Professional Documents
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1 Datum
Reykjavik
European Vertical
Reference System (EVRS)
Kronstadt
Malin Head
Aarhus
Belfast
Amsterdam
Newlyn
Oostende
Marseille
Genoa
Ajaccio
Cascais
Constana
Trieste
Durrs
Antalya
Alicante
Cagliari
Piraeus
Heraklion
GEODETIC COORDINATES
Larnaca
3
Geodetic Reference System 1980 (GRS80)
see GDA Technical Manual document for more details;
the value given above for the attening is not exact.
World Geodetic System 1984 (WGS84)
The Global Positioning System (GPS) uses the World
Geodetic System 1984 (WGS84) to determine the location of a point near the surface of the Earth.
see The ocial World Geodetic System 1984 document
for more details.
A more comprehensive list of geodetic systems can be
found here
3
3.1
North
Up
East
3.2
Y ecef
X ecef
Australian Geodetic Datum 1966 [AGD66] and Australian Geodetic Datum 1984 (AGD84)
The earth-centered earth-xed (ECEF or ECF) or conventional terrestrial coordinate system rotates with the
Australian National Spheroid (ANS)
Earth and has its origin at the centre of the Earth. The
X axis passes through the equator at the prime meridian.
Geocentric Datum of Australia 1994 (GDA94)
The Z axis passes through the north pole but it does not
exactly coincide with the instantaneous Earth rotational
GDA94 uses the parameters dened by GRS80 (see be- axis.[3] The Y axis can be determined by the right-hand
low)
rule to be passing through the equator at 90 longitude.
4.2
CONVERSION CALCULATIONS
4.3
e2 N () = 0,
cos sin
Conversion calculations
where p =
X2 + Y 2 .
Datum conversion is the process of converting the co- The orthogonality of the coordinates is conrmed via difordinates of a point from one datum system to another. ferentiation:
Datum conversion may frequently be accompanied by a
change of grid projection.
dE
sin sin cos cos cos
dX
dY = cos sin sin cos sin dN ,
5.1 Geodetic to/from ECEF coordinates
dU
0
cos
sin
dZ
dE
(N () + h) cos
0
0
d
5.1.1 From geodetic to ECEF
dN =
0
M () + h 0d,
dU
0
0
1
dh
Geodetic coordinates (latitude , longitude , height
h ) can be converted into ECEF coordinates using the
where
following formulae:
X = (N () + h) cos cos
Y = (N () + h) cos sin
(
)
Z = N ()(1 e2 ) + h sin
M () = (
a(1 e2 )
)3/2
1 e2 sin2
where
N () =
a
1 e2 sin2
The conversion of ECEF coordinates to geodetic coordia and e are the semi-major axis and the rst numerical nates (such WGS84) involves a little more trigonometry
but is sensitive to small accuracy due to Rn and h being
eccentricity of the ellipsoid respectively.
[4][5]
but longitude is same as geocenN () is called the Normal and is the distance from maybe 10^6 apart,
tric,
.
the surface to the Z-axis along the ellipsoid normal (see
"Radius of curvature on the Earth"). The following equa- There are several methods that solve the equation, two are
tion holds:
shown.
5.2
NewtonRaphson method The following Bowrings To convert from local ENU coordinates to geodetic coirrational geodetic-latitude equation[6] is ecient to be ordinates is a two-stage process
solved by NewtonRaphson iteration method:[7]
1. Convert local ENU coordinates to ECEF coordinates
e2 a
2. Convert ECEF coordinates to geodetic coordinates
1
= 0,
p2 + (1 e2 )z 2 2
where =
p
z
To transform from ECEF coordinates to the local coordinates we need a local reference point, typically this
h = e ( 0
might be the location of a radar. If a radar is located
(
)1
at {Xr , Yr , Zr } and an aircraft at {Xp , Yp , Zp } then the
0 = 1 e2
.
vector pointing from the radar to the aircraft in the ENU
The iteration can be transformed into the following cal- frame is
culation:
x
sin r
cos r
0
Xp Xr
(
)
(
)
y = sin r cos r sin r sin r cos r Yp Yr
p2 + 1 e2 z 2 3i
ci + 1 e2 z 2 3i
=
1+
,
i+1 =
z
cos r cos r
cos r sin r
sin r
Zp Zr
ci p2
ci p2
Note: is the geodetic latitude. A prior version of this
3/2
(p2 +(1e2 )z2 2i )
page showed use of the geocentric latitude ( ). The
where ci =
.
ae2
geocentric latitude is not the appropriate up direction for
0 is a good starter for the iteration when h 0 . the local tangent plane. If the original geodetic latitude
Bowring showed that the single iteration produces the suf- is available it should be used, otherwise, the relationship
ciently accurate solution. He used extra trigonometric between geodetic and geocentric latitude has an altitude
functions in his original formulation.
dependency, and is captured by:
2
Ferraris solution
equation:
) p2 + z 2 2 ,
= (1 e2 )z 2 /a2 ,
= (p2 /a2 + e4 )/6,
s = e4 p2 /(4a2 ),
3
t = 3 + s + s(s + 23 ),
u = + t + 2 /t,
v = u2 + e4 ,
tan =
Zr
N ()(1 f )2 + h
=
tan
N () + h
Xr2 + Yr2
w = e2 (u + v )/(2v),
= 1 + e2 ( u + v + w2 + w)/(u + v).
Yr
Xr
Note: Unambiguous determination of and requires
knowledge of which quadrant the coordinates lie in.
5.2
tan =
To convert from geodetic coordinates to local ENU co- This is just the inversion of the ECEF to ENU transforordinates is a two-stage process
mation so
X
sin sin cos cos cos x
Xr
2. Convert ECEF coordinates to local ENU coordi- Y = cos sin sin cos sin y + Yr
nates
Z
0
cos
sin
z
Zr
1. Convert geodetic coordinates to ECEF coordinates
9 SEE ALSO
Reference datums
7 Engineering datums
An engineering datum used in geometric dimensioning
and tolerancing is a feature on an object used to create a
reference system for measurement.[11]
8 Examples
Examples of map datums are:
WGS 84, 72, 64 and 60 of the World Geodetic System
NAD83, the North American Datum which is very
similar to WGS84
NAD27, the older North American Datum, of
which NAD83 was basically a readjustment
OSGB36 of the Ordnance Survey of Great Britain
ED50, the European Datum
Hong Kong Principal Datum, is 1.23m below the
mean of 19 years (196583) observations of tide
levels at North Point, Victoria Harbour.[12][13]
9 See also
Axes conventions
Geographic coordinate conversion
Shape of the Earth
Ordnance Datum
World Geodetic System
10
Footnotes
11
References
13 External links
GeographicLib includes a utility CartConvert which
converts between geodetic and geocentric (ECEF)
or local Cartesian (ENU) coordinates. This provides
accurate results for all inputs including points close
to the center of the earth.
A collection of geodetic functions that solve a variety of problems in geodesy in Matlab.
UK Ordnance Survey
12
Further reading
14
14
14.1
Geodetic datum Source: http://en.wikipedia.org/wiki/Geodetic_datum?oldid=632168593 Contributors: Michael Hardy, Strebe, Ciphergoth, Pengo, Alan Liefting, Mark.murphy, Joe Kress, Duncharris, Vsmith, Bender235, Kbh3rd, Muntsh, Kjkolb, Mh26, Foxandpotatoes,
Grutness, Zer T, Cdc, Yangcj, Gene Nygaard, Blaxthos, Sympleko, Kbdank71, Dipto, Elfguy, RussBot, Aeusoes1, Scs, Tony1, Mike1024,
SmackBot, Hans Erren, Chris the speller, Bluebot, CDV, Radagast83, SilkTork, Trounce, Derickrethans, AQuandary, GDallimore, Pimlottc, Mamanakis, MessedRobot, DavidForrest, Krauss, BenJWoodcroft, Alphachimpbot, Magioladitis, Dwwaddell, Maurice Carbonaro,
Dwille, SharkD, Tinchoing, Kyle the bot, The Original Wildbear, Steven J. Anderson, Serdelll, Sam.drake, Wrenoud, Mario1952, Rayl99,
Ck, Paolo.dL, OsamaBinLogin, SlackerMom, Martarius, KJG2007, Bobathon71, Tony Rotondas, Sv1xv, Geoeg, Underdone, Dthomsen8, Addbot, Fgnievinski, Diptanshu.D, MrOllie, Melitak, Yg, Alanfeynman, Cesiumfrog, CCFS, Yobot, AnomieBOT, Citation bot,
Dharasty, Kaosd, Armbrust, Resident Mario, Shlomi.israel, Rainald62, Spendergast, Frumphammer, SwineFlew?, Aprp, AmigoCgn, MisterAnchovy, Wikfr, Senior Fire, Tim Zukas, Kkddkkdd, BG19bot, Kirananils, Toni 001, Hmainsbot1, Rs wrangler, Aymankamelwiki,
Laloeb, Mark viking, Lizia7, Superrobust, Pmreyes2, Navstar55 and Anonymous: 84
14.2
Images
File:Chicago_City_Datum.jpg Source: http://upload.wikimedia.org/wikipedia/commons/3/3d/Chicago_City_Datum.jpg License: CCBY-3.0 Contributors: Own work Original artist: Cosmo1976
File:ECEF_ENU_Longitude_Latitude_relationships.svg Source:
http://upload.wikimedia.org/wikipedia/commons/7/73/ECEF_
ENU_Longitude_Latitude_relationships.svg License: Public domain Contributors: Based on en:File:EarthTangentialPlane.png by
en:User:Raffyl99 (public domain) Original artist: Mike1024
File:Geocentric_vs_geodetic_latitude.svg Source: http://upload.wikimedia.org/wikipedia/commons/a/a6/Geocentric_vs_geodetic_
latitude.svg License: Public domain Contributors: Own work Original artist: SharkD
File:Geodetic_latitude_and_the_length_of_Normal.svg Source: http://upload.wikimedia.org/wikipedia/commons/e/e2/Geodetic_
latitude_and_the_length_of_Normal.svg License: CC-BY-SA-3.0 Contributors: Own work Original artist: Kkddkkdd
File:Vertical_references_in_Europe.svg Source:
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Europe.svg License: CC-BY-SA-3.0 Contributors: Own work Original artist: Hans Erren
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on original logo tossed together by Brion Vibber
14.3
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