GEODETIC DATUM TRANSFORMATION SYSTEM (GDTS)

WITH EMBEDDED GDM2000 (2009) SYSTEM

User Guide and M anual

Version 4.10
Info-Geomatik June 2010
Corporate Office

Info-Geomatik (M) Sdn. Bhd.

No. 72-02, Jalan Pendidikan 4,
Taman Universiti Commercial Centre,
81300 Skudai, Johor,
MALAYSIA
Tel: +607-5204053
Fax: +607-5206053
Email: [email protected]

Copyright and Trademarks

© 2006 Info-Geomatik (M) Sdn. Bhd.

All rights reserved.

The IG logo with GDTS is trademarks of Info-Geomatik (M) Sdn. Bhd.,

registered Malaysia Patent and Trademark Office.

Release Notice

This is the June 2010 release (Build 4.3) of

the Geodetic Datum Transformation System. They
apply to version 4.10 of the GDTS software.

GDTS Version 4.10 User Guide i

Contents

Contents
Installation_____________________________________________ 1
Installing the Geodetic Datum Transformation System ____________ 1
Hardware and Software Requirements for Your PC ______________ 2
Installing the Software _______________________________________ 2
Installing the Windows Installer 3.1 ______________________ 3
Installing the .Net Framework 2.0 ________________________ 6
GDTS Version 4.10 Installation: _________________________ 9
Directory Structure: __________________________________ 12
Registration Code __________________________________________ 13
Product Information ____________________________________ 14
Key Features ______________________________________________ 15
The Malaysian Survey and Mapping System: _____________ 16
Universal System and Utilities: _________________________ 16
Data Format __________________________________________ 19
Format for 3-Dimensional Input: _____________________________ 20
Comma Delimiter (*.csv) in Degree Minute Second (DMS) __ 20
Comma Delimiter (*.csv) Decimal Degree (Dec) ___________ 20
GDTS Version 4 Standard Format (*.inp) ________________ 20
Space Delimiter (*.txt) in Degree Minute Second (DMS) ____ 21
Space Delimiter (*.txt) in Decimal Degree (Dec) ___________ 21
Format for 3-Dimensional Output: ____________________________ 22
Comma Delimiter (*.csv) in Degree Minute Second (DMS) __ 22
Comma Delimiter (*.csv) Decimal Degree (Dec) ___________ 22
GDTS Version 4 Standard Format (*.out) ________________ 22
Space Delimiter (*.txt) in Degree Minute Second (DMS) ____ 23
Space Delimiter (*.txt) in Decimal Degree (Dec) ___________ 23
Format for 2-Dimensional Input: _____________________________ 23
Comma Delimiter (*.csv) in Degree and Minute (DM) ______ 23

GDTS Version 4.10 User Guide i

Contents

Comma Delimiter (*.csv) Decimal Degree (Dec) ___________ 23

Space Delimiter (*.txt) in Degree and Minute (DM) ________ 23
Space Delimiter (*.txt) in Decimal Degree (Dec) ___________ 23
Comma Delimiter (*.csv) in Northing and Easting _________ 23
Space Delimiter (*.txt) in Northing and Easting ___________ 24
Format for 2-Dimensional Output: ___________________________ 24
Comma Delimiter (*.csv) in Degree and Minute (DM) ______ 24
Comma Delimiter (*.csv) Decimal Degree (Dec) ___________ 24
Space Delimiter (*.txt) in Degree and Minute (DM) ________ 25
Space Delimiter (*.txt) in Decimal Degree (Dec) ___________ 25
Comma Delimiter (*.csv) in Northing and Easting _________ 25
Space Delimiter (*.txt) in Northing and Easting ___________ 25
GDTS Version 4 Standard Format (*.out) ________________ 26
Format Example: __________________________________________ 26
The Main Modules _____________________________________ 31
GDTS 4.10 Menu System ____________________________________ 31
Three Dimensional Modules _________________________________ 32
Interactive Mode _____________________________________ 33
Batch Mode _________________________________________ 36
Two Dimensional Modules ___________________________________ 38
Interactive Mode _____________________________________ 38
Batch Mode _________________________________________ 41
The Utilities Module ____________________________________ 44
Features __________________________________________________ 45
Geodetic Tools _____________________________________________ 46
Conversion Steps: ____________________________________ 47
Print & Preview: _____________________________________ 47
Bearing and Distance Computation ___________________________ 47
Conversion Steps: ____________________________________ 48
Print & Preview: _____________________________________ 48
Universal Transverse Mercator (UTM) ________________________ 48
Conversion Steps _____________________________________ 48

GDTS Version 4.10 User Guide ii

Contents

Print & Preview______________________________________ 52

Three-Dimensional Parameters Derivation _____________________ 52
Input Format ________________________________________ 52
Computation Steps: __________________________________ 52
Ooutput Results: _____________________________________ 53
Print & Preview: _____________________________________ 54
Three-Dimensional Transformation ___________________________ 54
Two-Dimensional Transformation ____________________________ 57
Input Format Option 1: _______________________________ 57
Output Results: ______________________________________ 60
Statistics: ___________________________________________ 61
Input Format Option 2: _______________________________ 61
Computation Steps: __________________________________ 61
Statistics: ___________________________________________ 61
Complementary________________________________________ 63
Geocentric Datum of Malaysia 2000 ___________________________ 63
Historical Perspective _________________________________ 63
Why Geocentric Datum? ______________________________ 63
Characteristics_______________________________________ 64
GDM2000 Realization ________________________________ 66
GPS Network in GDM2000 ____________________________ 68
Implications _________________________________________ 72
Present WGS84 Datum User ___________________________ 73
Transformation of Coodinates ________________________________ 74
Introduction _________________________________________ 74
Three-Dimensional Transformation _____________________ 75
Map Projection ____________________________________________ 81
Rectified Skew Orthomorphic Projection (RSO)___________ 82
Cassini-Soldner Projection_____________________________ 87

GDTS Version 4.10 User Guide iii

Contents

GDTS Version 4.10 User Guide iv

1. Installation

C H A P T E R

1
Installation

This chapter shows how to install the Geodetic Datum Transformation

System (GDTS) software and then register it. It also outlines the
hardware and software requirements for your PC, and important
installation issues.

Installing the Geodetic Datum Transformation System

The installation process uses a standard installation program for

Windows. Program Installer will ask you for folder names in which to
store the Geodetic Datum Transformation System programs, data, and
other files. It will also ask for your serial number of the product, which is
shown on the back of the Geodetic Datum Transformation System CD-
ROM’s case.

GDTS Version 4.10 User Guide 1

1. Installation

Hardware and Software Requirements for Your PC

Table 1.1 shows what you need on your computer so that you can
install and use the Geodetic Datum Transformation System software
properly.

Table 1.1 Hardware and software requirements

Recommended
Component Minimum requirements
requirements
CPU Pentium 700 MHz Pentium 1.6 GHz
RAM 64 MB 256 MB
Hard drive 126 MB required for typical installation (.Net, Windows
Installer & GDTS)
Monitor SVGA color 1024 x 768 XGA color 1024 x 768
Data drives CD-ROM drive or DVD drive
Input devices Keyboard with mouse or Keyboard and Microsoft
trackball IntelliMouse
Software One of the following Microsoft operating systems:
Windows 98
Windows Me
Windows NT version 4.0 or later SP6
Windows 2000 SP4
Windows XP
Windows 7
Also:
.Net Framework 2.0
Windows Installer 3.1

Installing the Software

Info-Geomatik recommends that you install the Geodetic Datum

Transformation System on Microsoft Windows XP SP2. If you are
installing the software under Windows NT, Windows 2000 SP4,
Windows 7 or Windows XP, you must have administrator rights. Prior
to installation of Geodetic Datum Transformation System, you need to
install the .Net (DotNet) Framework 2.0 and Windows Installer Version
3.1 which are available on the same CD.

GDTS Version 4.10 User Guide 2

1. Installation

The GDTS Version 4.10 installation uses the standard MS-Windows

installation procedures with the following requirements base on the
target operating system.

Microsoft XP SP2:
Step 1:
Install Microsoft .NET (Dot Net) Framework 2.0 from GDTS CD

Step 2:
Install GDTS Version 4.10

Windows 7, Microsoft XP SP1, 2000 SP4, Me and 98:

Step 1:
Install Microsoft Windows Installer 3.1 from GDTS CD

Step 2:
Install Microsoft .NET (Dot Net) Framework 2.0 from GDTS CD

Step 3:
Install GDTS Version 4.10

Installing the Windows Installer 3.1

Step 1:

To install Windows Installer 3.1 software:

1. Turn on the computer and start Microsoft Windows.
2. Insert the GDTS Version 4.10 CD-ROM into the CD-ROM drive.
The Setup menu appears. Cancel the setup for GDTS 4.10

3. Click and then select Run.

4. In the Run dialog, click Browse and locate the CD-ROM drive
folder.

GDTS Version 4.10 User Guide 3

1. Installation

5. Click on the WindowsInstaller3_1 directory inside the installation

CD.

Step 2:
Double-Click on the WindowsInstaller3-KB893803... to start the
installation.

Step 3:
Follow the installation wizard’s instruction

(1)

GDTS Version 4.10 User Guide 4

1. Installation

(2)

(3)

(4)

GDTS Version 4.10 User Guide 5

1. Installation

(5)

(6) Reboot the computer.

Installing the .Net Framework 2.0

Step 1:

To install the .Net Framework software:

1. Turn on the computer and start Microsoft Windows.
2. Insert the GDTS Version 4.10 CD-ROM into the CD-ROM drive.
The Setup menu appears. Cancel the setup for GDTS 4.10

3. Click and then select Run.

4. In the Run dialog, click Browse and locate the CD-ROM drive
folder.
5. Click on the DotNetFx directory inside the installation CD.

GDTS Version 4.10 User Guide 6

1. Installation

Step 1:
Click on the DotNetFx directory inside the installation CD.

Step 2:
Double-Click on the DotNetFx Icon to start the installation. Follow the
installation wizards.

(1)

(2)

GDTS Version 4.10 User Guide 7

1. Installation

(3)

(4)

GDTS Version 4.10 User Guide 8

1. Installation

(5)

Step 3:
If your computer is connected to the World Wide Web, it is highly
recommended that you download or update the software with the latest
security patch.

GDTS Version 4.10 Installation:

Step 1:
To install the GDTS 4.10 software:
1. Turn on the computer and start Microsoft Windows.
2. Insert the GDTS Version 4.10 CD-ROM into the CD-ROM drive.
The Setup menu appears. If the setup does not activate:

1. Click and then select Run.

2. In the Run dialog, click Browse and locate the CD-ROM
drive folder.

GDTS Version 4.10 User Guide 9

1. Installation

Step 2:
Click on the GDTS40_Setup.msi or Setup.exe and follow the installation
instructions

(1)

(2)

You can select your appropriate installation directory, but it is

recommended that you maintain the proposed installation directory.
You may choose to install the software for every user or strictly own use
only (Administrator).

GDTS Version 4.10 User Guide 10

1. Installation

(3)

(4)

(5)

GDTS Version 4.10 User Guide 11

1. Installation

(6)

Step 3:
The GDTS 4.10 program folder can be accessed through
START/PROGRAM/GDTS410/ menu.

Directory Structure:

The default installation directory for GDTS Version 4.10 is:

C:\Program Files\GDTS4.10\

GDTS 4.10 installation will also create sub-directories or folders for

temporary area, data format and information storage. The directories
are:
..\GDTS4.10\tmp - Temporary directory
..\GDTS4.10\Param - Directory to store user-defined
transformation parameter
..\GDTS4.10\Dat - Data format directory to store all the
INPUT formats.
..\GDTS4.10\exe - External programs called by GDTS42

Important Notes:

GDTS Version 4.10 User Guide 12

1. Installation

Deleting one or more of the directories and its contents will severely
damage the GDTS 4.10 programs.

Registration Code

The Geodetic Datum Transformation System software will be activated

after the Registration Code is registered with the GDTS software. The
12-digits Registration Code is given to you as a valid license and is
based on state registration.

Users will be asked to key-in this Registration Code during the first
activation of the GDTS software. Users do not need to re-enter the
Code for subsequent running of the programs provided the Registration
Code is successfully activated.

Product’s Registration Window.

GDTS Version 4.10 User Guide 13

2. Product Information

C H A P T E R

Product Information

This chapter describes the key features of the Geodetic Datum

Transformation System software, and the enhancements of those
features in the previous release, including workflow improvements. It
also describes important details about using the software, and lists the
additional files and utilities that are available on the CD.

Key Features

The Geodetic Datum Transformation System software is a

comprehensive coordinate’s transformation package. It provides a wide
choice of transformation modules for local and world wide users. The
software includes an extensive feature set that helps you to:
• verify your field work coordinates
• easily perform coordinates transformation and conversion
tasks
• export your data to a third-party software package
Its key features are:

GDTS Version 4.10 User Guide 14

2. Product Information

The Malaysian Survey and Mapping System:

1. Three Dimensional Transformation

• Geocentric Datum for Malaysia (GDM2000) to Peninsular

Malaysia Geodetic Scientific Network 1994 (PMGSN94) and
vice-versa.
• Geocentric Datum for Malaysia (GDM2000) to Malayan
Revised Triangulation 1948 (MRT48) and vice-versa.
• Peninsular Malaysia Geodetic Scientific Network 1994
(PNGSN94) to Malayan Revised Triangulation 1948 (MRT48)
and vice-versa.
• Geocentric Datum For Malaysia (GDM2000) to East Malaysia
Geodetic Scientific Network 1997 (EMGSN97) and vice-versa.
• Geocentric Datum for Malaysia (GDM2000) to Borneo
Triangulation 1968 (BT68) for Sabah State and vice-versa.
• Geocentric Datum for Malaysia (GDM2000) to Borneo
Triangulation 1968 (BT68) for Sarawak State and vice-versa.
• East Malaysia Geodetic Scientific Network 1997 (EMGSN97)
to Borneo Triangulation 1968 (BT68) for Sabah State and vice-
versa.
• East Malaysia Geodetic Scientific Network 1997 (EMGSN97)
to Borneo Triangulation 1968 (BT68) for Sarawak State and
vice-versa.

2. Map Projection

• GDM2000 to Geocentric Rectified Skew Orthomorphic (RSO)

projection for Peninsular Malaysia and vice-versa.
• GDM2000 to Geocentric Rectified Skew Orthomorphic (RSO)
projection for Sabah and Sarawak and vice-versa.

• MRT48 to Malayan Rectified Skew Orthomorphic Projection

(MRSO) and vice-versa.

GDTS Version 4.10 User Guide 15

2. Product Information

• BT68 to Borneo Rectified Skew Orthomorphic Projection

(BRSO) and vice-versa.
• GDM2000 to State’s Geocentric Cassini-Soldner and vice-
versa.
• MRSO to State’s Geocentric Cassini-Soldner and vice-versa.

Universal System and Utilities:

1. Geodetic Tools
• Geographical to Cartesian and vice-versa with selected pre-
defined ellipsoid as well as user-defined ellipsoid.
• Bearing and distance computation with a given two-
dimensional coordinates.

2. Universal Transverse Mercator (UTM) Projection

• Geographical to UTM and vice-versa with selected pre-defined
and user-defined ellipsoid with all possible zone world-wide.
Users also have an option to create their own projection
properties such as the Central Meridian and false origin.

3. Three-Dimensional Parameter Derivation

• Two widely known models can be selected between Bursa-
Wolf and Molodensky-Badekas with an optional selection of 3
Parameters (Dx, Dy, Dz), 4 Parameters (Dx, Dy, Dz and Scale)
and 7 Parameters (Dx, Dy, Dz, Rx. Ry, Rz and Scale).

4. Three-Dimensional Transformation
• Three-Dimensional Transformation with selected pre-defined
and user-defined ellipsoid for world-wide users. Users also
have an option to save their own parameters that can be used
regularly.

5. Two-Dimensional Transformation

GDTS Version 4.10 User Guide 16

2. Product Information

• Two-Dimensional Transformation with user-defined ellipsoid

parameters. Users also have an option to save their own
parameters that can be used regularly.

GDTS Version 4.10 User Guide 17

3. Data Format

C H A P T E R

3
Data Format

This chapter describes the data format for INPUT and OUPUT of the
Geodetic Datum Transformation System software. There are wide
numbers of supported format that can be used as an INPUT and
OUTPUT of the software.

There are three common ASCII Data Formats: DAT, CSV, and TXT.
ASCII files are generic format files that can be read or produced by most
applications. These files can also be imported into most applications,
including word processors, spreadsheets, and ASCII editors.

ASCII files do not contain any worksheet formatting information (row

heights, column widths or cell format). When ASCII files are loaded into
the worksheet, the default column formatting parameters are applied to
the data. This does not result in any change to data, but might result in
rounding of values in the data display. There is no limitation on the
number of rows or columns in an ASCII format. ASCII formats save and
load slowly because there is a conversion from binary numbers to
character representation.

GDTS Version 4.10 User Guide 18

3. Data Format

There are some distinctions in formatting of ASCII files. Here are some
brief notes that outline the usefulness of the ASCII file features.
Delimiters control the separation between cell entries in a file. Spaces or
commas can be used to separate cells.

Format for 3-Dimensional Input:

Comma Delimiter (*.csv) in Degree Minute Second (DMS)

Name, Latitude in DMS, Longitude in DMS and an Ellipsoidal Height. All
data elements are separated with commas starting with station's name.

Example:
StationA,2,12,33.12345,103,22,13.12345,233.321

Comma Delimiter (*.csv) Decimal Degree (Dec)

Name, Latitude in Decimal Degree, Longitude in Decimal Degree and an
Ellipsoidal Height. All data elements are separated with commas
starting with station's name.

Example:
StationA,2.209200958,103.3703121,233.321

GDTS Version 4 Standard Format (*.inp)

Space formatted file starting with station's name. The first two lines
serve as a guide to format the data set and should not be written in the
input files. The Fortran type format is:
A20,I2,1X,I2,1X,F8.5,1X,I3, 1X,I2,1X,F8.5,1X,F9.3

GDTS Version 4.10 User Guide 19

3. Data Format

Example:
# 1 2 3 4 5 6
# 123456789012345678901234567890123456789012345678901234567890
STA1 05 17 03.55727 115 10 56.42176 68.600
STA4 04 15 07.65826 117 58 33.18639 394.262
STA5 06 23 42.13217 116 28 59.75519 145.429
STA6 06 54 01.93599 116 43 14.47019 32.601
STA2 06 52 46.04669 116 50 37.60566 01.693

The GDTS also can accept GDTS Version 4 Standard format as a

Space Delimiter (DMS) format.

Space Delimiter (*.txt) in Degree Minute Second (DMS)

Name, Latitude in DMS, Longitude in DMS and an Ellipsoidal Height.
Multi Space (minimum with a single space) formatted file in degree
minutes and second starting with station's name.

Example:
StationA 2 12 33.12345 103 22 13.12345 233.321

Space Delimiter (*.txt) in Decimal Degree (Dec)

Name, Latitude in Decimal Degree, Longitude in Decimal Degree and an
Ellipsoidal Height. Multi Space (minimum with a single space) formatted
file in decimal degree starting with station's name.

Example:
StationA 2.209200958 103.3703121 233.321

GDTS Version 4.10 User Guide 20

3. Data Format

Format for 3-Dimensional Output:

Comma Delimiter (*.csv) in Degree Minute Second (DMS)

Name, Latitude in DMS, Longitude in DMS and an Ellipsoidal Height. All
data elements are separated with commas starting with station's name for
the transformed coordinates only.

Example:
StationA,2,12,33.12345,103,22,13.12345,233.321

Comma Delimiter (*.csv) Decimal Degree (Dec)

Name, Latitude in Decimal Degree, Longitude in Decimal Degree and an
Ellipsoidal Height. All data elements are separated with commas
starting with station's name for transformed coordinates only.

Example:
StationA,2.209200958,103.3703121,233.321

GDTS Version 4 Standard Format (*.out)

Space formatted file starting with station's name, latitude and longitude
for the Input and Output coordinates.

Example:

*******************************************************************************************
* GEODETIC TRANSFORMATION SYSTEM VERSION 4.10 *
* TRANSFORMATION FROM GDM2000 TO PMSGN94 *
*******************************************************************************************
GDM2000 COORDINATES PMSGN94 COORDINATES
STATION LATITUDE LONGITUDE ELL. HGT LATITUDE LONGITUDE ELL. HGT
-------------------------------------------------------------------------------------------

Sta1 05 17 03.55727 115 10 56.42176 68.600 05 17 03.61199 115 10 56.40110 67.920

Sta4 04 15 07.65826 117 58 33.18639 394.262 04 15 07.71375 117 58 33.17036 393.509
Sta5 06 23 42.13217 116 28 59.75519 145.429 06 23 42.18929 116 28 59.73547 144.778
Sta6 06 54 01.93599 116 43 14.47019 32.601 06 54 01.99393 116 43 14.45041 31.968

GDTS Version 4.10 User Guide 21

3. Data Format

Space Delimiter (*.txt) in Degree Minute Second (DMS)

Name, Latitude (DMS), Longitude (DMS), Ellipsoidal Height. Multi
Space (minimum with a single space) formatted file in degree
minutes and second starting with station's name for the
transformed coordinates only.

Example:
StationA 2 12 33.12345 103 22 13.12345 233.321

Space Delimiter (*.txt) in Decimal Degree (Dec)

Name, Latitude (Dec), Longitude (Dec), Ellipsoidal Height. Multi
Space (minimum with a single space) formatted file in decimal
degree starting with station's name for the transformed
coordinates only.

Example:
StationA 2.209200958 103.3703121 233.321

Format for 2-Dimensional Input:

Comma Delimiter (*.csv) in Degree and Minute (DM)

Name, Latitude in DM, Longitude in DM. All data elements are
separated with commas starting with station's name.

Example:
StationA,2,12,33.12345,103,22,13.12345

GDTS Version 4.10 User Guide 22

3. Data Format

Comma Delimiter (*.csv) Decimal Degree (Dec)

Name, Latitude in Decimal Degree and Longitude in Decimal Degree.
All data elements are separated with commas starting with station's
name.

Example:
StationA,2.209200958,103.3703121

Space Delimiter (*.txt) in Degree and Minute (DM)

Name, Latitude in DM and Longitude in DM. Multi Space (minimum with
a single space) formatted file in degree minutes and second starting with
station's name.

Example:
StationA 2 12 33.12345 103 22 13.12345

Space Delimiter (*.txt) in Decimal Degree (Dec)

Name, Latitude in decimal degree and Longitude in decimal degree.
Multi Space (minimum with a single space) formatted file in degree
minutes and second starting with station's name.

Example:
StationA 2.209200958 103.3703121

Comma Delimiter (*.csv) in Northing and Easting

Name, Northing and Easting in meters. All data elements are separated
with commas starting with station's name.

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3. Data Format

Example:
StationA,655333.123,345222.123

Space Delimiter (*.txt) in Northing and Easting

Name, Northing and Easting in meters. Multi Space (minimum with a
single space) formatted file in Northing and Easting starting with
station's name.

Example:
StationA 655333.123 345222.123

Format for 2-Dimensional Output:

Comma Delimiter (*.csv) in Degree and Minute (DM)

Name, Latitude in DM, Longitude in DM. All data elements are
separated with commas starting with station's name for the transformed
coordinates only.

Example:
StationA,2,12,33.12345,103,22,13.12345

Comma Delimiter (*.csv) Decimal Degree (Dec)

Name, Latitude in Decimal Degree and Longitude in Decimal Degree.
All data elements are separated with commas starting with station's
name for the transformed coordinates only.

Example:
StationA,2.209200958,103.3703121

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3. Data Format

Space Delimiter (*.txt) in Degree and Minute (DM)

Name, Latitude in DM and Longitude in DM. Multi Space (minimum with
a single space) formatted file in degree minutes and second starting with
station's name for the transformed coordinates only.

Example:
StationA 2 12 33.12345 103 22 13.12345

Space Delimiter (*.txt) in Decimal Degree (Dec)

Name, Latitude in decimal degree and Longitude in decimal degree.
Multi Space (minimum with a single space) formatted file in degree
minutes and second starting with station's name for the transformed
coordinates only.

Example:
StationA 2.209200958 103.3703121

Comma Delimiter (*.csv) in Northing and Easting

Name, Northing and Easting in meters. All data elements are separated
with commas starting with station's name for the transformed
coordinates only.

Example:
StationA,655333.123,345222.123

Space Delimiter (*.txt) in Northing and Easting

Name, Northing and Easting in meters. Multi Space (minimum with a
single space) formatted file in Northing and Easting starting with
station's name for the transformed coordinates only.

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3. Data Format

Example:
StationA 655333.123 345222.123

GDTS Version 4 Standard Format (*.out)

Space formatted file starting with station's name, latitude, longitude,
Northing and Easting for the Input and Output coordinates.

***************************************************************************************
* GEODETIC TRANSFORMATION SYSTEM VERSION 4.10 *
* TRANSFORMATION FROM GDM2000 TO RSO GEOCENTRIC FOR PENINSULAR MALAYSIA *
***************************************************************************************
GDM2000 COORDINATES RSO GEOCENTRIC COORDINATES
STATION LATITUDE LONGITUDE NORTHING EASTING
---------------------------------------------------------------------------------------

Sta1 05 17 03.55727 115 10 56.42176 589835.382 1916156.056

Sta4 04 15 07.65826 117 58 33.18639 474016.790 2233188.760
Sta5 06 23 42.13217 116 28 59.75519 716322.874 2062616.256
Sta6 06 54 01.93599 116 43 14.47019 773934.829 2089072.515

Format Example:

Format examples for various inputs are available in …\GDTS40\DAT

directory. Brief explanation for each files are as follow:

Input_2D_DMS_Space.txt
Input for 2-Dimensional in Degree, Minutes and Second with multi space
delimiter.

Input_2D_DMS_csv.csv
Input for 2-Dimensional in Degree, Minutes and Second with comma
delimiter.

Input_2D_DecDegree_Space.txt
Input for 2-Dimensional in Decimal Degree with multi space delimiter.

Input_2D_DecDegree_csv.csv
Input for 2-Dimensional in Decimal Degree with comma delimiter.

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3. Data Format

Input_2D_GDTS.inp
Input for 2-Dimensional in Degree, Minutes and Second with GDTS
standard format.

Input_2D_North_East_Space.txt
Input for 2-Dimensional in Northing and Easting with multi space
delimiter.

Input_2D_North_East_csv.csv
Input for 2-Dimensional in Northing and Easting with comma delimiter.

Input_3D_DMS_Space.txt
Input for 3-Dimensional in Degree, Minutes and Second with multi space
delimiter.

Input_3D_DMS_csv.csv
Input for 3-Dimensional in Degree, Minutes and Second with comma
delimiter.

Input_3D_DecDegree_Space.txt
Input for 3-Dimensional in Decimal Degree with multi space delimiter.

Input_3D_DecDegree_csv.csv
Input for 3-Dimensional in Decimal Degree with comma delimiter.

Input_3D_GDTS.inp
Input for 3-Dimensional in Degree, Minutes and Second with GDTS
standard format.

Input_BW_MB_From.csv
Input file for DATUM FROM in DMS for parameters derivation using
Molodenski-Badecas or Bursa-Wolf Models.

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3. Data Format

Input_BW_MB_To.csv
Input file for DATUM FROM in DMS for parameters derivation using
Molodenski-Badecas or Bursa-Wolf Models.

Input_Helm2DA_csv.csv
Input file for 2-Dimensional transformation OPTION 1

Input_Helm2DB_csv.csv
Input file for 2-Dimensional transformation OPTION 2

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3. Data Format

GDTS Version 4.10 User Guide 29

4. The Main Modules

C H A P T E R

4
The Main Modules

This chapter describes the steps to use the Main Modules of the
Geodetic Datum Transformation System software. The step-by-step
guide will help first time users to familiarize with GDTS version 4.10
interfaces and commands. It also describes important details about
using the software, and lists the input/output example files and utilities
that are available in the programs.

GDTS 4.10 Menu System

Geodetic Datum Transformation System Version 4.10 has a standard

Menu Bar. Located on the top of the main window’s borders, they act as
an access center, where you may access the module’s most commonly
used functions with the click of a mouse button.

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A menu bar consists of one or more tools and separated by blank lines. A
menu is a shortcut to frequently-used menu commands. The following
default menu bars are available:

Files
Modules
About
Help
Geodetic Datum Transformation System Version
4.10 also uses a standard Navigation Bar. Located
on the left of the main window’s borders, they also
act as an access center, where you may access the
module’s most commonly used functions with the
click of a mouse button.

A Navigation Bar consists of one or more tools.

The following default Navigation Bar is available:

MAIN MODULES
Peninsular Malaysia
Sabah and Sarawak
Utilities and User Defined

SUB MODULES
3-Dimensional
Map Projection

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Three Dimensional Modules

Three Dimensional Transformation Modules allows you to transform

between coordinate Systems. The following modules that are
specifically created for survey and mapping system in Malaysia are
available for you to choose:

Peninsular Malaysia:

• Geocentric Datum for Malaysia (GDM2000) to Peninsular

Malaysia Geodetic Scientific Network 1994 (PMGSN94) and
vice-versa.
• Geocentric Datum for Malaysia (GDM2000) to Malayan
Revised Triangulation 1948 (MRT48) and vice-versa.
• Peninsular Malaysia Geodetic Scientific Network 1994
(PNGSN94) to Malayan Revised Triangulation 1948 (MRT48)
and vice-versa.

Sabah and Sarawak Malaysia:

• Geocentric Datum For Malaysia (GDM2000) to East Malaysia

Geodetic Scientific Network 1997 (EMGSN97) and vice-versa.
• Geocentric Datum for Malaysia (GDM2000) to Borneo
Triangulation 1968 (BT68) for Sabah State and vice-versa.
• Geocentric Datum for Malaysia (GDM2000) to Borneo
Triangulation 1968 (BT68) for Sarawak State and vice-versa.
• East Malaysia Geodetic Scientific Network 1997 (EMGSN97)
to Borneo Triangulation 1968 (BT68) for Sabah State and vice-
versa.
• East Malaysia Geodetic Scientific Network 1997 (EMGSN97)
to Borneo Triangulation 1968 (BT68) for Sarawak State and
vice-versa.

Each of the modules can be executed using in Interactive or in Batch

Mode.

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Interactive Mode

To go to the transformation selection in interactive mode, you have to:

1. Select the area (Peninsular or Sabah and Sarawak) from the MAIN
MODULES
2. Select 3-Dimensional Transformation from the SUB-MODULES.
3. The default interactive mode will be displayed by the GDTS as
follow:

4. Select your Transformation modules from the Transformation

Modules Combo Box by clicking on the drop-down arrow.
5. Key in the station's name and coordinates (Latitude, Longitude
and Ellipsoidal Height) in the respective text box and click
Transform.
6. The transform coordinate will be displayed in the list box.
7. You can add a new coordinate one by one and the transformed
coordinates will be displayed in sequence.
8. Clicking Reset will clear all text in name and coordinates box.

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Saving the Results

Click on the Save As button, a standard MS Windows Dialogue Box will

be displayed. Key in the output file name and you can choose between
the CSV (comma delimiter) or the TEXT format to save your
transformed data.

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• If you choose TEXT Format, the coordinates are saved as a text

file as follows:

• If you choose CSV Format, the coordinates are saved with comma
delimiter without a header as follows:

Preview and Print the Results

Click on the Preview and Print button and the pop-up will display using
a standard Notepad files. You can print, edit and save the result at this
stage.

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Batch Mode

To switch the transformation option to batch mode, you have to click on

the radio button in Input Choice Box on the top right corner of the
program windows. Once you click on the Input Choice, the program
panel will change to default batch mode display.

1. Select your Transformation modules from the Transformation

Modules Combo Box by clicking on the drop-down arrow.

2. Select your Input File Format by clicking the radio button inside the
INPUT FORMAT BOX on the right side of the program windows.
The Input Files shall need to be prepared in advance using any
text editor with format strictly following the 3-Dimensional
Standard Format as stated in Chapter 3.

3. Select your Output File Format.

4. Using the first BROWSE button, select the Input File. The File
Open Dialogue Box will filter the file type base on the input format
selection being made.

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5. Using the second BROWSE button, select the Output File. The
File Save Dialogue Box will filter the file type base on the output
format selection being made.
6. Click the Transform Button to start the process. A Message Box
will be displayed when the process finished.

Preview and Print the Results

Click on the Preview and Print button and the pop-up menu will display
using a standard Notepad files. You can print, edit and save the result at
this stage.

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Two Dimensional Modules

Two Dimensional Transformation Modules allows you to transform

between coordinate Systems. The following modules that are
specifically created for survey and mapping system in Malaysia are
available for you to choose:

Peninsular Malaysia:
• Geocentric Datum for Malaysia (GDM2000) to Rectified Skew
Orthomorphic (RSO) Geocentric for Peninsular Malaysia and vice-
versa.
• Geocentric Datum for Malaysia (GDM2000) to Cassini-Soldner
Geocentric for Peninsular Malaysia and vice-versa.
• Malayan Revised Triangulation 1948 (MRT48) to Rectified Skew
Orthomorphic (MRSO) for Peninsular Malaysia and vice-versa.
• Rectified Skew Orthomorphic (MRSO) for Peninsular Malaysia to
Cassini-Soldner and vice-versa.

Sabah and Sarawak Malaysia:

• Geocentric Datum For Malaysia (GDM2000) to Rectified Skew
Orthomorphic (RSO) Geocentric for Sabah and Sarawak and vice-
versa.
• Borneo Triangulation 1968 (BT68) to Rectified Skew Orthomorphic
(BRSO) for Sabah and Sarawak and vice-versa.

Interactive Mode

To go to the transformation selection in interactive mode, you have to:

1. Select the area (Peninsular or Sabah and Sarawak) from the MAIN
MODULES.
2. Select 2-Dimensional Transformation from the SUB-MODULES.

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3. The default interactive mode will be displayed by the GDTS as

follow:

4. Select your Transformation modules from the Transformation

Modules Combo Box by clicking on the drop-down arrow.
5. If your selection involved Cassini-Soldner projection, the second
Combo Box on the right side will be activated for State Selection.
6. Key in the station's name and coordinates (Latitude and
Longitude/Northing and Easting) in the respective text box and
click Transform.
7. The transform coordinate will be displayed in the list box.
8. You can add a new coordinate one by one and the transformed
coordinates will be displayed in sequence.
9. Clicking Reset will clear all text in name and coordinates box.

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Saving the Results

Click on the Save As button, a standard MS Windows Dialogue Box will

be displayed. Key in the output file name and you can choose between
the CSV (comma delimiter) or TEXT format to save your transformed
data.

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Preview and Print the Results

Click on the Preview and Print button and the pop-up will display using
a standard Notepad files. You can print, edit and save the result at this
stage.

Batch Mode

To switch the transformation option to batch mode, you have to click on

the radio button in Input Choice Box on the top right corner of the
program windows. Once you click on the Input Choice, the program
panel will change to default batch mode display.

1. Select your Transformation modules from the Transformation

Modules Combo Box by clicking on the drop-down arrow.
2. Select your Input File Format by clicking the radio button inside the
INPUT FORMAT BOX on the right side of the program windows.
The Input Files shall need to be prepared in advance using any
text editor with format strictly following the 2-Dimensional
Standard Format.
3. Select your Output File Format.

4. Using the first BROWSE button, select the Input File. The File
Open Dialogue Box will filter the file type base on the input format
selection being made.

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5. Using the second BROWSE button, select the Output File. The
File Save Dialogue Box will filter the file type base on the output
format selection being made.
6. Click the Transform Button to start the process. A Message Box
will be displayed when the process is finished.

Preview and Print the Results

Click on the Preview and Print button and the pop-up will display using
a standard Notepad files. You can print, edit and save the result at this
stage.

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5. Utilities

C H A P T E R

5
The Utilities Module

This chapter describes the steps to use the Utilities Module of the
Geodetic Datum Transformation System software. The step-by-step
guide will help first time users to familiarize with GDTS version 4.10
interfaces and commands. It also describes important details about
using the software, and lists the input/output example files and utilities
that are available in the programs.

Utilities Menu is accessible from the Project Bar located on the left side
of the program windows. Clicking on the Utilities Text Icon will activate
the utilities menu in separate windows and at the same time hides the
main program windows. The Geodetic Datum Transformation System
Version 4.10 provide user with powerful utility tools in geodetic
computations that are applicable world wide.

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Utilities Main Windows

To access the Utilities features, users can click on the Expand button to
expand all the features listed in the tree menu.

Features

1. Conversion between geographical (Latitude, Longitude and

Ellipsoidal Height) to 3-Dimensional Cartesian (X, Y and Z) and
vice versa using user-defined and pre-defined ellipsoid.
2. Bearing and Distance computation between two stations with the
input given in 2-Dimensional coordinates (Northing and Easting).
3. Universal Transverse Mercator (UTM) projection covering all UTM
zone world wide as well as user-defined parameter.
4. 3, 4 and 7 parameters derivation using the Bursa-Wolf and
Molodenski-Badekas models.
5. Three-Dimensional transformation with user-defined input
parameters.
6. Computation and transformation of 2-Dimensional conformal
transformation

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Geodetic Tools

Geodetic Tools under Utilities Menu provide user with interactive

conversion of geographical to Cartesian coordinates system and vice
versa.

Panel for Geographical to X, Y and Z Coordinates Conversion

Panel for X, Y and Z to Geographical Coordinates Conversion

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Conversion Steps:
1. Click on the option between Geographical to Cartesian or
Cartesian to Geographical under Geodetic
2. Tools in the tree view menu. Your selection will change the
position of interface panel of the geographical and Cartesian input
coordinates.
3. Click on Pre-Defined Ellipsoid Combo Box for selection of listed
ellipsoid. If your ellipsoid is not in the listing, scroll to the end of
the Combo Box and select User-Defined.
4. Once the User-Defined is clicked, the Semi-Major (a) and
Flattening (1/f) text box will be enabled for user interaction. Key in
your ellipsoid parameters.
5. Key in your input coordinates in the respective text box and click
the Computer button. The results will be displayed at the bottom
of the panel.

Print & Preview:

Click on the Print and Preview button to view and print the results in
GDTS Version 4 standard format.

Bearing and Distance Computation

Bearing and Distance computation tools will compute bearing and

distance between two planimetric coordinates.

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Conversion Steps:
1. Click on the Bearing and Distance option in the tree view menu.
2. Key in the input coordinates in the respective text box and click the
Compute button. The results will be displayed at the bottom of
the panel.

Print & Preview:

Click on the Print and Preview button to view and print the results in
GDTS Version 4 standard format.

Panel for Bearing and Distance Computation

Universal Transverse Mercator (UTM)

Conversion Steps
1. Click on the Universal Transverse Mercator option in the tree view
menu.

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2. Click on the modules under Universal Transverse Mercator option.

3. Click on the Pre-Defined Ellipsoid Combo Box and select the

reference ellipsoid. If you select User-Defined Ellipsoid at the
bottom of the Combo Box, the Semi-Major (a) and Flattening (1/f)
text box will be enabled for user interaction.

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4. Click on the coordinates Zone and select the preferred zone. If

you select User-Defined at the bottom of the Combo Box, the
False Northing (Fn), False Easting (Fe), Central Longitude (cm)
and the Scale factor text box will be enabled. Key-in the
respective UTM parameters.

5. Click on the input file in Degree, Minutes, and Second CSV format
and key in the output file names. The output file names will used
GDTS Version 4 standard format.

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6. Click on the Compute button to start the transformation

process.

Print & Preview

Click on the Print and Preview button to view and print the
results in GDTS Version 4 standard format.

Three-Dimensional Parameters Derivation

The GDTS Version 4.10 has the capability of deriving 3-Dimensional

transformation parameter using Bursa-Wolf and Molodensky-Badekas
models. The derivation of 3-Dimensional transformation
parameter needs at least three common coordinates for each datum.

Input Format
Two separate input files in comma (csv) or space (txt) delimiter need to
be prepared in advance. The sequence of the coordinates listing
must be identical for both files.

Example of Input files:

Comma delimiter Geographical data for DATUM 1 ("From.csv")

Sta2,1,22,35.48136,103,36,29.48817, 91.533
Sta3,3,27,49.89137,102,37,18.93924, 269.236
Sta4,6, 2,19.30819,102,19,14.68412, 107.583
Sta5,6, 8,22.98892,100,23, 6.57684, -10.238
Sta6,4, 0, 4.48733,101, 2,26.49409, -2.894
Sta7,1,49,39.95355,103,38,24.93554, 49.424
Sta8,2,40,56.45149,101,58,29.65815, 71.751
Sta9,4,10,55.75951,100,56,28.87627, 0.601
Sta10,4,26,28.77074,100,37,44.96714, -3.299

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Comma delimiter Geographical data for DATUM 2 ("To.csv")

Sta2,1,22,35.52238,103,36,29.45569, 90.906
Sta3,3,27,49.93500,102,37,18.90400, 268.705
Sta4,6, 2,19.35390,102,19,14.64553, 107.154
Sta5,6, 8,23.03398,100,23, 6.53642, -10.541
Sta6,4, 0, 4.53046,101, 2,26.45558, -3.355
Sta7,1,49,39.99491,103,38,24.90270, 48.799
Sta8,2,40,56.49401,101,58,29.62275, 71.208
Sta9,4,10,55.80327,100,56,28.83789, 0.126
Sta10,4,26,28.81498,100,37,44.92886, -3.767

Computation Steps:
1. Click on the Parameter Derivation from the tree view and
select transformation models.

2. Click and select ellipsoid from DATUM 1 from the combo

box. If your reference ellipsoid does not listed in the listing,
scroll down and select User-Defined and key in the
ellipsoid parameter for the Semi-Major and Flattening in the
respective text box.
3. Click and select ellipsoid from DATUM 2 from the combo
box. If your reference ellipsoid does not listed in the
listing, scroll down and select User-Defined and key in the

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ellipsoid parameter for the Semi-Major and Flattening in the

respective text box.
4. Key in the number of requested parameter (3, 4 or 7).
5. Key in the number of common points in the input files.
6. Click and select INPUT for DATUM1 and DATUM 2 and
OUTPUT files.
7. Click Compute button to start the computation.

Output Results:

************************************************************************
* GEODETIC TRANSFORMATION SOFTWARE VERSION 4.10 *
* TRANSFORMATION PARAMETERS DERIVATION *
************************************************************************
Number of Common Points : 9
Number of Requested Parameters : 7
3-D Models : Bursa-Wolf Model

Stations From X-Axis Y-Axis Z-Axis

To

Sta2 -1500246.2295 6197397.9046 152195.8407

-1500245.0990 6197397.5022 152197.0852
Sta3 -1391259.0875 6212965.4636 382801.3430
-1391257.8925 6212965.1051 382802.6487
Sta4 -1353514.1913 6196995.5373 666525.0156
-1353512.9094 6196995.2294 666526.3668
Sta5 -1143197.9963 6237895.0059 677621.3135
-1143196.6929 6237894.7880 677622.6574
Sta6 -1218494.3364 6244926.9194 442082.4029
-1218493.0647 6244926.6048 442083.6923
Sta7 -1503375.7899 6195160.6197 202071.7654
-1503374.6467 6195160.2126 202073.0152
Sta8 -1321931.2223 6232619.2300 296495.8471
-1321930.0274 6232618.8665 296497.1263
Sta9 -1207394.9140 6245632.0957 462036.5482
-1207393.6434 6245631.7590 462037.8542
Sta10 -1172947.3998 6249996.7479 490614.2506
-1172946.1344 6249996.4036 490615.5692

Derived Parameter:

Translation X-Axis (Dx): 01.96946 +- 00.483 Meter

Translation Y-Axis (Dy): -02.11075 +- 00.234 Meter
Translation Z-Axis (Dy): 02.34785 +- 00.369 Meter
Rotation X-Axis (Rx) : 00.04463 +- 00.012 Second
Rotation Y-Axis (Ry) : -00.02800 +- 00.007 Second
Rotation Z-Axis (Rz) : -00.01407 +- 00.016 Second
Scale Correction : 00.28445 +- 00.032 ppm

Standard Error of Unit Weight: 0.0210

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Adjustment Residuals:

Stations vX vY vZ

Sta2 0.0102 -0.0149 0.0094

Sta3 0.0069 0.0030 -0.0043
Sta4 -0.0297 0.0118 0.0292
Sta5 0.0074 -0.0498 0.0023
Sta6 -0.0148 -0.0072 -0.0015
Sta7 0.0035 -0.0003 0.0192
Sta8 0.0137 -0.0004 -0.0160
Sta9 -0.0079 0.0202 -0.0141
Sta10 0.0107 0.0376 -0.0242

Stations vN vE vU

Sta2 0.0090 0.0064 0.0171

Sta3 -0.0042 0.0074 -0.0017
Sta4 0.0309 -0.0265 -0.0147
Sta5 -0.0031 -0.0017 0.0503
Sta6 -0.0018 -0.0159 0.0041
Sta7 0.0192 0.0033 0.0017
Sta8 -0.0162 0.0133 0.0024
Sta9 -0.0125 -0.0039 -0.0223
Sta10 -0.0214 0.0175 -0.0367

Print & Preview:

Click on the Print and Preview button to view and print the
results in GDTS Version 4 standard format.

Three-Dimensional Transformation

Utilities Menu also provide user with 3-Dimensional Transformation with

a user-specified parameters. This module will run in a batch mode and
users are allowed to save their transformation parameters that can be
used routinely.

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DATA [From]
Select your reference ellipsoid for Data [From]. The ellipsoidal
parameters are used for conversion between 3-Dimensional
Cartesian to geographical coordinates and vice-versa. If your
reference ellipsoid does not listed in the listing, please scroll down
until the end of the combo box and select User-Defined. The
Semi-Major and Flattening text box will be enabled and please key
in the appropriate values.

DATA [To]
As DATA [From]

SELECT PARAMETER FILES

Select parameter file that have been save from previous run.
Once selected, all parameters will be displayed in their respective
text box on the right side. For first time user, only an example of
parameter file will be listed.

PARAMETER RADIO BUTTON

If you used or select parameter files, the parameter radio button
will be automatically activated base on information in the

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parameter files, otherwise, please check on one of the options

before entering any parameters in the respective text box.

PARAMETER CHECK BOX (Dx, Dy, Dz, Rx, Ry, Rz & Scale)
Please key in the transformation parameters in the specified text
box if you are not using any previously saved parameter files.

SAVE AS BUTTON
You can save your entered transformation parameters at this
stage which can be used later.

INVERSE TRANSFORMATION CHECK BOX

If your parameter set was derived and stored as DATUM A to
DATUM B and you want to transform the coordinates from
DATUM B to DATUM A, please maintain the same parameter set
and checked the INVERSE option. This is to ensure correct
mathematical procedures are followed.

DATA FORMAT
Please select your 3-Dimensional data format. Please refer to
Chapter 3.

INPUT AND OUTPUT FILES

INPUT and OUTPUT files.

COMPUTE BUTTOM
Click Compute button to start the computation.

PRINT & PREVIEW

Click on the Print and Preview button to view and print the results
in GDTS Version 4 standard format.

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Two-Dimensional Transformation

The GDTS Version 4.10 has the capability of deriving and transforming
2-Dimensional transformation using 4 parameters conformal
transformation. The derivation of 2-Dimensional transformation
parameter needs at least two common coordinates for each datum.
There are two options under 2-Dimensional transformation:

1. Deriving the transformation parameters and subsequently

transforming the rest of the available coordinates;
2. Transformation with the published transformation parameters.

Input Format Option 1:

A single input file in comma (csv) delimiter need to be prepared in
advance.

Example of Input file (Input_Helm2DA_csv.csv):

4
STA1,584963.933,610275.436
STA4,472515.931,920776.206
STA5,708397.400,753821.373
STA6,764442.094,779776.242
/
STA1,584965.933,610274.336
STA4,472517.731,920775.206
STA5,708399.600,753820.373
STA6,764444.094,779775.242
/
ST02,762189.783,793397.506
ST03,483890.269,811319.733
ST03,585482.424,821169.522
ST10,490747.153,960696.702
ST24,606191.610,1050120.352
ST06,631422.009,869355.738
ST02,648768.189,730761.691
ST11,518468.800,668735.029

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Format Details:

Line 1 : Total number of common coordinates

Line 2-5 : Published coordinates for the reference stations (Name,

Northing, Easting) with one station for each line.

Line 6 : A "/" separator after the last station need to be included

Line 7-10 : Observed coordinates for the reference stations (Name,

Northing, Easting) with one station for each line.

Line 11 : A "/" separator after the last station need to be included

Line 12 - : List of coordinates to be transformed

COMPUTATION STEPS:

1. Click on the Compute Parameter and Transform under the 2-D

transformation tree view.

2. Click and select INPUT and OUTPUT files.

3. Click Transform button to start the computation.

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Output Results:

Two Dimensional Conformal Coordinates Transformation

----------------------------------------------------

an - be + Tn = N + VN
bn + ae + Te = E + VE

Reference Coordinates
---------------------

Station Name Northing (N) Easting (E) VN(m) VE(m)

-----------------------------------------------------------------
STA1 584963.933 610275.436 -.030 .042
STA4 472515.931 920776.206 -.040 -.011
STA5 708397.400 753821.373 .147 .004
STA6 764442.094 779776.242 -.078 -.034

Observed Coordinates
--------------------
STA1 584965.933 610274.336
STA4 472517.731 920775.206
STA5 708399.600 753820.373
STA6 764444.094 779775.242

Transformation Parameters:
--------------------------

Component Parameter Sigma (m)

-----------------------------------------
a 1.00000 .00000
b .00000 .00000
Tn -1.895 .33597
Te 1.750 .33597

Rotation = 180 0 .1
Scale Factor = -1.00000

Transformed Coordinates
-----------------------

Station Name Northing (N) Easting (E)

----------------------------------------------------
ST02 762187.712 793398.464
ST03 483888.380 811320.787
ST03 585480.475 821170.530
ST10 490745.317 960697.659
ST24 606189.735 1050121.208
ST06 631420.049 869356.698
ST02 648766.165 730762.732
ST11 518466.835 668736.159

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Statistics:

Click on the Statistic button to view and print the results.

Input Format Option 2:

A single input file in comma (csv) delimiter need to be prepared in
advance.

Example of Input files (Input_Helm2DB_csv.csv):

ST02,762189.783,793397.506
ST03,483890.269,811319.733
ST03,585482.424,821169.522
ST10,490747.153,960696.702
ST24,606191.610,1050120.352
ST06,631422.009,869355.738
ST02,648768.189,730761.691
ST11,518468.800,668735.029

Format Details:

Coordinates for the stations (Name, Northing, Easting) with one station
for each line.

Computation Steps:
1. Click on the Transform with Defined Parameter under the 2-D
transformation tree view.
2. Key-in the four transformation parameters in their respective text
box.
3. Click and select INPUT and OUTPUT files.
4. Click Transform button to start the computation.

Statistics:
Click on the Statistic button to view and print the results.

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6. Complementary

C H A P T E R

6
Complementary

This chapter basically is the compilation of information in Geodetic

Datum Transformation extracted from various documents. Most of the
information is taken from GDM2000 Technical Manual Published by the
Department of Survey and Mapping Malaysia (JUPEM) with a minor
correction.

Geocentric Datum of Malaysia 2000

Historical Perspective

Historically, regional datums have been established in many parts of the

world since the 19th century using conventional surveying techniques
and procedures. Most of them were confined to small areas of the
globe, fit to limited areas and satisfies national mapping requirements.
They are therefore regional in nature and generally are not aligned with
global geocentric reference frame. In Malaysia, there are two local
geodetic datums namely the Malayan Revised Triangulation (MRT) for
Peninsular Malaysia (West Malaysia) and the Borneo Triangulation1968

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(BT68) for Sabah and Sarawak (East Malaysia).

However, with the advent of new technologies such as Global

Positioning System (GPS) and unified GIS applications over large
areas, the existing datums of MRT and BT68 have become obsolete in
terms of accuracy needed for new applications. The existing GPS
network in Malaysia was established in a quasi WGS84 datum where
their derived coordinates have absolute accuracy of 1 – 2 m.
Furthermore, the effects of ground instability since their establishment in
the early 1900’s need to be taken into account in providing better
infrastructure for control purposes.

Malayan Revised
Triangulation

Borneo Triangulation 1968

(BT68)

Why Geocentric Datum?

• Wide spread use of satellite positioning systems.

• Existing datums not compatible.
• Unification of existing datums.

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• In line with international recommendation/practices.

Figure 1: Geocentric Datum

By definition, a geocentric coordinate system is a system with origin

(0,0,0) that coincides with the centre of the mass earth and the
directions of their axes are defined by convention (Figure 1).

The adoption of a geocentric datum will definitely lead to a

homogeneous national coordinate system across the country, and will
ensure that coordinates are directly compatible with GPS application
output and will fulfill the international mapping and charting standards.

Characteristics

• 3-D spatial referencing

• Geocentric origin
• In line with IAG recommendation to align with TRS
• GRS80 as reference ellipsoid
• Nominated reference epoch
• Coordinates Velocity model

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The following stages for the implementation of a geocentric datum have

been planned and carried out:

i. GPS data collection.

ii. Data processing and adjustment of the GPS network.
iii. Computation of the new geocentric datum coordinates at a specific
epoch.
iv. Determination of coordinate’s velocity model.
v. Strengthening and readjustment of Peninsular Malaysia Primary
Geodetic Network (PMPGN) and East Malaysia Primary Geodetic
Network (EMPGN).
vi. Transformation parameters derivation.

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GDM2000 Realization

The new Geocentric Datum of Malaysia (GDM2000) is based on the

existing Malaysia Active GPS System (MASS), which fits into a global
geodetic framework. MASS consists of seventeen (17) active permanent
GPS stations established for geodetic and scientific purposes since
1998 by the Department with a nominal spacing of about 200 km. These
MASS Stations form the so call MASS Network. Four years span of
MASS data (1999 to 2002 for 17 stations) have been used for
processing to determine the reference frame (Figure 2). Eleven (11)
International GPS for Geodynamic Services (IGS) stations in the nearby
region have been included and held fixed in the processing (Figure 3).
The processing has been carried out using the precise orbits acquired
from IGS. The Bernese GPS processing software version 4.2
[Hugentobler, Schaer and Fridez, 2001] was used in the high precision
processing of GPS data.

Figure 2 : MASS Network

Two strategies were employed to obtain an optimum result and to check

for outliers in the final adjustment:

i. Free network with introduction of Helmert transformation, and

ii. Heavily constrained adjustment carried out with the introduction of
reference velocity for the fixed stations and the final coordinates

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were transformed into the middle of the observation epoch i.e. 2nd
January 2001.

Comparison of IGS stations coordinates has been made in order to

determine the accuracy of the network with respect to the IGS stations.
With the final combined coordinates from the network adjustment
projected to 2nd January 2001 (IGS and MASS stations), the
reference coordinates (ITRF2000 Epoch 1997.0) for the IGS
stations were transformed on the same epoch as the adjusted
coordinates.

Figure 3 : IGS sites Fixed for

MASS Network

Internal accuracy check done by comparing coordinates from free

network adjustment and heavily constrained adjustment shows that
RMS residuals of 2.0, 1.7 and 4.4 mm for the northing, easting and
height component, respectively have been achieved.

In the final adjustment (heavily constrained) for adopting specific

reference frame in ITRF2000, the accuracy of the estimated station

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coordinates is found to be between 3 to 4.4 mm in horizontal

components and 1.1 to 12.8 mm for the height. The GDM2000 is now
defined on ITRF2000 reference frame to within 2 cm of accuracy.

GPS Network in GDM2000

Reference frame for the existing GPS geodetic network must be

continually evaluated to provide high accuracy GPS control. Thus, a
GPS campaign was carried out from October 2000 to November 2000 to
re-observe 36 selected stations of the existing PMSGN94 (Peninsular
Malaysia Scientific Geodetic Network 1994) for a period of 48 hours to
strengthen the network (Figure 4).

Figure 4 : Peninsular Malaysia Primary Geodetic

Network in GDM2000

These 36 stations were evenly distributed throughout the existing

PMSGN94. The aim was to connect the existing PMSGN94 to the
MASS Network and thus defining the new PMPGN2000 on GDM2000

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reference frame. A unified national readjustment of all existing GPS

observations in Peninsular Malaysia has been achieved by constraining
these 36 stations.

The new PMPGN2000 has been successfully established with

connection to the Zero Order Geodetic Network and its coordinates
referred to the ITRF2000 Epoch 00.0. The PMPGN has an accuracy in
the order of 1 to 3 cm.

A similar GPS re-observation campaign has been carried out for the
existing EMSGN97 to define their coordinates in GDM2000. The GPS
campaign was carried out from February to March 2002 with the
observation duration of 48 hours. The processing and adjustment of the
network has been carried out from May – July, 2002 (Figure 5).

Figure 5 : East Malaysia Primary Geodetic Network in GDM2000

A seven transformation parameters have also been derived to relate the

existing PMSGN94 control with the new PMPGN2000.

GDM2000 ↔ PMSGN94

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A set of transformation parameters has been derived to allow for the

geocentric coordinates derived from satellite observations to be
transformed and projected on to the existing map grid.

GDM2000 ↔ MRT48 ↔ RSO

New Map Projection

• The present transformation procedures adopted by DSMM involves

a lengthy computation steps such as the following:

φ, λ, h)PMSGN94 ↔ (φ, λ, h )MRT ↔ (N,E)RSO ↔ (N,E)Cassini

• Applying to the above transformation to precisely surveyed positions

will result in distortion of the accurate GPS observations due to less
precise datum.

• The increasing usage of GPS by the surveyors, engineers,

navigators and other professional means that DSMM needs to
provide a mapping product that is compatible with GPS without
transformation or distortion problems inherent in the older
mapping.

• In order to benefit directly from this new geocentric datum, new

projection equation and related parameters have to be developed so
as to allow the coordinates to be projected to the plane grid system.

(φ, λ)GDM2000 ↔ (N,E)RSO

(φ, λ)GDM2000 ↔ (N,E)Cassini

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Implications

Cadastral Survey

• Bearings and distances from coordinates – different from currently

shown
• Use of RSO would cause minor changes
• Application of scale factor and convergence correction
• Recomputation of coordinates based on GDM2000
• Future Cadastral map will be based on GDM2000

Figure 6: Cadastral Lot

Topographical Mapping

• Coordinates change of approximately 200 m

• Simple transformation process for mapping product but need dense
GPS network for a higher accuracy fit
• Changing paper products would be expensive and time consuming
• Change in grids and graticules position
• Change in coordinates of map features
• 1:50,000 - 4 mm on the map
• 1:10,000 - 20 mm on the map
• A new projection – no confusion

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• No noticeable change on bearings and distances

• Future Mapping product will be based on GDM2000

Figure 7: Topographical Maps

Present WGS84 Datum User

• Present GPS Survey based on published PMSGN94 (Quasi

WGS84) coordinates by JUPEM (1994)
• Not affecting for most practical applications
• GDM2000 and WGS84 closely coincident
• Discrepancies arise only in high precision absolute positioning
• Past users of PMSGN94 need to redefine the derived positions in
GDM2000 if centimetre level surveys are needed
• Transformation are required from PMSGN94 coordinates to
GDM2000
• Users of image data need to check with GDM2000 control.

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• New GPS Survey must be based on GDM2000

Transformation of Coordinates

Introduction

Today, the modern geodetic datums range from flat Earth models
used for plane surveying to very complex models used for global
applications which completely describe the size, shape,
orientation, gravity field, angular velocity of the Earth and others.
With satellite positioning that is especially GPS with rapidly
increasing applications, the relationship between various geodetic
datums become very necessary and important. With the
widespread use of GPS, there is a trend for working datum to be
consistent with the ITRF and WGS84. Therefore, an accurate
positioning using satellite-based system needs the full
understanding of reference frame conversions or transformations.

MGPM2000
RSO MRT48 PMSGN94 GDM2000 (Map Grid of Peninsular
Malaysia 2000)

N, E Map
Projection
φ, λ, h φ, λ, h φ, λ, h
N, E

Coordinate Coordinate Coordinate

Conversion Conversion Conversion
Map Projection
(Polinomial Fitting)

N, E
X, Y, Z X, Y, Z X, Y, Z

N, E CASSINI2000

6 Parameter 7 Parameter
Transformaton Transformaton
CASSINI

7 Parameter
Transformaton

Figure 8: Datum Transformation and Map Projection Flowchart for Peninsular

Malaysia

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Datum conversion can be accomplished by many different methods. A

simple three parameter conversion between geodetic co-ordinates in
different datums can be accomplished by conversion through Earth-
Centred, Earth Fixed (ECEF) XYZ Cartesian co-ordinates in one
reference datum and three origin offsets that approximate differences in
rotation, translation and scale. Therefore, the complete datum
conversion is usually based on seven parameter transformations, which
include three translation parameters, three rotation parameters and a
scale. Veis (1960), Bursa-Wolf (1963), Molodensky (1962), Vanicek and
Wells (1974) and many others have developed the transformation of 3-D
co-ordinate system, for transforming geodetic datum. The method of
transformation between co-ordinate systems using seven transformation
parameters can guarantee transformed results to be quite consistent
with the required co-ordinate system in a certain and quite large area.
But, gaps will still exist between the transformed results and the given
results in the required co-ordinate system.

This chapter will present the transformation models used by Bursa-Wolf.

It will also describe the technique for least-squares estimation of
transformation parameters.

Three-Dimensional Transformation

Three-dimensional co-ordinates could be converted from Cartesian to

curvilinear or vice versa through the knowledge of the parameters of an
adopted reference ellipsoid. The forward transformation from geodetic
co-ordinates ( φ , λ , h ) to Cartesian co-ordinates ( X , Y , Z ) is given in
Heiskanen and Moritz (1967), p182 as:

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Z
P

b N

Y
φ
λ
a

Figure 9: Coordinates Conversion

X= (N + h)Cosφ .Cosλ (1)

Y= (N + h)Cosφ. Sinλ (2)
Z= [N(1-e2) + h]Sinφ (3)

where the prime vertical radius of curvature (N) is:

a
N = (4)
1 − e 2 Sin 2 φ

with:

a : the semi-major axis of the reference ellipsoid;

e : the first eccentricity of the reference ellipsoid.

The iterative reverse transformation from Cartesian co-ordinates ( X , Y , Z ) to

geodetic co-ordinates ( φ , λ , h ) is given in Heiskanen and Moritz (1967) as:

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Y
λ = tan −1 (5)
X

Z
tan φ = (6)
N
p( 1 − e 2
)
N +h

p
h = − N (7)
cos φ

(8)

The iterative reverse transformation from Cartesian co-ordinates ( X , Y , Z ) to

geodetic co-ordinates ( φ , λ , h ) is given in Bowring (1976/1985) as:

Y
λ = tan −1 (9)
X

(10)

(11)

h = P cos φ + Z sin φ − a 1 − e 2 sin 2 φ (12)

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Where,

u : the parametric latitude;

b : the semi-minor axis of the reference ellipsoid;
ε : the second eccentricity of the reference ellipsoid.

The initial value for respective parameters are as follow:

As in Heiskanen and Moritz:

(13)

(14)

(15)

As in Bowring:

(16)

The Bursa-Wolf is a seven-parameter model for transforming three-

dimensional Cartesian co-ordinates between two datums (see Figure
3). This transformation model is more suitable for satellite datums on a

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global scale (Krakwisky and Thomson, 1974). The transformation

involves three geocentric datum shift parameters ( ∆X , ∆Y , ∆Z ), three
rotation elements ( R X , RY , R Z ) and scale factor ( 1 + ∆L ).

ZMRT

Rz
P
ZGDM

riGDM

riMRT

YMRT

Ry
OMRT

O GDM dZ
YGDM

dX
dY

Rx

XGDM XMRT

Figure 10: Bursa-Wolf 3-D Model Transformation

The model in its matrix-vector form could be written as (see Burford 1985) :

 X WGS 84  ∆X  1 + ∆L RZ − RY   X MRT 

      
 YWGS 84  =  ∆Y  +  − R Z 1 + ∆L R X   YMRT  (17)
 Z WGS 84   ∆Z   RY − R X 1 + ∆L   Z MRT 

where;

X WGS 84 ,YWGS 84 , Z WGS 84 :are the global datum (WGS84) Cartesian

coordinates;

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X MRT ,YMRT , Z MRT : are the local datum (MRT) Cartesian co-ordinates.

Transformation formula (17) is only suitable for small rotation angle

between the datums. The inverse transformation can be carried out by
simply inversing the parameters (translations, rotation and scale).
Datum transformation with the value of rotation angle is significant, strict
inverse formula need to be used.

Bursa-Wolf mathematical model that has been used in Malaysia is :-

(18)

where R is the rotation matrix define by:-

(13)

The strict inverse formula for reverse transformation is as follows:-

(19)

With R-1 is the inverse of rotation matrix (orthogonal matrix), which is

similar to the transpose of rotation matrix (RT). Most of the commercial
transformation software does support the strict inverse formula, if not,
another set of transformation parameter need to be derived.

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In order to convert the geocentric coordinates of XYZ to the geodetic

coordinate of PLH, ellipsoid properties for the respective datums are
listed below:
Table 1: Ellipsoid Properties
No. Ellipsoid a (m) 1/f (m) Ref. Frame
1 GRS80 6378137.000 298.2572221 ITRF91 - 2000
2 WGS84 6378137.000 298.2572236 WGS84
3 Mod. Everest (Pen. Mal) 6377304.063 300.8017 MRT48
4 Mod. Everest (East Mal) 6377298.556 300.8017 BT68

Map Projection

Historically in Peninsular Malaysia, the Rectified Skew Orthomorphic

(RSO) and Cassini-Soldner (Cassini) map projection system have been
used for mapping and cadastral purposes, respectively. These
projections were referenced to local geodetic datum defined by Modified
Everest ellipsoid, with Kertau triangulation station as the origin for RSO,
while for Cassini projection several state origins were used. For Sabah
and Sarawak, RSO projection base on Modified Everest (Borneo) with
Timbalai triangulation station in Labuan, adopted as the origin being
used for mapping and cadastral purposes.

With the adoption of GDM2000, DSMM determines to provide the users

with a unified coordinate system with referenced to the universally
adopted datum to accommodate the future requirements in mapping
and cadastral integrated purposes. The new mapping system for RSO
and Cassini will be based on geocentric datum, with changes in the
algorithms for the map projections system.

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Rectified Skew Orthomorphic Projection (RSO)

The RSO is an oblique Mercator projection developed by Hotine in

1947 (Snyder, 1984). Hotine called the projection as "rectified skew
orthomorphic". This projection is orthomorphic (conformal) and
cylindrical. All meridians and parallel are complex curves. Scale is
approximately true along a chosen central line (exactly true along a
great circle in its spherical form). It is thus a suitable projection for an
area like Switzerland, Italy, New Zealand, Madagascar, and Malaysia as
well.

The RSO provide an optimum solution in the sense of minimizing

distortion whilst remaining conformal for Malaysia. The new geocentric
RSO parameters for Peninsular Malaysia and East Malaysia can be
requested from Department of Survey and Mapping Malaysia (DSMM).

FIGURE 11: Hotine, 1947 (Snyder, 1984), Oblique Mercator (Source:EPSG)

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Notation:

The notation adopted for use in this section is as follows:

φc = latitude of center of the projection.

λc = longitude of center of the projection.
αc = azimuth (true) of the center line passing through the center of the projection.
γc = rectified bearing of the center line.
kc = scale factor at the center of the projection.
φ = geographical latitude
λ = geographical longitude
to = isometric latitude for φ= 4°

t = isometric latitude
λo = basic longitude
a = semi major axis of ellipsoid
b = semi minor axis of ellipsoid
f = flattening of ellipsoid
f = (a − b ) / a
e = eccentricity of ellipsoid
e2=(a2 – b2)/a2
e12=(a2 – b2)/b2
ρ = radius of curvature in the meridian

( )(
ρ = a 1 − e 2 / 1 − e 2 .Sin 2φ )3 / 2
ν = radius of curvature in the prime vertical
(
ν = ρ 1 + e12 .Cos 2φ )
m = scale factor
mo = scale factor at the origin
γ = skew convergence at meridians
p = distance from polar axis, p = υ cos ϕ
γ R =rectified convergence of meridians
γ R = γ + 36°52'11.6314"

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u = skew coordinate parallel to initial line

v = skew coordinate at right angles to initial line
N = Northing map coordinate
E = East map coordinate
FE = False Easting at the natural origin.
FN = False Northing at the natural origin.

Constants of the projection

To avoid problems with computation of F, if D<1, make D2 = 1.

sin γ o = −0.6 or

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Projection Formulas

a) Conversion of Geographical to Rectangular and vice versa

Forward Case: To compute (E, N) from a given (φ, λ):

For the Hotine Oblique Mercator (where the FE and FN values have been
specified with respect to the origin of the (u, v) axes):

The rectified skew co-ordinates are then derived

from:

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Reverse case: Compute (φ, λ) from a given (E, N):

For the Hotine Oblique Mercator:

Then the other parameters can be calculated.

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Cassini-Soldner Projection

Cassini-Soldner projection system is classified as cylindrical, tangent,

transverse, equidistant and semigeometric (Richardus and Adler, 1974).
The cylinder is tangent along the meridian centrally situated, so that the
narrow belt is bisected by it as symmetrically as possible. The North-
South grid lines of the projection system are the projections of small
circles, parallel to the central meridian. The distances along the X-axis
in the projection are always greater than the corresponding arc
distances on the datum surface. Meanwhile the Y-coordinate of the
projection represents true to scale the arc distance from the central
meridian.

The mapping equations can be given as (Richadus and Adler, 1974)

and the formulas to derive projected Easting and Northing coordinates
are:

Forward Computation

E = FE + v[A – T(A3/6) - (8 –T + 8C)T * A5/120]

N = FN + M – Mo + v*tanφ[A2/2 + (5 – T + 6C)A4/24]

where,

N, E = Computed Cassini coordinate

FE, FN = Cassini State origin coordinates
A = (λ - λo)Cosφ
where,
λ = Longitude of computation point
λo = Longitude of state origin
φ = Latitude of computation point
T = Tan2φ

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e2
C = Cos 2φ
(1 − e )2

V = Radius of curvature in prime vertical

a
=
(1 − e 2 Sin 2φ )1 / 2
M = Meridianal arc distance
= a[1 – e2/4 – 3e4/64 – 5e6/256-..)φ - (3e2/8 +
3e4/32 +
45e6/1024 + …)sin2φ + (15e4/256 + 45e6/1024
+…)sin4φ
- (35e6/3072 + …)sin6φ ..]
with φ in Radians.
Mo = The value of M calculated for the latitude of the
chosen origin.

Reverse Computation

v1Tanφ 1  D 2 D4 
φ = φ1 −  − (1 + 3T 1) 
ρ1  2 24


 D3 D5 
λ = λ 0 + D − T 1 + (1 + 3T 1)T 1  / Cosφ 1
3 15
 

where,

φ1 = µ1 + (3e1/2 – 27e13/32+ ..)Sin2µ1 +(21e12/16 -

55e14/32 + ..)Sin4µ1 + (151e13/96 + …)Sin6µ1 +
(1097e14/512 - …)Sin8µ1 + …

a (1 − e 2 )
ρ1 =
(1 − e 2 Sin 2φ1) 3 / 2

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a
v1 =
(1 − e 2 Sin 2φ1)1 / 2

where,

1 − (1 − e 2 )1 / 2
e1 =
1 + (1 − e 2 )1 / 2

M1
µ1 =
a (1 − e / 4 − 3e / 64 − 5e 6 / 256 − ...)
2 4

M1 = Mo + (N – FN)
= Mo is the value of M calculated for the latitude
of the origin

T1 = Tan2φ1

D = (E – FE)/v1

Scale and Arc-to-Chord Correction for Cassini Projection

D = D'

B'

Figure 12: Scale and Arc-to-Chord

s'

β
s
αo =
α=
δA
A = A'

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δAB = (t – T)" = ((Nb – Na)(Eb + 2Ea))/(6R2.Sin1")

where,
Na, Nb, Ea, Eb = Cassini Coordinates
(t – T)" = Arc-to-Chord

Bearing correction:-

(β - α)" = - ((Sinαo.Cosαo)/(6R2.Sin1"))E2µ
where,
E2µ = (E2a + EaEb + E2b)

Linear correction:-

s' = s + [((Cos2αo)/(6R2))E2µ]s

Projected Coordinate on Cassini:-

Eb = Ea + s'.Sinβ
Nb = Na + s'.Cosβ

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Table 2: State Origin Coordinates

Coordinates
State Origin GDM2000 Cassini-Soldner
Northing Easting
Latitude, (N) Longitude, (E)
(m) (m)
Gunung
Johor 2° 02’ 33.20196” 103° 33’ 39.83730” 0.000 0.000
Belumut
N.Sembilan
Gun Hill 2° 42’ 43.63383” 101° 56’ 22.92969” 0.000 0.000
& Melaka
Gunung
Pahang 3° 42’ 38.69263” 102° 26’ 04.60772” 0.000 0.000
Sinyum

Selangor Bukit Asa 3° 40’ 48.37778” 101° 30’ 24.48581” 0.000 0.000

Gunung
Terengganu 4° 56’ 44.97184” 102° 53’ 37.00496” 0.000 0.000
Gajah Trom
P.Pinang & Fort
5° 25’ 15.20433” 100° 20’ 40.76024” 0.000 0.000
S. Perai Cornwallis
Kedah & Gunung
5° 57’ 52.82155” 100° 38’ 10.93860” 0.000 0.000
Perlis Perak
Gunung
Perak 4° 51’ 32.64488” 100° 48’ 55.47038” 0.000 0.000
Hijau Larut
Bukit Panau
Kelantan 5° 53’ 37.07975” 102° 10’ 32.24529” 0.000 0.000
(Baru)

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