Navigational Algorithms

Sight Reduction with Matrices

Andrs Ruiz
San Sebastin Donostia
43 19N 002W
http://sites.google.com/site/navigationalalgorithms/
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Index

Finding position by stars .............................................................................................................. 3

Two Observations ........................................................................................................................ 3
Iteration for the assumed position ............................................................................................ 3
3 Observations ............................................................................................................................. 4
n Observations ............................................................................................................................. 4
Appendix
A1. Algorithms ............................................................................................................................. 5
A2. Examples............................................................................................................................... 8
3 Observations ......................................................................................................................... 8
A3. Software .............................................................................................................................. 11
A4. Source code ........................................................................................................................ 11
A5. References .......................................................................................................................... 11

Abstract

An analytical method for obtain the position by celestial sights using matrix algebra is
described. The simplicity of the process allows the use of a hand held calculator or PDA.

Andrs Ruiz, October 2006

Navigational Algorithms
San Sebastin Donostia
43 19N 002W

Navigational Algorithms
 3

Finding position by stars Take care with the signs of the variables;
the mathematical functions use a different
If we take some sight with a sextant, we criterion to the nautical one:
shall be able to obtain our position by
intersecting the associated circles of
position, COP. -90 B 90 [+N/-S]
0 L 360 [+ W E]
-90 Dec 90 [+N/-S]
0 GHA 360 [+ W E]

Here is supposed that all observations

are obtained simultaneously, if not the
motion of the vessel and the motion of the
bodies may be incorporated into the
algorithm.

Two Observations
If two bodies are shot there are two
solutions or one.
Two solutions: The two COPs
Circles of Equal Altitude have two points of intersection.
Our DR position determines what
the real one is.
For one sight, the vectorial equation of
the circle of equal altitude is: One solution: if the two COPs are
tangents. This theorist case is very
OP GP cos(90 Ho) improbable in navigation

And in Cartesian coordinates we have: There are three unknown parameters, the
Cartesian coordinates of the true position,
cos B cos L hence three equations are needed in order
OP cos B sin L to calculate them: the two COP equations
sin B and the fact that from the observers position
the zenith altitude is 90.
cos Dec cos GHA
The algorithm is described in the
GP cos Dec sin GHA appendix.
sin Dec

Where OP is the observers position, GP

Iteration for the assumed position
the geographical position of the celestial
body, GHA the Greenwich Hour Angle, Dec If the assumed position is far away from
the declination, and Ho the celestial bodys the true one, solving the matrix system it
observed altitude. obtained a bad solution for the position.
Then an iterative process can improve the
The position is obtained by solving the
solution setting new assumed position equal
system of linear equations of each COP for
to solution and solving once again until the
the Cartesian coordinates, and transforming
error is acceptable.
them to spherical ones.

Sight Reduction with matrices

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90

80
M3 = x1*y2*z3+y1*z2*x3+z1*x2*y3-
70

60
(z1*y2*x3+x1*z2*y3+y1*x2*z3)
50

Mx = y2*z3+y1*z2+y3*z1-
40

30

(y2*z1+y1*z3+y3*z2)
20

10

0
-180 -165 -150 -135 -120 -105 -90 -75 -60 -45 -30 -15 0 15 30 45 60 75 90 105 120 135 150 165 180
-10

-20

-30
My = z2*x3+z1*x2+z3*x1-
-40

-50
(z2*x1+z1*x3+z3*x2)
-60

-70

-80

-90
Mz = x2*y3+x1*y2+x3*y1-
(x2*y1+x1*y3+x3*y2)
2 COP and solution points in an iterative process for
the two intersections
This method works only for one point of
3 Observations intersection. Otherwise a least squares
method must be used to find the most
For three sights the system of equations probable celestial position.
is determined, and is it possible to obtain an
explicit solution:

Body Ho GHA Dec n Observations

1 Body1 Ho1 GHA1 Dec1
2 Body2 Ho2 GHA2 Dec2 The matrix system is overdetermined,
3 Body3 Ho3 GHA3 Dec3 and a least squares solution for the fix may
be used.
xk cos Deck cos GHAk For n 3 observations it is possible to
y 1 cos Dec sin GHA incorporate the assumed position by doing
sin Ho
k k k Dec = B, GHA = L, Ho = 90, but may be
zk k
sin Deck ignored.
The details of the algorithm are described
x1 y1 z1 x F 1 in the appendix.
x y2 z 2 y F 1
2
x3 y3 z3 z F 1

x1 y1 z1
M 3 x2 y2 z2
x3 y3 z3
Mx 1 y1 z1
xF
M3 Mx 1 y2 z2
My 1 y3 z3
yF
M3 x1 1 z1
Mz My x2 1 z 2
zF
M3 x3 1 z 3
x1 y1 1
M z x2 y2 1
x3 y3 1

Navigational Algorithms
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A1. Algorithms

Sight Reduction with matrices

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Navigational Algorithms
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Sight Reduction with matrices

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A2. Examples

3 Observations
Using the method explained in the 3 Observations section, not the general one.

Input data:

K Body Ho GHA Dec

1 Arcturus 22.2 166.829 19.335
2 Vega 70.15 115.277 38.758
3 Dubhe 20.35 226.98 61.909

The equations in matrix form are:

| -2.432 0.569 0.876 | |x| | 1 |
| -0.354 0.750 0.666 | |y| = | 1 |
| -0.924 -0.990 2.537 | |z| | 1 |

Solving the system:

|x| | 0.006|
|y|=| 0.731|
|z| | 0.682|

And the position y latitude and longitude coordinate is:

Fix(42.98208, 89.56648)

Navigational Algorithms
 Sight Reduction with matrices
http://www.geocities.com/andresruizgonzalez

Assumed Position

Be = 43.3167
Le = 2.0000

Geographic position & Observed Altitude Equations in matrix form

n Body Dec GHA Ho 0.91588803 -0.36277983 0.17187179 X 0.77466864

1 Enif 9.897 338.392 50.775 0.22679974 -0.50222783 0.83446335 Y = 0.72463308
2 Schedar 56.560 294.303 46.438 0.72713001 0.02539194 0.68603002 Z 1

Solution in Cartesian coordinates

X 0.72712784
Y = 0.02538372
Z 0.68603263

Solution in Geographic coordinates

B = 43.3168721 46.6831279
L = 1.99935875 88.0006412

Iteration

Set assumed position = solution and solve once again

SRwithMatrices.xls - 2 Observations 23/10/2006

Sight Reduction with matrices

http://www.geocities.com/andresruizgonzalez

Geographic position & Observed Altitude Equations in matrix form

n Body Dec GHA Ho -0.9187769 0.21500662 0.33109087 X 0.37784079

1 arcturus 19.335 166.829 22.200 -0.33296938 0.70513465 0.62603236 Y = 0.94058481
2 vega 38.758 115.277 70.150 -0.32125502 -0.34426282 0.88220084 Z 0.34775398
3 dubhe 61.9090 226.9800 20.350
1.05822439 -0.3217352 -0.79605969 X -0.77205504
-0.3217352 0.66195961 0.20891489 Y = 0.62475844
-0.79605969 0.20891489 1.279816 Z 1.02072501

Solution in Cartesian coordinates

X 0.00553388
Y = 0.73137457
Z 0.68160992

Solution in Geographic coordinates

B = 42.9820851
L = 89.5664846

SRwithMatrices.xls - 3 Observations 23/10/2006

 Sight Reduction with matrices
http://www.geocities.com/andresruizgonzalez

Geographic position & Observed Altitude Equations in matrix form

n Body Dec GHA Ho 0.273764 0.88313346 0.38095742 X 0.49269697

1 Mars 22.393 72.777 29.518 0.55961371 -0.02636135 0.82833422 Y = 0.9764544
2 Alioth 55.928 357.303 77.542 0.62684273 -0.18053781 0.75794082 Z 0.97040962
3 Alkaid 49.2830 343.9330 76.027 0.86891246 -0.37067635 0.32800942 0.83909807
4 Arcturus 19.1480 336.8970 57.045
1.53605491 -0.20823613 1.32796078 X 2.01871695
-0.20823613 0.95061449 0.05617793 Y = -0.07685291
1.32796078 0.05617793 1.5133306 Z 2.0072723

Solution in Cartesian coordinates

X 0.71873376
Y = 0.03556087
Z 0.69437855

Solution in Geographic coordinates

B = 43.977596
L = 2.83251973

SRwithMatrices.xls - 4 Observations 23/10/2006

Sight Reduction with matrices

http://www.geocities.com/andresruizgonzalez

Geographic position & Observed Altitude Equations in matrix form

n Body Dec GHA Ho 0.273764 0.88313346 0.38095742 X 0.49269697

1 Mars 22.393 72.777 29.518 0.55961371 -0.02636135 0.82833422 Y = 0.9764544
2 Alioth 55.928 357.303 77.542 0.62684273 -0.18053781 0.75794082 Z 0.97040962
3 Alkaid 49.2830 343.9330 76.027 0.86891246 -0.37067635 0.32800942 0.83909807
4 Arcturus 19.1480 336.8970 57.045 -0.01090296 0.00588857 0.99992322 0.68670698
5 Polaris 89.2900 151.6270 43.370
1.53617379 -0.20830033 1.31705866 X 2.01122981
-0.20830033 0.95064917 0.06206605 Y = -0.07280919
1.31705866 0.06206605 2.51317705 Z 2.69392655

Solution in Cartesian coordinates

X 0.7187278
Y = 0.03555919
Z 0.69438517

Solution in Geographic coordinates

B = 43.9781085
L = 2.83240931

SRwithMatrices.xls - 5 Observations 23/10/2006

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A3. Software
An Excel sheet is available for up to 5 observations

A4. Source code

The algorithms are implemented in the Excel sheet

A5. References
Watkins. R. and Janiczek. P. M., Sight Reduction with Matrices, NAVIGATION, Journal of
The Institute of Navigation, Vol. 25, No. 4, Winter 1978-79, pp. 447-48
Vector equation of the circle of equal altitude. Andrs Ruiz, Navigational Algorithms.

Sight Reduction with matrices