters.

To solve the formula (to gain the transformation parameters) minimum three (3)
common points are needed.

In a matrix form, for n commont points:
𝑥𝐴 𝑦𝐴 0 0 1 0 𝑎 𝑋𝑎
⟮ 0 0 𝑥𝐴 𝑦𝐴 0 1 ⟯ ⟮ 𝑏 ⟯ ⟮ 𝑌 ⟯
⟮ ⟯ ⟮ ⟯ ⟮ 𝑏 ⟯
⟮ 𝑥𝑏 𝑦𝐵 0 0 1 0 ⟯ ⟮ 𝑐 ⟯ ⟮ 𝑋𝐵 ⟯
𝐴=⟮ ⟯; 𝑋 = ⟮ 𝑑 ⟯; 𝐹 = ⟮ 𝑌 ⟯
⟮ 0 0 𝑥𝐵 𝑦𝐵 0 1 ⟯ ⟮ ⟯ ⟮ 𝐵 ⟯
⟮ ⋮ ⋮ ⋮ ⋮ ⟯ ⟮ 𝐶1 ⟯ ⟮ ⋮ ⟯
⟮ n n n n ⟯ ⟮ 𝐶2 ⟯ ⟮ n ⟯
2n×6 6×6 2n×1
𝐴, 𝐵, … n : common points
𝑎, 𝑏, 𝑐, 𝑑, 𝐶1 , 𝐶2 : transformation parameters

If the common points form the matrix 𝐴1 and the obeservation matrix is 𝐹1 , to get
the transformation parameters (matrix 𝑋), the following formula is used:
𝑋 = +[𝐴𝑇1 ⋅ 𝐴1 ]−1 ⋅ 𝐴𝑇1 ⋅ 𝐹1
Then, the coordinates for the points to be transformed is defined using the basic
Affine formula:
𝐹2 = 𝐴2 ⋅ 𝑋
with
𝐴2 : coefficient matrix for the points to be transformed
𝐹2 : coordinates of the transformed points after transformation
𝑋 : transformation parameters matrix

Step by step of Affine transformation
1. Define matrix 𝐴1 and 𝐹1 based on the provided common points. (Matrix 𝐴1

is formed using the coordinates in the old coordinate system, while matrix 𝐹1
is formed using the coordinates in the new system)
2. Compute the transformation parameters (Matrix 𝑋)
3. Define matrix 𝐴2 , using the coordinates of the object points to be
transformed.
4. Compute matrix 𝐹2 to get the coordinates of the onject points in the new
coordinate system.

Example
Point Old Coordinate System New Coordinate System

A 0.000 0.000 - 22 571.826 - 629 103.926
B - 47 872.192 - 82 547.077 - 70 533.576 - 711 576.834
C 48 020.343 - 83 425.004 25 338.591 - 712 559.830
1 966.737 1 678.967 ? ?
2 - 40 719.525 - 70 521.340 ? ?
new coordinate system using the Affine transformation method.

Example: Solution
1. Define Matrix 𝐴1 and 𝐹1
0.000 0.000 0 0 1 0
⎡ 0 0 0.000 0.000 0 1⎤
⎢ ⎥
⎢−47872.192 −82547.077 0 0 1 0⎥
𝐴1 = ⎢
⎢ 0 0 −47872.192 −82547.077 0 1⎥⎥
⎢ 48020.343 −83425.004 0 0 1 0⎥
⎣ 0 0 48020.343 −83425.004 0 1⎦
−22571.826
⎡−629103.926⎤
⎢ ⎥
⎢ −70533.576⎥
𝐹1 = ⎢ ⎥
⎢−711576.834⎥
⎢ 25338.591⎥
⎣−712559.830⎦

Example: Solution
2. Compute Matrix 𝑋
0.999798473
⎡ 0.001201806⎤
⎢ ⎥
⎢−0.00201803⎥
𝑋 = [𝐴𝑇
1 ⋅ 𝐴 1 ]1
⋅ 𝐴 𝑇
1 ⋅ 𝐹 1 = ⎢ 0.999798466⎥
⎢ ⎥
⎢ −22571.826⎥
⎣−629103.926⎦
3. Define Matrix 𝐴2 from the object points (point 1 and 2)

966.737 1678.967 0 1 0 0
⎡ 0 0966.737 1678.967 0 1⎤
𝐴2 = ⎢ ⎥
⎢−40719.525 −70521.340 0 0 1 0⎥
⎣ 0 0 −40719.525 −70521.340 0 1⎦

Example: Solution
4. Compute the transformed coodinates of the object points 𝐹2

𝑋1 −21603.266
⎡ 𝑌 ⎤ ⎡−627426.459⎤
𝐹2 = 𝐴 1 ⋅ 𝑋 = ⎢ 1 ⎥ = ⎢ ⎥
⎢𝑋2 ⎥ ⎢ −63367.898⎥
⎣ 𝑌2 ⎦ ⎣−699562.117⎦

Exercise - 3
Points Old system(m) New system(m)

𝑥 𝑦 𝑋 𝑌 Dari data pada tabel di samping:
1 -21.420 0.930 -113.000 0.003
2 -12.490 102.585 -103.982 103.963
3 90.590 112.660 0.001 112.993 a. Tentukan koordinat titik 32,
7 90.605 -113.115 0.001 -112.999 22, 12, 13, 23, dan 33
8 -12.470 -104.040 -103.948 -103.961 dalam sistem koordinat 𝑋𝑌.
32 16.990 -91.715
22 -6.520 -1.995 b. Cari ketelitian dari
12 6.095 90.365 masing-masing parameter
13 85.635 97.005 transformasi.
23 92.225 -2.035
33 90.510 -95.620

09 STPP 2D Coordinate Transformation

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2D COORDINATE TRANSFORMATIONS

RM184306 - Transformation System and Map Projection

Ira Mutiara Anjasmara, PhD

Department of Geomatics Engineering

Lesson Learning Outcomes Learning Materials

Able to explain the basic concepts Coordinate Transformation

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 2/45 RM184306 - Transformation System & Map Projection

1. Two-dimensional coordinate systems - used on flat surfaces

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 3/45 RM184306 - Transformation System & Map Projection

A two-dimensional Cartesian coordinate

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 4/45 RM184306 - Transformation System & Map Projection

On maps, 𝑋 and 𝑌 are often replaced by

Many map grids are orientated such that

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 5/45 RM184306 - Transformation System & Map Projection

In polar coordinates, the coordinates of a

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 6/45 RM184306 - Transformation System & Map Projection

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 7/45 RM184306 - Transformation System & Map Projection

• Different applications may have different coordinate systems, e.g., different

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 8/45 RM184306 - Transformation System & Map Projection

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 9/45 RM184306 - Transformation System & Map Projection

These are 2D coordinate transformations, and can be resolved into 3 components.

To find the components of the coordinate transformations some common points

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 11/45 RM184306 - Transformation System & Map Projection

Scale factor (𝑚) is defined by the following formula :

√(𝑥′𝐵 − 𝑥′𝐴 )2 + (𝑦𝐵

2D COORDINATE TRANSFORMATIONS 12/45 RM184306 - Transformation System & Map Projection

Rotations can be clockwise or anticlockwise. Here is a clockwise rotation through

The above transformation formula is valid in a clockwise positive convention only:

2D COORDINATE TRANSFORMATIONS 13/45 RM184306 - Transformation System & Map Projection

if there are no scale changes or rotations

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 14/45 RM184306 - Transformation System & Map Projection

The matrix equation for all three transformations is:

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 15/45 RM184306 - Transformation System & Map Projection

𝑈(m) 𝑉(m) 𝑋(m) 𝑌 (m)

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 16/45 RM184306 - Transformation System & Map Projection

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 17/45 RM184306 - Transformation System & Map Projection

2D COORDINATE TRANSFORMATIONS 18/45 RM184306 - Transformation System & Map Projection

Step 1: find scale change

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 19/45 RM184306 - Transformation System & Map Projection

Rotation: 𝜃𝑋𝑌 − 𝜃𝑈𝑉 = +53∘ 07′ 48.37″

2D COORDINATE TRANSFORMATIONS 20/45 RM184306 - Transformation System & Map Projection

Step 3: find origin shift

Δ𝑋 = 𝑈𝐴 − (𝑆𝑋𝐴 cos 𝛼 − 𝑆𝑌𝐴 sin 𝛼) = 1025 m

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 21/45 RM184306 - Transformation System & Map Projection

Step 4: find local coordinates of point 𝐶

𝑈𝐶 = (𝑆𝑋𝐶 cos 𝛼 − 𝑆𝑌𝐶 sin 𝛼) + Δ𝑋 = −95 m

-IM Anjasmara, 2021-

2D COORDINATE TRANSFORMATIONS 22/45 RM184306 - Transformation System & Map Projection