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Helmert Transformation
If we assume that our reference coordinate systems have different centers, then the transformation
process would be to simply (1) transfer the geocentric coordinates to geocentric coordinates using
equations developed in the Properties of Biaxial Ellipsoids lesson, (2) add the determined differences
between the coordinates in the satellite (S) and the regional (R) reference coordinate systems, and then (3)
transfer the geocentric coordinates back into their geodetic coordinates, or proceed into some other
known reference datum.
XS = XR + TX
YS = YR + TY (1)
ZS = ZR + TZ
Given a sufficient number of stations were the coordinates are known in both reference systems, the
datum shifts of TX, TY, and TZ can be determined.
The above datum conversion model assumes that the axes of the two systems are parallel, the systems
have the same scale, and the geodetic network has been consistently computed. Reality is that none of
these assumptions occurs, and thus TX, TY, and TZ can vary from point to point. A more general
transformation involves seven parameters: a change in scale factors (∆ S) between the two systems, the
rotation of the axes between the two systems (RX, RY, RZ), and the three translation factors (TX, TY, TZ).
The following set of equations known as the Helmert transformation utilize seven parameters and can be
written as
(2)
The equations, transformation parameters, and software available for transforming coordinates between
the NAD 83 and ITRF 96 reference frames are discussed in a 1999 article by Richard A. Snay entitled
"Using the HTPD Software to Transform Spatial Coordinates Across Time and Between Reference
Frames." which appeared in Surveying and Land Information Systems 59 (No.1): 15-25. The NGS CORS
site contains links to both this paper and the HTPD software at
http://www.ngs.noaa.gov/CORS/utilities3/.
where T1, T2, and T3 are TX, TY, and TZ, respectively, and R1, R2, and R3 are RX, RY, RZ, respectively.
The transformation parameters for each ITRF XX system to ITRF 2000 are
------------------------------------------------------------------------------------
-
SOLUTION T1 T2 T3 D R1 R2 R3 EPOCH Ref.
UNITS--->cm cm cm ppb .001" .001" . 001" IERS Tech.
. . . . . . . Note #
RATES T1 T2 T3 D R1 R2 R3
UNITS> cm/y cm/y cm/y ppb/y .001"/y .001"/y .001"/y
------------------------------------------------------------------------------------
-
ITRF97 0.67 0.61 -1.85 1.55 0.00 0.00 0.00 1997.0 27
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF96 0.67 0.61 -1.85 1.55 0.00 0.00 0.00 1997.0 24
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF94 0.67 0.61 -1.85 1.55 0.00 0.00 0.00 1997.0 20
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF93 1.27 0.65 -2.09 1.95 -0.39 0.80 -1.14 1988.0 18
rates -0.29 -0.02 -0.06 0.01 -0.11 -0.19 0.07
ITRF92 1.47 1.35 -1.39 0.75 0.00 0.00 -0.18 1988.0 15
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF91 2.67 2.75 -1.99 2.15 0.00 0.00 -0.18 1988.0 12
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF90 2.47 2.35 -3.59 2.45 0.00 0.00 -0.18 1988.0 9
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF89 2.97 4.75 -7.39 5.85 0.00 0.00 -0.18 1988.0 6
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02
ITRF88 2.47 1.15 -9.79 8.95 0.10 0.00 -0.18 1988.0 IERS An. Rep.
rates 0.00 -0.06 -0.14 0.01 0.00 0.00 0.02 for 1988
The necessary parameters to transform between reference frames can be found on the NIMA web site at
http://164.214.2.59/GandG/wgs84dt/. The values for the three parameters solution are shown below for
your convenience.
This transformation can also be done in geodetic, curvilinear coordinates using the Molodensky
Transformation equations where
φ WGS84 = φ Local + ∆ φ
λ WGS84 = λ Local + ∆ λ
hWGS84 = hLocal + ∆ h
• ∆ φ " = {−∆ X sinφ cosλ − ∆ Y sinφ sinλ + ∆ Z cosφ + ∆ a(RN e2 sinφ cosφ )/a + ∆ f
[RM(a/b) + RN(b/a))]
sinφ cosφ } [(RM+h)sin 1"]
• ∆ λ " = [−∆ X sinλ + ∆ Y cosλ ] × [(RN+h)cosφ sin 1"]-1
• ∆ h = ∆ X cosφ cosλ + ∆ Y cosφ sinλ + ∆ Z sinφ − ∆ a(a/RN) + ∆ f(b/a)
There are other datum transformation procedures, but these are the big three. Note that when you find a
site with the required transformation parameters, the required equations are generally listed also.
... P.S. and that's the rest of the story!!! Good Day!
Reference Ellipsoids
and
Geodetic Datum Transformation Parameters (Local to WGS-84)
From NIMA 8350.2 4 July 1977
and
MADTRAN 1 October 1996
REFERENCE ELLIPSOIDS
Last Updated:
Created by Dr. Charles Ghilani
Copyright © 2000, All rights reserved
http://surveying.wb.psu.edu/sur351/DatumTrans/datum_transformations.htm