Professional Documents
Culture Documents
Karney-Krueger equations
1
Presented at the Surveying and Spatial Sciences Institute (SSSI) Land Surveying Commission National Conference,
Melbourne, 18-21 April, 2012
ABSTRACT
The Universal Transverse Mercator (UTM) coordinate
system has at its core, equations that enable the
transformations from geographic to grid coordinates and
vice versa. These equations have a long history
stretching back to Gauss and his survey of Hannover in
the early 1800's but their modern formulation is due to L.
Krueger (1912) who synthesised Gauss and other work
on the transverse Mercator (TM) projection of the
ellipsoid. Krueger developed two methods of
transformation and the equations of his second method
have become the de facto standard for the UTM and other
TM projection systems. Unfortunately these are
complicated and have limited accuracy. But the
equations for Kruegers first method which do not suffer
from these accuracy limitations are undergoing a
renaissance and a recent study by Charles Karney (2011)
has given these equations a make over. This paper
gives some insight into the development and use of the
Karney-Krueger equations.
INTRODUCTION
The transverse Mercator (TM) projection is a conformal
mapping of a reference ellipsoid of the earth onto a plane
where the equator and central meridian remain as straight
lines and the scale along the central meridian is constant;
all other meridians and parallels being complex curves
(Figure 5). The UTM is a mapping system that uses the
TM projection with certain restrictions (such as standard
6-wide longitude zones, central meridian scale factor of
0.9996, defined false origin offsets, etc.) and the GaussKrueger system is similar. And both are members of a
family of TM projections of which the spherical form was
originally developed by Johann Heinrich Lambert (17281777). This (spherical) projection is also called the
Gauss-Lambert projection acknowledging the
contribution of Carl Friedrich Gauss (17771855) to the
development of the TM projection. Snyder (1993) and
Lee (1976) have excellent summaries of the history of
development which we paraphrase below.
Gauss (c.1822) developed the ellipsoidal TM as one
example of his investigations in conformal
transformations using complex algebra and used it for the
survey of Hannover in the same decade. This projection
had constant scale along the central meridian and was
known as the Gauss conformal or Gauss' Hannover
1
a 2 b2
a2
eccentricity
2nd eccentricity
3rd flattening
a b
a
a 2 b2
b2
a b
a b
a2
c
b
polar radius
2
2
4n
f 2 f
2
2
1
1 n
(1)
(2)
1 1 2
f
2 f 1 1 2
a 1 2
sin
2
32
sin 2
a 1 2
12
c
V3
a
c
W V
(11)
(12)
1 n 2 2n cos 2
1 n
(13)
(3)
(4)
y y , cos sin
(5)
x x , cos cos
z z , 1 2 sin
(14)
(6)
ds
dx dy dz
2
(15)
f 2 f
2
4n
2
2
2
1
1 f 1 n
V 2 1 2 cos 2
b
1
1 n a
1 f 1 2
2
a
1 n c
1
(10)
since 0 n 1 .
W 2 1 2 sin 2
The ellipsoid
flattening
(7)
(8)
(9)
x
x
d
d
y
y
dy
d
d
z
z
dz
d
d
dx
(16)
ds
e d 2 f d d g d
2
(17)
x y z
e
x x y y z z
f
2
e 2,
ed
f 0,
dS
x y z
g
2
g d
(19)
(23)
(24)
and
dS
where
E d 2 F d d G d
2
ds g d cos d
(20)
f
eg
(21)
(26)
X Y Z
G
(27)
m2
dS
2
ds
E d 2F d d G d
e d 2 f d d g d
2
E d 2 F d d G d
e d 2 f d d g d
2
(28)
E G
E G
and F 0 or
and F 0 the
e g
e g
scale factor m is the same in every direction and such
projections are known as conformal. For the ellipsoid
(datum surface) where the parametric curves , are an
orthogonal system and f 0 , this scale condition for
conformal projection of the ellipsoid is often expressed as
When
(25)
ds e d d
X Y Z
E
X X Y Y Z Z
cos
X Y Z
G
X Y Z
E
X X Y Y Z Z
F
(18)
ds
g 2 cos2
E d 2F d d G d
(22)
h k and F F 0
(29)
E d
e d
E
e
and k
G d
g d
G
g
(30)
Isometric latitude
According to the SOED (1993) isometric means: of
equal measure or dimension and we may think of
isometric parameters (isometric latitude) and
ds 2
e d
g d
cos
1 sin
1 sin
1
2
(33)
ln tan 14 12
(34)
Meridian distance M
Meridian distance M is defined as the arc of the meridian
from the equator to the point of latitude
M d
a 1
W3
c
0 V3 d
(35)
c2 sin 2 c4 sin 4
c6 sin 6 c8 sin 8
(37)
c8
c10
c12
c14
c0
a
M
1 n
c6
(32)
(36)
c4
(31)
ln tan 14 12
2
3 2
a
1 n2 1 n2 2n cos 2 d
1 n 0
c2
d 2
2
2 cos 2
d
cos
2 cos 2 d d
c0 1
2 d 2 cos 2 d
c16
n
2
n
4
n
6
25
n
16384
3
3 3
3 5
15 7
n n
n
n
2
16
128
2048
15
15 4
75 6 105 8
n2
n
n
n
16
64
2048
8192
35
175 5 245 7
n3
n
n
48
768
6144
315 4 441 6 1323 8
n
n
n
512
2048
32768
693 5 2079 7
n
n
1280
10240
1001 6 1573 8
n
n
2048
8192
6435 7
n
14336
109395 8
n
262144
4
64
256
(38)
a
c0
2 1 n
(39)
(40)
order n8 as
A
1 n
1
4
n
2
1
64
n
6
256
25
16384
n
8
(41)
M
A
d 2 sin 2 d 4 sin 4 d 6 sin 6
where the coefficients d n are
3
9
d 2 n n3
2
16
35 3
d6 n
48
15
15
d4 n2 n4
16
32
315 4
d8
n
512
(42)
(43)
3
27
D2 n n3
2
32
151 3
D6
n
48
21
55
D4 n 2 n 4
16
32
1097 4
D8
n
512
(44)
(45)
Conformal latitude
a cos 0 d
1
0 cos 0 d
ln tan
1 sin 2
ln tan 14 12
(50)
1
sin
1
4
1
2
(51)
2 tan 1 e 12
(52)
(53)
X X , a cos cos
Z Z , a sin
(47)
Y Y , a cos sin
G a 2 cos2
F 0,
d
d
cos cos
E a2,
a d a cos d
d cos d
d8 sin 8
1 n d
d
d
2
2
cos V cos 1 n 2n cos 2 cos
2
(46)
(54)
d
d
4n cos d
(55)
4n cos d
(56)
1
n2 2n cos 2
0
tan 1 sinh
2
4
82
g 2 2n n 2 n3 n 4
3
3
45
5 2 16 3 13 4
g4 n n n
3
15
9
26
34
g 6 n3 n 4
15
21
1237 4
g8
n
630
(58)
8
(59)
10
12
[c]
3
7891
n2
14
16
61 3 103 4 15061 5
n
n
n
240
140
26880
167603 6 67102379 7
n
n
181440
29030400
79682431 8
n
79833600
49561 4 179 5 6601661 6
n
n
n
161280
168
7257600
97445 7 40176129013 8
n
n
49896
7664025600
34729 5 3418889 6
n
n
80640
1995840
14644087 7 2605413599 8
n
n
9123840
622702080
212378941 6 30705481 7
n
n
319334400
10378368
175214326799 8
n
58118860800
1522256789 7 16759934899 8
n
n
1383782400
3113510400
1424729850961 8
n
743921418240
(62)
5 3 41 4 127 5
n
n
n
16
180
288
72161 7
6
n
n
37800
387072
18975107 8
n
50803200
13 2 3 3 557 4 281 5
n n
n
n
48
5
1440
630
1983433 6 13769 7
n
n
1935360
28800
148003883 8
n
174182400
1
[a]
(57)
(60)
(63)
2 n n2
1
2
3
96199
37
n
3
n
4
81
96
360
512
5406467 7
n
n
604800
38707200
7944359 8
n
67737600
1
1
437 4 46 5
n
n
n 2 n3
48
15
1440
105
1118711 6
51841 7
n
n
3870720
1209600
24749483 8
n
348364800
17 3 37 4 209 5 5569 6
n
n
n
n
480
840
4480
90720
9261899 7 6457463 8
n
n
58060800
17740800
10
12
14
16
4397 4 11 5 830251 6
n
n
n
161280
504
7257600
466511 7 324154477 8
n
n
2494800
7664025600
4583 5 108847 6 8005831 7
n
n
n
161280
3991680
63866880
22894433 8
n
124540416
20648693 6 16363163 7
n
n
(64)
638668800
518918400
2204645983 8
n
12915302400
219941297 7
497323811 8
n
n
5535129600
12454041600
191773887257 8
n
3719607091200
e R2 , f 0, g R2 cos2
(65)
Y
X
E
, F 0, G
(66)
d cos d
(67)
dX R d and dY
1
d
cos
Y R ln tan
1
4
and an angle at N of 0
sin cos sin
x
1 cos x
and writing
2
1 cos x
tan
cos
1 cos 12
1 sin
.
tan 14 12
1
1 cos 2
1 sin
X R 0 R
1 sin R 1 sin
ln
1 sin 2 1 sin
tan
(70)
(71)
Y R ln
1
2
(68)
1
2
formula tan
(69)
sin
tan cos2
2
(72)
(73)
u R
tan
R tan 1
cos
(74)
eq ua to r
S
v
u v
E
u u v v
F
2
u v
G
(75)
1 cos 2 sin 2
R cos cos
v
1 cos 2 sin 2
R2
1 cos sin
2
, F 0, G
R2 cos2
1 cos 2 sin 2
(76)
(77)
Now using equations (30), (65) and (77) the scale factors
h and k are equal and f F 0 , then the projection is
conformal.
Gauss-Lambert scale factor
Since the projection is conformal, the scale factor
m h k E e and
(82)
tan
u a tan 1
cos
v a tanh 1 cos sin
(83)
tan
u a tan 1
cos
sin
v a sinh 1
tan 2 cos 2
(84)
1 cos 2 sin 2
1
3
1 cos 2 sin 2 cos 4 sin 4
2
8
(78)
u
u
v
v
d
d and dv
d
d
(85)
1 sin
ln tan 14 12 12 ln
1 sin
sinh 1 tan tanh 1 sin
(86)
(79)
tan
(81)
R cos
u
,
1 cos 2 sin 2
v
R sin sin
,
1 cos 2 sin 2
tan
(80)
1 tan 2
sinh tanh 1
tan
(88)
(89)
cos
1 2 sin 2
cos
cos 1 2 2
1 4 4
1 sin sin
cos 2
8
m0
E e G g , and f F 0 .
dS
2
ds
(90)
ds
2 d 2 cos2 d
2
dS
du dv
2
(91)
tan
(92)
(93)
with
v v
and
(94)
(95)
u
a cos
1 cos 2 sin 2
v
a sin sin
1 cos 2 sin 2
tan tan
1 tan 2
1 tan 2 1 2 sin 2
tan cos 2
2
(99)
(100)
1
Y iX f u iv
A
(101)
f u iv
(96)
2 1
1 2 sin 2 cos
2 exp
cos
1 exp 2
u
v
Using equations (96) the grid convergence for the GaussSchreiber projection is
u
u
v
v
d
d and dv
d
d
(98)
du
(97)
u
v
i
a
a
u
v
2 r sin 2r i 2r
a
r 1
a
f u iv
u
v
sin 2r cosh 2r
a
a
2r
u
v
r 1
i cos 2r sinh 2r
a
a
(102)
(103)
u
v
2 r sin 2r cosh 2r
A a r 1
a
a
X v
u
v
cos 2r sinh 2r
a
A a r 1 2 r
a
(104)
(105)
u
is an angular
a
quantity that is identical to the conformal latitude and
equation (105) becomes
Furthermore, along the central meridian
Y
2 sin 2 4 sin 4 6 sin 6
A
(107)
v
u
v
X A 2 r cos 2r sinh 2r
a
a
a r 1
u
u
v
Y A 2 r sin 2r cosh 2r
a
a
a r 1
E m0 X E0
(106)
N m0Y N0
(109)
(108)
dS dX dY
2
2
2
ds 2 d 2 cos2 d
2
u
v
A is given by equation (41), a and a are given by
X
X
du
dv
u
v
Y
Y
dY
du
dv
u
v
dX
(110)
dX
dY
X v
X u
u
v
d
d
d
d
u
Y v
Y u
u
v
d
d
d
d
u
11
X u X v
dX
d
u v
Y u Y v
dY
d
u v
and
m2
dS
2
ds
dX
dY
2 d
tan 1
(111)
(112)
tan tan
q
tan 1
p
1 tan 2
tan 1
X A X A Y X Y
X
(113)
q,
p,
,
u a
v a
u v v
u
(i)
(114)
(115)
2
2
2
1 tan 1 sin
(116)
2
2
tan cos
A conformal mapping from the TM to the GaussSchreiber projection giving u,v coordinates, then
(ii) Solving for tan and tan given the u,v GaussSchreiber coordinates from which 0 , and
finally
1
u iv F Y iX
a
(117)
q v u
u
v
p
p
tan
u
v
q v u
q
p
1
p
(118)
tan 1 tan 2
1 tan 1 tan 2
E E0
N N0
and Y
m0
m0
(123)
F Y iX
Y
X
i
A
A
Y
X
K2 r sin 2r i 2r
A
A
r 1
(124)
tan tan 1 2
(122)
TM grid convergence
tan
(121)
A
m m0 q 2 p 2
a
(120)
where
2
1 u 2 v 2
A
m2 q 2 p 2 2
a
u
v
q 2r 2 r sin 2r sinh 2r
a
a
r 1
u
v
p 1 2r 2 r cos 2r cosh 2r
a
a
r 1
q
v
and tan 2
p
(119)
12
u Y
Y
X
K2 r sin 2r cosh 2r
a A r 1
A
A
v X
Y
X
K cos 2r sinh 2r
A
a A r 1 2 r
A
tn 1 tn
(125)
Y M
the rectifying
A A
u
latitude and X 0 and cosh 0 1 . Also,
is an
a
angular quantity that is identical to the conformal latitude
and we may write the first of equations (125) as
Along the central meridian
(126)
u
and
a
v
are given by
a
u Y
Y
X
sin 2r cosh 2r
a A r 1 2 r
A
A
v X
Y
X
2 r cos 2r sinh 2r
a A r 1
A
A
(127)
f tn
f tn
(131)
The derivative f t
f t
(132)
d
f t is given by
dt
1 t
1 1 t
t
1 1 t
2
(133)
1.
2.
3.
u
v
and
giving
a
a
u
sin
a
tan
v
u
sinh 2 cos 2
a
a
(128)
1 t
sinh tanh 1
7.
8.
9.
10.
and
6.
4.
5.
v
u
tan sinh cos
a
a
t t 1 2 1 t 2
(129)
2.
3.
(130)
4.
u v
Compute the ratios a , a from equations (127)
1.
5.
6.
7.
8.
d 2 M d 3M
,
, For the inverse transformation [see
d 2 d 3
equations (166) and (168)] the equations involve powers
d 1
of the X coordinate X 2 , X3 , X 4 , and derivatives
,
d 1
they can
Gauss-Krueger
X 173137.521
Y 8335703.234
X 287748.837
Y 8351262.809
X 429237.683
Y 8381563.943
X 567859.299
Y 8423785.611
X 832650.961
Y 8543094.338
X 956892.903
Y 8619555.491
Redfearn
75 00' 00.0000"
5 59' 59.9999"
75 00' 00.0000"
9 59' 59.9966"
75 00' 00.0023"
14 59' 59.8608"
75 00' 00.0472"
19 59' 57.9044"
75 00' 03.8591"
29 58' 03.5194"
75 00' 23.0237"
34 49' 57.6840"
error
0.001
0.027
1.120
16.888
942.737
4.9 km
Table 1
d 21 d 31
d 1 d 2 1 d 3 1
,
,
and
,
,
For both
,
d 12 d 13
dY dY2 dY3
transformations, the higher order derivatives become
excessively complicated and are not generally known (or
approximated) beyond the eighth derivative.
14
NOMENCLATURE
point
A 70
22.5
B 78
-30
Gauss-Krueger
X 842115.901
Y 7926858.314
X -667590.239
Y 8837145.459
Redfearn
75 00' 00.2049"
22 29' 53.9695"
78 00' 03.1880"
-29 57' 59.2860"
This paper
error
64.282
784.799
Table 2
Y
15
k
k
2
2
Krueger
g
h
k
M
m
m0
n
Q
s
t
t
longitude difference: 0
angle between parametric curves
rectifying radius
semi-major axis of ellipsoid
semi-minor axis of ellipsoid
polar radius of curvature
differential distance on datum surface
differential distance on projection surface
Gaussian fundamental quantity
flattening of ellipsoid
Gaussian fundamental quantity
Gaussian fundamental quantity
scale factor along meridian
scale factor along parallel
meridian distance
scale factor
central meridian scale factor
3rd flattening of ellipsoid
quadrant length of ellipsoid
distance on ellipsoid
t tan
t tan
u
V
v
W
A
a
b
c
ds
dS
e
f
c
e
e2
R
N
A
a
b
X
m
m0
n
M
s
Taylor's theorem
APPENDIX
Reversion of a series
If we have an expression for a variable z as a series of
powers or functions of another variable y then we may,
by a reversion of the series, find an expression for y as
series of functions of z. Reversion of a series can be done
using Lagrange's theorem, a proof of which can be found
in Bromwich (1991).
Suppose that
y z xF y or z y xF y
(134)
f ( x) f (a ) ( x a ) f (a )
f y f z
x
F z f z
1!
2
x2 d
F z f z
2! dz
3
2
3
x d
F z f z
2
3! dz
n
xn d n 1
F z
f z
n 1
n ! dz
(136)
(137)
and so
(139)
f k a
(140)
(141)
n 1
(138)
d
sin
d
2
1
2 d
2 sin
2!
d
3
1
3 d
3 sin
3!
d
giving
sin sin cos
x a
k!
3
1 d
F
2
6 d
d
F n
n 1
n! d
(a ) Rn
n 1
dk
where f k a k f x
dx
x a
sin sin
2
1 d
F
F
2 d
where
k 0
(135)
f x
n 1
evaluated at x a .
f (a )
x a
n 1!
3!
2!
f (a ),
expressed as
f (a )
x a
x a
cos
24
2
4
sin
sin
(142)
e x e x
sinh x
2
x
e e x
cosh x
2
(143)
tanh x
sinh x
1
, coth x
cosh x
tanh x
1
1
sech x
, cosech x
cosh x
sinh x
(144)
x ln x
x 1
sinh x ln x x 1
1
cosh 1
tanh 1 x
1 1 x
ln
2 1 x
x
x 1
(145)
1 x 1
cos 12 x sin 12 x
x ln
cos 12 x sin 12 x
1 sin x
ln
ln
cos x
cos 2 12 x sin 2 12 x
(146)
1 sin x
ln tan x sec x ln
cos x
And equating ln
gives
(150)
(151)
(152)
(149)
Z Y iX R i
1
2
cos 12 x sin 12 x
Y iX f i
ln tan
Y R ln tan 14 12 R
1
4
Z Y iX R sinh 1 tan i
(153)
1 sin x
from equations (146) and (147)
cos x
(148)
17
w u iv tan 1 sinh Z
(154)
f z f i
tan
u R tan 1
cos
sin
v R sinh 1
2
tan cos 2
f i f
1 tan
tan cos
sin
i sinh 1
2
tan cos 2
(156)
(157)
f 0 i0 i
where f z0 , f
z
3!
z0
3!
2!
Y
(163)
z0
X 2 d 2 1 X 4 d 4 1 X 6 d 6 1
2! dY2
4! dY4
6! dY6
d
X 3 d 3 1 X 5 d 5 1 X 7 d 7 1
X 1
dY 3! dY4
5! dY5
7! dY7
1
(159)
iX
iX
(158)
2!
(162)
f 0 i 0
(161)
f i
dM 3 d 3 M 5 d 5 M 7 d 7 M
d 3! d 3 5! d 5 7! d 7
i F Y iXF
(160)
i F Y iX
f 3
2 d 2M 4 d 4M 6 d 6M
Y M
2! d 2 4! d 4 6! d 6
f z f z0 z f z0
2!
w u iv 2Rtan 1 exp i 14
f z0 z f z
3!
f 2
Y iX
w u iv
(155)
(164)
0 0 ), hence z0 0 i0 and
z i i .
where
18
X 2 d 2 1 X 4 d 4 1 X 6 d 6 1
2! dY2
4! dY4
6! dY6
(165)
(166)
g 1 g
3!
2!
d d 21 d 41
1 1
d 1
2! d 12
4! d 14
2
d
X 3 d 3 1 X 5 d 5 1 X 7 d 7 1
X 1
dY 3! dY4
5! dY5
7! dY7
Karney, C.F.F., (2010). Email from Charles Karney, 0205 June, 2010, 7 pages.
(168)
REFERENCES
http://www.icsm.gov.au/gda/gdatm/index.html
http://docs.lib.noaa.gov/rescue/cgs_specpubs/
QB27U35no2511952.pdf