1

Symbolic Numeric Algebra

in Geodesy
R. Lewis, B. Palncz, P. Zaletnyik, J. Awange
Geodesy and Surveying
Geodesy and Surveying are concerned wit !easuring te
"art on di##erent scales.
$aria%les suc as distances, angles and eigt di##erences are
!easured and oter geo!etrical varia%les &i. e. coordinates o#
location' are derived #ro! tese !easure!ents.
(any geodetic )ro%le!s can %e re)resented as syste!s o#
!ultivaria%le )olyno!ials.
GPS Positioning (GPS Ranging)
*n GPS Positioning )seudo
distances are !easured %etween a
GPS receiver and !ini!u! + GPS
satellites to calculate te )osition o#
te receiver &,,-,Z' and te
receiver. clock %ias &/'.
0 ) ( ) ( ) ( ) (
2 2 2 2
+ + +
i i i i
P T c Z b Y a X
0or eac satellites1
were a
i
, %
i
, c
i
are te coordinates o# te
satellites and P
i
te !easured distances.
3D Helmert similarity transormation
,
Z
-
2
z
y
-3 ,3
Z3
Pi
*n geodesy is a #re4uent task to calculate te coordinates o# )oints
#ro! one to anoter di##erent coordinate syste!. *n te 56)ara!eter
si!ilarity trans#or!ation 7 translations, 7 rotations and 8 scale
)ara!eter are used.
were R is te rotation !atri2, m is te
scale )ara!eter and X
0
, Y
0
, Z
0
are te 7
translation )ara!eters.

,
_

,
_

,
_

0
0
0
] 3 3 [
Z
Y
X
Z
Y
X
R m
!
y
"
i
i
i
i
i
i
/e %ook o# J.L. Awange and E.W.
Grafarend can %e considered as a !ilestone
in tis researc area.
/e !ain alge%raic !etods tey
a))lied1
Groe%ner Basis
Resultants &Sylvester, (acaulay and
Stur!#els. 0or!ulations'
Gauss6Jaco%i co!%inatorial solution
Solving #lgebraic $om%utational
Problems in Geodesy
2005
&m%rovement o models and met'ods
Geodesy needs !ore )recise !easure!ents,
!ore )recise co!)utations wit !ore general and
enanced !odels.
9o!)utational alge%ra )rovides !ore e##ective
algorit!s and !etods to carry out tese
co!)utations.
3D aine transormation
,
Z
-
2
z
y
-3 ,3
Z3
Pi

,
_

,
_

,
_

(
(
(
i
i
i
3 3 3 3
i
i
i
Z
Y
X
Z
Y
X
R )
!
y
"
] [ ] [
/e 7: a##ine trans#or!ation is te generalization o# te 7: ;el!ert
trans#or!ation, using 7 di##erent scale )ara!eters according to te
coordinate a2es, instead o# one. /e < trans#or!ation )ara!eters &7
translation, 7 rotations and 7 scale )ara!eters' sould %e deter!ined
using control )oints wit known coordinates in %ot coordinate syste!.
were R is te rotation !atri2, M te
diagonal !atri2 o# te scale )ara!eters
and ,
3
, -
3
, Z
3
are te 7 translation
)ara!eters.
Rotation matri"
( ) S & S & R
3
*
3
+

) (

,
_

( a b
a ( c
b c (
S

,
_

+
+

cos cos cos sin sin sin cos sin sin cos sin cos
cos sin cos cos sin sin sin sin cos cos sin sin
sin sin cos cos cos
) , , ( R
*nstead o# te traditional #or!, te rotation
!atri2 can %e e2)ressed wit a skew6
sy!!etric !atri2 &S' also, and tis #acilitates
te sy!%olic solution o# te )ro%le!.
/e rotation !atri2 in general is
given %y using 7 a2ial rotation
angles &, , 6 9ardan angles',
leading to te ne2t rotation !atri21
,
Z
-
2
z
y
-3 ,3
Z3
Pi
Scale %arameters
3
3
+
+
*
*
m
*
m
*
m
*
, ,

,
_

3
+
*
( (
( (
( (

*
)

introducing1

,
_

3
+
*
m ( (
( m (
( ( m
)
*n 7: a##ine trans#or!ation 7 scale )ara!eters &!
8
, !
=
, !
7
' are
used according to te 7 coordinate a2is1
*n #urter, instead o# te scale )ara!eters &m
1
, m
2
, m
3
', we will use
teir reci)rocals &
8
,
=
,
2
' to get !ore si!)le e4uations.
T'e algebraic e,uations
( ) ( )

,
_

,
_

,
_

(
(
(
i
i
i
3
*
3
*
i
i
i
Z
Y
X
Z
Y
X
S & S &
!
y
"

,
_

,
_

,
_

,
_

,
_

,
_

,
_

,
_

,
_

(
(
(
3
+
*
i
i
i
i
i
i
3
+
*
Z
Y
X
( (
( (
( (
* a b
a * c
b c *
Z
Y
X
* a b
a * c
b c *
!
y
"
( (
( (
( (
* a b
a * c
b c *
(
(
(

( ) ( ) ( )

,
_

,
_

,
_

,
_

(
(
(
3
i
i
i
3
i
i
i
3
Z
Y
X
S &
Z
Y
X
S &
!
y
"
S &
(
(
(
( ) S & S & R
3
*
3
+

) (
*
>sing instead o# M and we get1
T'e 3-%oint %roblem
As #or one )oint wit known coordinates in %ot coordinate syste!s 7
e4uations can %e written, to deter!ine te < )ara!eters o# te
trans#or!ation 7 )oints are re4uired.
*n tis case te #ollowing < e4uations can %e written1
3 ( 3 3 + ( + 3 * ( * 3 3 3 3 .
3 ( 3 3 + ( + 3 * ( * 3 3 3 3 /
3 ( 3 3 + ( + 3 * ( * 3 3 3 3 0
3 ( 3 + + ( + + * ( * + + + + 1
3 ( 3 + + ( + + * ( * + + + + 2
3 ( 3 + + ( + + * ( * + + + + 3
3 ( 3 * + ( + * * ( * * * * * 3
3 ( 3 * + ( + * * ( * * * * * +
3 ( 3 * + ( + * * ( * * * * * *
Z ! aY ay bX b" Z aY bX
aZ a! Y y cX c" aZ Y cX
bZ b! cY cy X " bZ cY X
Z ! aY ay bX b" Z aY bX
aZ a! Y y cX c" aZ Y cX
bZ b! cY cy X " bZ cY X
Z ! aY ay bX b" Z aY bX
aZ a! Y y cX c" aZ Y cX
bZ b! cY cy X " bZ cY X









+ + +
+ + + +
+ + + +
+ + +
+ + + +
+ + + +
+ + +
+ + + +
+ + + +
Sim%liication o t'e e,uations
{ } 4 i 3 + * 4 i
! ! ! y y y " " "
Z Z Z Y Y Y X X X
4 i i4 4 i i4 4 i i4
4 i i4 4 i i4 4 i i4

, , , ,
, ,
, ,
. 1 1
. 3 2
/ 2 3
/ + 3
0 3 +
0 * *
g
g
g
g
g
g






3 +3 + +3 +3 * +3 +3 +3 1
3 *3 + *3 *3 * *3 *3 *3 2
3 +3 +3 + +3 * +3 +3 +3 3
3 *3 *3 + *3 * *3 *3 *3 3
3 +3 +3 + +3 +3 * +3 +3 +
3 *3 *3 + *3 *3 * *3 *3 *
! y a Y a " b X b Z g
! y a Y a " b X b Z g
! a Z a y " c X c Y g
! a Z a y " c X c Y g
! b Z b y c Y c " X g
! b Z b y c Y c " X g






+ + +
+ + +
+ + +
+ + +
+ + +
+ + +
/en te syste! o# e4uation to %e solved is,
?e can reduce te e4uation syste! %y di##erencing te
e4uations, and introducing so!e new varia%les, te
relative coordinates instead o# te original ones,
T'e Di"on 5 6D7 met'od
"2)licit sy!%olic solution can %e acieved %y e!)loying te accelerated
:i2on resultant %y te "arly :iscovery 0actors &":0' algorit!, wic was
suggested and i!)le!ented in te co!)uter alge%ra syste! Fermat %y
Lewis.
/e %asic idea o# te :i2on !etod is to construct a s4uare !atri2 M
wose deter!inant D is a !ulti)le o# te resultant.
/e ":0 !etod is to e2)loit te o%served #act tat D as !any #actors. *n
oter words, we try to turn te e2istence o# s)urious #actors to our
advantage. By ele!entary row and colu!n !ani)ulations &Gaussian
eli!ination' we discover )ro%a%le #actors o# D and )luck te! out o# M
0
@M.
Any deno!inators tat #or! in te !atri2 are )lucked out. /is )roduces a
s!aller !atri2 M
8
still wit )olyno!ial entries, and list o# discovered
nu!erators and deno!inators.
Solution 8it' Di"on 5 6D7 met'od
0ro! our syste! o# e4uation an univariate )olyno!ial #or
8
can %e
co!)uted %y e!)loying te accelerated :i2on resultant %y te "arly
:iscovery 0actors &:i2on 6 ":0' algorit! as eli!ination tecni4ue.
>sing tis !etod one can get te result in te #ollowing #or!1
( )

5
1
1
i
i
9
i

were

!
1
" are irreduci%le )olyno!ials wit low degree, %ut teir
)owers, #

are very %ig )ositive integer nu!%ers, so e2)anding tis
e2)ression would result into !illions o# ter!sA
Solution 8it' Di"on 5 6D7 met'od
9onse4uently, we sall consider #

@ 8, #or i @ 8BCBD.
?e get #ive irreduci%le )olyno!ials &

!
1
""1
*3 *3
+
+3 *3 +3 +3 *3 +3 *3 +3 *3 +3 +3
+
*3
* *3 *3 +3 +3 * *3 +3 *3 +3 * *3 +3 +3 *3
* +3 *3 *3 +3 * +3 *3 +3 *3 * +3 +3 *3 *3
+
* *3 +3 *3 +3
+
* *3
+
+3 *3
+
* +3
+
*3 +3
+
* +3 +3 *3 *3 2
*3 *3
+
+3 *3 *3
+
+3 *3 *3
+
+3 *3 +3 +3 *3
*3 +3 +3 *3 *3 +3 +3 *3 +3 *3 +3 *3 +3 *3 +3 *3
+3 *3 +3 *3 +3 +3
+
*3 +3 +3
+
*3 +3 +3
+
*3
+
* *3 *3
+
+3
+
* *3 +3 +3 *3
+
* +3 *3 +3 *3
+
* +3 +3
+
*3 3
*3 +3 +3 *3 * *3 +3 * +3 *3 3
*3 +3 +3 *3 +
*3 +3 +3 *3 *
! Z X ! Z X X ! Z X X ! Z X
! " Z X ! " Z X + ! " Z X
! " Z X ! " Z X + ! " Z X
! " " Z ! " Z ! " Z ! " " Z
! y X ! y Y ! y Z ! y X X
! y Y Y ! y Z Z ! y X X ! y Y Y
! y Z Z ! y X ! y Y ! y Z
! y " ! y " " ! y " " ! y "
y X y X y " y "
! Z ! Z
! y ! y
+ +
+ +
+ +
+
+
+ + + +
+
+
+

Solution 8it' Di"on 5 6D7 met'od

/e #actor )olyno!ial )roviding )ro)er root as degree o# two,
tere#ore its solution can %e e2)ressed in analytical #or! &only te
)ositive root is correct,
8
'. /e )ro)er )olyno!ial is1
*3 *3
+
+3 *3 *3
+
+3 *3 *3
+
+3 *3 +3 +3 *3
*3 +3 +3 *3 *3 +3 +3 *3 +3 *3 +3 *3 +3 *3 +3 *3
+3 *3 +3 *3 +3 +3
+
*3 +3 +3
+
*3 +3 +3
+
*3
+
* *3 *3
+
+3
+
* *3 +3 +3 *3
+
* +3 *3 +3 *3
+
* +3 +3
+
*3 3
! y X ! y Y ! y Z ! y X X
! y Y Y ! y Z Z ! y X X ! y Y Y
! y Z Z ! y X ! y Y ! y Z
! y " ! y " " ! y " " ! y "
+
+ + + +
+
+
Si!ilarly we can get si!)le e2)licit #or!s #or
=
and
7
.
Solutions or
*
:
+
:
3

1
$ EX
23
2
%
13
&
13
' %
13
Y
23
2
&
13
' X
13
2
%
23
&
23
' Y
13
2
%
23
&
23
' %
23
Z
13
2
&
23
(
X
13
X
23
&%
23
&
13
' %
13
&
23
' ( Y
13
Y
23
&%
23
&
13
' %
13
&
23
' (
%
23
&
13
Z
13
Z
23
( %
13
Z
13
&
23
Z
23
' %
13
&
13
Z
23
2
'F
1)2

) E&*
23
%
13
( *
13
%
23
' &*
23
&
13
( *
13
&
23
'F
1)2

2
$ E(X
13
2
*
23
&
23
' X
13
X
23
&*
23
&
13
' *
13
&
23
' ' *
23
&Y
13
Y
23
&
13
( Y
13
2
&
23
(
Z
13
2
&
23
' &
13
Z
13
Z
23
' ( *
13
&X
23
2
&
13
' Y
23
2
&
13
( Y
13
Y
23
&
23
(
Z
13
&
23
Z
23
' &
13
Z
23
2
''F
1)2
) E6&*
23
%
13
( *
13
%
23
' &6%
23
&
13
' %
13
&
23
'F
1)2

3
$ EX
13
2
*
23
%
23
( X
13
X
23
&*
23
%
13
' *
13
%
23
' ' *
23
&Y
13
2
%
23
(
%
13
Y
13
Y
23
' %
23
Z
13
2
( %
13
Z
13
Z
23
' ' *
13
&X
23
2
%
13
( Y
13
%
23
Y
23
' %
13
Y
23
2
(
%
23
Z
13
Z
23
' %
13
Z
23
2
''F
1)2
) E&*
23
&
13
( *
13
&
23
' &%
23
&
13
( %
13
&
23
'F
1)2
Gnowing
8
,
=
,
7
our syste! o# e4uation will %e linear and a, +, , can %e
deter!ined easily.
)] ) ( ( ) ( [
/ )] ) ( ( ) ( [
3 +3 *3 *3 +3 +3 *3 *3 +3 * 3 +3 *3 *3 +3 +3 *3 *3 +3
+ +3 *3 *3 +3 +3 *3 *3 +3 * + +3 *3 *3 +3 +3 *3 *3 +3
! " ! " Z " Z " ! X ! X Z X Z X
y " y " Y " Y " y X y X Y X Y X a


+ + +
+ + + + +
)] ) ( ( ) ( [
/ )] ) ( ( ) ( [
+ +3 *3 *3 +3 +3 *3 *3 +3 * + +3 *3 *3 +3 +3 *3 *3 +3
3 +3 *3 *3 +3 +3 *3 *3 +3 + 3 +3 *3 *3 +3 +3 *3 *3 +3
y " y " Y " Y " y X y X Y X Y X
! y ! y Z y Z y ! Y ! Y Z Y Z Y b


+ + + + + + +
+ + + + +
)] ) ( ( ) ( [
/ )] ) ( ( ) ( [
3 +3 *3 *3 +3 +3 *3 *3 +3 + 3 +3 *3 *3 +3 +3 *3 *3 +3
3 +3 *3 *3 +3 +3 *3 *3 +3 * 3 +3 *3 *3 +3 +3 *3 *3 +3
! y ! y Z y Z y ! Y ! Y Z Y Z Y
! " ! " Z " Z " ! X ! X Z X Z X c


+ + + + + + +
+ + + + +
Solution or a: b: c
Gnowing
8
,
=
,
7
and a, +, , te translation )ara!eters can %e
deter!ined #ro! te original syste! o# e4uation1

,
_

,
_

+ + +
+ + +
+ +

+ + +

,
_

,
_

,
_

,
_

,
_

,
_

,
_

*
*
*
+ + +
+ + +
+ + +
+ + +
3
+
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
(
(
(
Z
Y
X
c b a * bc a + ac b +
bc a + c b a * c ab +
ac b + c ab + c b a *
c b a *
*
* ( (
( * (
( ( *
!
y
"
Z
Y
X
R
!
y
"
Z
Y
X
R )
!
y
"
Z
Y
X
) ( ) (
) ( ) (
) ( ) (
/
/
/

Solution or X
(
: Y
(
: Z
(
>sing te :i2on6":0 !etod we got #ully sy!%olic solution #or all te
)ara!eters and using tese e2)licit #or!ulas te )ara!eters can %e
calculated easily Hust su%stituting te coordinates to tese #or!ulas.
;-%oint %roblem
*n geodesy nor!ally we ave !ore o%servations tan unknowns,
wen te solution is deter!ined %y !ini!izing te su! o# te
deviations s4uared &Least S4uares (etod'. *n tis case one
)ossi%le solution is te %e#ore !entioned Gauss6Jaco%i
co!%inatorial !etod.
*n ;ungary tere are 887I national stations wit known GPS and
local )roHection coordinates. /o deter!ine te )ara!eters o# te
a##ine trans#or!ation we sould ave co!)ute a%out =D3 !illions
co!%inations, wic is unrealistic.
/ere#ore we decided to trans#or! te overdeter!ined )ro%le!
into a deter!ined one.
Deinition o t'e ;-%oint %roblem
3 0 3 2 0 2 1 0 1
3 0 3 2 0 2 1 0 1
3 0 3 2 0 2 1 0 1



Z ! aY ay bX b" Z aY bX v!
aZ a! Y y cX c" aZ Y cX vy
bZ b! cY cy X " bZ cY X v"
i i i i i i i
i i i i i i i
i i i i i i i
+ + +
+ + + +
+ + + +
0or one 7: control )oint &wic coordinates are given in %ot syste!s',
7 nonlinear e4uations can %e written1

+ +
;
i
i i i
v! vy v" u
1
2 2 2
) ( ) , , , , , , , , (
3 + * ( ( (
Z Y X c b a u
/ere#ore #or - control )oints we can write 7 ti!es - nonlinear e4uations.
( ( ( ( ( ( ( ( (
3 + * Z Y X c b a
( ( (

, , , , , , , ,
/e deter!ined !odel can %e evaluated via )artial di##erentiation1
T'e determined model
0 ) ( 2 2 ) (
) ( ) 2 ( ) 2 (
) 2 ( ) ( ) (
) 2 ( 2 ) (
) ( 2 ) 2 (
) ( ) (
) 2 (
1
2 2
1
3
1
2
1
1
1
1
1 0
1
3 0
1
2 0
1
2 2
3
1
3
1
3
1
3 1
1
3 1 0
1
2
3 0
1
2
1
1
1
1
3 0
1
1 0
1
2 0
1
2 2
2
1
2
1
2 1
1
2 1 0
1
2
2 0
1
3 0
1
2 0
1
3 1 0
1
2 1 0
2
3
2
0 3 1 0 0
2
2
2
0 2 1 0 0
+ + + + +
+ + + + +
+ + + + +
+ + + + +
+ + + + +
+ + + + +
+ + + + +
+ + + +

;
i
i i
;
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i i
;
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;
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;
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i
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;
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i
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;
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;
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i
;
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i
;
i
i
;
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i
;
i
i
;
i
i a
Z Y a Z ! a Z y Z X c
Z " c Z cX Z aZ Z Y
! a ! Y ! X c ! " c
! cX ! aZ Y y a Y X b
Y " b Y Z Y bX Y aY
y a y X b y " b y bX
y aY X cZ X bY " cZ
" bY a;Z Z c;X a;Y Y b;X 6,








>sing co!)uter alge%ra !ani)ulations we get a deter!ined !odel in
sy!%olic #or! consisting o# < e4uations. Jne o# te! is:
;umerical solutions o t'e
determined model
>n#ortunately tis !ultivariate )olyno!ial syste! o# < e4uations wit
< unknowns can not %e solved in sy!%olic #or!.
Local nu!erical !etods like Kewton6Ra)son or Kewton6Grylov
generally #ail to converge, %ecause o# te initial guess values
co!)uted #ro! te 7 )oint solution are wildly di##erent values
de)ending on te constellation o# te selected 7 )oints.
Glo%al nu!erical !etod like linear o!oto)y is considered as a
good candidate.
Solution 8it' ;e8ton Homoto%y )et'od
/e o!oto)y continuation !etod de#or!s te known roots o# te start
syste! into te roots o# te target syste!. *t is a very e##ective tool to #ind
te roots o# )olyno!ial syste!s.
). ( ) 1 ( ) ( ) , (
) , , , , , , , , (
) , , , , , , , , ( ,
)) ( ), ( ), ( ), ( ), ( ), ( ), ( ), ( ), ( (
) ( ) ( ) (
0
3 2 1 0 0 0 0
3 2 1 0 0 0
0
3 2 1 0 0 0






7 7 H
Z Y X c b a
Z Y X c b a
7 7 7 7 7 7 7 7 7 7
7 7 G
Z Y X c b a

is, #unction o!oto)y te /en
#unction. o!oto)y te #or values &initial' start as
and varia%les unknown as syste!
target as wit
is, syste! start te o!oto)y, Kewton "!)loying
/e start values were co!)uted %y te 7 )oint solution, %ecause o!oto)y
solution tecni4ue )roved to %e very ro%ust to ensure convergency.
Solution 8it' dierent start values
/is ta%le illustrates tat te values calculated #ro! di##erent tri)lets can
di##er signi#icantly de)ending on teir geo!etrical con#igurations.

ELF

ELF

ELF
,
3
E!F -
3

E!F
Z
3

E!F
k
8

E))!F
k
=
E))!F
k
7
E))!F
start values 6 a I 6I 6I 6=+7 6==5 M775 3 3 3
start values 6 % M= 67 68< 3 3 3 68 688I 68I
solution 7 6+5 8+ 6==<< D=5 =8+7 =53 68I< 6=+D
/e )ara!eters in tis ta%le are trans#or!ed into teir traditional geodetic
#or!s, re)resenting te rotation !atri2 wit tree rotation angles &, , ' in
seconds, instead o# a, %, c, and te deviation o# te scale )ara!eters #ro!
one &k
i
@ !
i
N 8 @ 8O
*
6 8' in ))! &)art )er !illion', instead te inverse scale
)ara!eters &
8
,
=
,
7
'.
Tra4ectories o t'e dierent solutions
Solution o# te linear o!oto)y !odel !eans te solution o# a syste! o#
nonlinear ordinary di##erential e4uations. 0igures a%ove sow te
traHectories &te o!oto)y )ats' o# te varia%le &)ara!eter' a on te
co!)le2 )lain, in case o# tese two di##erent initial values.
?e ave got te sa!e result inde)endently on te initial values.
$om%aring t'e dierent met'ods
/e traditional Kewton6Ra)son !etod #ailed wit %ot initial values, its
!odi#ication, te Kewton6Grylov !etod ad singularity in te #irst case,
and it was slowed down %y te increasing nu!%er o# te iteration
ensuring acce)ta%le )recision in te second case.
>sing o!oto)y we do not need )ro)er initial value, %ecause tis
!etod is !ore ro%ust tan local !etods, enlarges te do!ain o#
convergence and even #aster tan te traditional Kewton.s ty)e !etods.
(etod 9o!)utation ti!e EsecondF
Start values 6 a Start values 6 %
Kewton6Ra)son 0ails to converge 9onverging to wrong a solution
Kewton6Grylov singularity 7.D
Kewton6;o!oto)y 3.5= 3.57
T'an< you or your attention=