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The study of geodesics on an ellipsoid arose in connection with geodesy specically with the solution of
triangulation networks. The gure of the Earth is well
approximated by an oblate ellipsoid, a slightly attened
sphere. A geodesic is the shortest path between two points Isaac Newton
on a curved surface, i.e., the analogue of a straight line on
a plane surface. The solution of a triangulation network
on an ellipsoid is therefore a set of exercises in spheroidal the great-circle distance using the mean Earth radius
trigonometry (Euler 1755).
the relative error is less than 1%. However, the course
If the Earth is treated as a sphere, the geodesics are great of the geodesic can dier dramatically from that of the
circles (all of which are closed) and the problems re- great circle. As an extreme example, consider two points
duce to ones in spherical trigonometry. However, Newton on the equator with a longitude dierence of 17959;
(1687) showed that the eect of the rotation of the Earth while the connecting great circle follows the equator, the
results in its resembling a slightly oblate ellipsoid and, shortest geodesics pass within 180 km of either pole (the
in this case, the equator and the meridians are the only attening makes two symmetric paths passing close to the
closed geodesics. Furthermore, the shortest path between poles shorter than the route along the equator).
two points on the equator does not necessarily run along Aside from their use in geodesy and related elds such
the equator. Finally, if the ellipsoid is further perturbed as navigation, terrestrial geodesics arise in the study of
to become a triaxial ellipsoid (with three distinct semi- the propagation of signals which are conned (approxiaxes), then only three geodesics are closed and one of mately) to the surface of the Earth, for example, sound
these is unstable.
waves in the ocean (Munk & Forbes 1989) and the radio
The problems in geodesy are usually reduced to two main
cases: the direct problem, given a starting point and an initial heading, nd the position after traveling a certain distance along the geodesic; and the inverse problem, given
two points on the ellipsoid nd the connecting geodesic
and hence the shortest distance between them. Because
the attening of the Earth is small, the geodesic distance
between two points on the Earth is well approximated by
N
12
2
1
0
E
A
1
F
B
s12
2
H
olution
For a sphere the solutions to these problems are simple exThere are several ways of dening geodesics (Hilbert & ercises in spherical trigonometry, whose solution is given
Cohn-Vossen 1952, pp. 220221). A simple denition by formulas for solving a spherical triangle. (See the aris as the shortest path between two points on a surface. ticle on great-circle navigation.)
However, it is frequently more useful to dene them as For an ellipsoid of revolution, the characteristic constant
paths with zero geodesic curvaturei.e., the analogue of dening the geodesic was found by Clairaut (1735). A
straight lines on a curved surface. This denition en- systematic solution for the paths of geodesics was given
compasses geodesics traveling so far across the ellipsoids by Legendre (1806) and Oriani (1806) (and subsequent
surface (somewhat less than half the circumference) that papers in 1808 and 1810). The full solution for the diother distinct routes require less distance. Locally, these rect problem (complete with computational tables and a
geodesics are still identical to the shortest distance be- worked out example) is given by Bessel (1825).[2]
tween two points.
Much of the early work on these problems was carried out
By the end of the 18th century, an ellipsoid of revolution by mathematiciansfor example, Legendre, Bessel, and
1.1
3
coined by Laplace (1799b):
Nous dsignerons cette ligne sous le nom
de ligne godsique [We will call this line the
geodesic line].
This terminology was introduced into English either as
geodesic line or as geodetic line, for example (Hutton
1811),
A line traced in the manner we have now
been describing, or deduced from trigonometrical measures, by the means we have indicated, is called a geodetic or geodesic line: it
has the property of being the shortest which
can be drawn between its two extremities on
the surface of the Earth; and it is therefore the
proper itinerary measure of the distance between those two points.
Alexis Clairaut
Barnaba Oriani
-dR
b
ds2 = 2 d2 + R2 d2
or
ds = 2 2 + R2 d
L(, ) d,
s12 =
L(, ) d,
ds
+ d
L
= const.
a sin
b
Z
P
P
R sin = const.
sin ds = R d,
Clairaut (1735) rst found this relation, using a geometrical construction; a similar derivation is presented
by Lyusternik (1964, 10).[5] Dierentiating this relation and manipulating the result gives (Jekeli 2012, Eq.
(2.95))
1.1
Fig. 6. In this gure, the variables referred to the auxiliary sphere are shown with the corresponding quantities
d = sin d.
for the ellipsoid shown in parentheses. Quantities without subscripts refer to the arbitrary point P; E, the point at
This, together with Eqs. (1), leads to a system of ordinary which the geodesic crosses the equator in the northward
dierential equations for a geodesic (Borre & Strang direction, is used as the origin for , s and .
2012, Eqs. (11.71) and (11.76))
d
cos
=
;
ds
d
sin
=
;
ds
cos
cos d
d
tan sin
=
.
ds
[6]
+ d
R = a cos
N
12
2
1
0
E
Fig. 5.
sphere.
A
1
B
12
( - 0)
(s)
sin d = cos d.
cos d = d,
1 ds
d
sin
=
=
.
a d
d
sin
Up to this point, we have not made use of the specic
equations for an ellipsoid, and indeed the derivation applies to an arbitrary surface of revolution.[7] Bessel now
specializes to an ellipsoid in which R and Z are related by
()
R2
Z2
+ 2 = 1,
2
a
b
where Z is the height above the equator (see Fig. 4). Differentiating this and setting dR/dZ = sin/cos gives
R sin Z cos
= 0;
This is the sine rule of spherical trigonometry relating two
a2
b2
sides of the triangle NAB (see Fig. 5), NA = 1 , and
NB = 2 and their opposite angles B = 2 and eliminating Z from these equations, we obtain
A = 1 .
In order to nd the relation for the third side AB = 12 , R
cos
the spherical arc length, and included angle N = 12 , the a = cos = 1 e2 sin2 .
spherical longitude, it is useful to consider the triangle
NEP representing a geodesic starting at the equator; see This relation between and can be written as
1 e2 cos2 ( ; 0 )
s
=
d
b
1f
0
=
1 + k 2 sin2 d ,
where
k = e cos 0 ,
and the limits on the integral are chosen so that s( = 0) =
0. Legendre (1811, p. 180) pointed out that the equation
for s is the same as the equation for the arc on an ellipse
with semi-axes b(1 + e2 cos2 0 )1/2 and b. In order to
express the equation for in terms of , we write
d =
sin 0
d,
cos2
Fig. 8. Meridians and the equator are the only closed geodesics.
which follows from Eq. (3) and Clairauts relation. This (For the very attened ellipsoids, there are other closed geodesics;
yields
see Figs. 13 and 14).
45
1 + sin
o
0 = (1 f ) sin 0
d
360
2
o
2
0
0 1 cos 0 sin
o
- 0
180
e2
o
-45 d
= sin 0
2
2
1 e cos ( ; Fig.
0 1+
0 ) 9. Latitude as a function of longitude for a single cy
2f
cle ofd
the , geodesic from one northward equatorial cross
= f sin 0
2 the next.
0 1 + (1 f ) 1 + k 2 siningto
k2
1.2
Behavior of geodesics
7
intersection.) This follows from the equations for the
geodesics given in the previous section.
1.3
Solving the geodesic problems entails evaluating the integrals for the distance, s, and the longitude, , Eqs. (4)
and (5). In geodetic applications, where f is small, the
integrals are typically evaluated as a series; for this purpose, the second form of the longitude integral is preferred (since it avoids the near singular behavior of the
rst form when geodesics pass close to a pole). In both
integrals, the integrand is an even periodic function of
period . Furthermore, the term dependent on is multiplied by a small quantity k2 = O(f). As a consequence,
the integrals can both be written in the form
I = B0 +
In order to solve the direct geodesic problem, it is necessary to nd given s. Since the integrand in the distance integral is positive, this problem has a unique root,
which may be found using Newtons method, noting that
the required derivative is just the integrand of the distance integral. Oriani (1833) instead uses series reversion
so that can be found without iteration; Helmert (1880)
gives a similar series.[10] The reverted series converges
somewhat slower that the direct series and, if |f| > 1/100,
Karney (2013, addenda) supplements the reverted series
with one step of Newtons method to maintain accuracy.
Vincenty (1975a) instead relies on a simpler (but slower)
function iteration to solve for .
It is also possible to evaluate the integrals (4) and (5) by
numerical quadrature (Saito 1970) (Saito 1979) (Sjberg
& Shirazian 2012) or to apply numerical techniques
for the solution of the ordinary dierential equations,
Eqs. (2) (Kivioja 1971) (Thomas & Featherstone 2005)
(Panou et al. 2013). Such techniques can be used for
arbitrary attening f. However, if f is small, e.g., |f|
1/50, they do not oer the speed and accuracy of the series expansions described above. Furthermore, for arbitrary f, the evaluation of the integrals in terms of elliptic integrals (see below) also provides a fast and accurate
solution. On the other hand, Mathar (2007) has tackled
the more complex problem of geodesics on the surface at
a constant altitude, h, above the ellipsoid by solving the
corresponding ordinary dierential equations, Eqs. (2)
with [, ] replaced by [ + h, + h].
Bj sin 2j
j=1
A. M. Legendre
1.4
9
19.2(ii)).[11][12] The rst formula for the longitude in
Eq. (7) follows directly from the rst form of Eq. (5).
The second formula in Eq. (7), due to Cayley (1870),
is more convenient for calculation since the elliptic integral appears in a small term. The equivalence of the two
forms follows from DLMF (2010, Eq. (19.7.8)). Fast
algorithms for computing elliptic integrals are given by
Carlson (1995) in terms of symmetric elliptic integrals.
Equation (6) is conveniently inverted using Newtons
method. The use of elliptic integrals provides a good
method of solving the geodesic problem for |f| > 1/50.[13]
s
= E(, ik),
b
= (1 f ) sin 0 G(, cos2 0 , ik)
e
sin 0 H(, e2 , ik),
1 + e2
where
tan =
1 + e2
tan ,
1 + k 2 sin2
and
1 k 2 sin2
G(, , k) =
d
1 2 sin2
0
(
)
k2
k2
= 2 F (, k) + 1 2 (, 2 , k),
2
cos
H(, 2 , k) =
d
2
2
2
0 (1 sin ) 1 k 2 sin
(
)
1
1
= 2 F (, k) + 1 2 (, 2 , k),
10
1.5
The ease with which the direct problem can be solved results from the fact that given 1 and 1 , we can immediately nd 0 , the parameter in the distance and longitude
integrals, Eqs. (4) and (5). In the case of the inverse
problem, we are given 12 , but we cannot easily relate
this to the equivalent spherical angle 12 because 0 is
unknown. Thus, the solution of the problem requires that
0 be found iteratively. Before tackling this, it is worth
understanding better the behavior of geodesics, this time,
keeping the starting point xed and varying the azimuth.
Geodesics from a single point (f = 1/10, 1 = 30)
30
30
60
1 = 90
-30
120
150
-60
45
90
180
o
135
- 1
180
1 0,
|2 | |1 | ,
0 12 .
180
12
90
90
180
1.5
11
tan 1 =
cos 2 sin 12
,
cos 1 sin 2 sin 1 cos 2 cos 12
g(1 ) 12 (1 ; 1 , 2 ) 12 = 0,
where g(0) 0 and g() 0. In fact, there is a unique
root in the interval 1 [0, ]. Any of a number of rootnding algorithms can be used to solve such an equation.
Karney (2013) uses Newtons method, which requires a
good starting guess; however it may be supplemented by
a fail-safe method, such as the bisection method, to guarantee convergence.
An alternative method for solving the inverse problem is
given by Helmert (1880, 5.13). Let us rewrite the Eq.
(5) as
F. R. Helmert
12 = 12 + f sin 0 I(1 , 2 ; 0 ).
This xed point iteration is repeated until convergence.
Rainsford (1955) advocates this method and Vincenty
(1975a) adopted it in his solution of the inverse problem. The drawbacks of this method are that convergence is slower than obtained using Newtons method (as
described above) and, more seriously, that the process
fails to converge at all for nearly antipodal points. In
a subsequent report, Vincenty (1975b) attempts to cure
this defect; but he is only partially successfulthe NGS
(2012) implementation still includes Vincentys x still
fails to converge in some cases. Lee (2011) has compared 17 methods for solving the inverse problem against
the method given by Karney (2013).
The shortest distance returned by the solution of the inverse problem is (obviously) uniquely dened. However,
if B lies on the cut locus of A there are multiple azimuths
which yield the same shortest distance. Here is a catalog
of those cases:
1 = 2 (with neither point at a pole). If 1 =
2 , the geodesic is unique. Otherwise there are two
geodesics and the second one is obtained by interchanging 1 and 2 . (This occurs when 12
for oblate ellipsoids.)
2f
d
2
1 1 + (1 f ) 1 + k 2 sin
= 12 f sin 0 I(1 , 2 ; 0 ).
12 = 12 f sin 0
Helmerts method entails assuming that 12 = 12 , solving the resulting problem on auxiliary sphere, and obtaining an updated estimate of 12 using
12
the azimuths so as to keep 1 + 2 constant. (For Various problems involving geodesics require knowing
spheres, this prescription applies when A and B are their behavior when they are perturbed. This is useful
antipodal.)
in trigonometric adjustments (Ehlert 1993), determining
the physical properties of signals which follow geodesics,
etc. Consider a reference geodesic, parameterized by s
the length from the northward equator crossing, and a
1.6 Dierential behavior of geodesics
second geodesic a small distance t(s) away from it. Gauss
(1828) showed that t(s) obeys the Gauss-Jacobi equation
d2 t(s)
= K(s)t(s),
ds2
d1
m12d1
B
A
dt1
A
M12dt1
B
where
m(s1 , s1 ) = 0,
M (s1 , s1 ) = 1,
dm(s1 , s2 )
= 1,
ds2
s2 =s1
dM (s1 , s2 )
= 0.
ds2
s2 =s1
m12 + m21 = 0.
Their derivatives are
dm12
= M21 ,
ds2
dM12
1 M12 M21
=
.
ds2
m12
E. B. Christoel
1.7
13
(1 e2 sin2 )2
b2
1
=
= 4
.
2
b
a (1 e2 cos2 )2
1 + k 2 sin2 2
M12 = cos 1 cos 2 +
sin 1 sin 2
1 + k 2 sin2 1
(
)
1.7 Geodesic map projections
sin 1 cos 2 J(2 ) J(1 )
,
Two map projections are dened in terms of geodesics.
1 + k 2 sin2 1
They are based on polar and rectangular geodesic coordiwhere
nates on the surface (Gauss 1828). The polar coordinate
system (r, ) is centered on some point A. The coordinates of another point B are given by r = s12 and =
2
k 2 sin
1 and these coordinates are used to nd the projected
d
J() =
0
1 + k 2 sin2
coordinates on a plane map, x = r cos and y = r sin.
The result is the familiar azimuthal equidistant projec= E(, ik) F (, ik).
tion; in the eld of the dierential geometry of surfaces,
As we see from Fig. 18 (top sub-gure), the separation it is called the exponential map. Due to the basic propof two geodesics starting at the same point with azimuths erties of geodesics (Gauss 1828), lines of constant r and
diering by d1 is m12 d1 . On a closed surface such as lines of constant intersect at right angles on the surface.
an ellipsoid, we expect m12 to oscillate about zero. In- The scale of the projection in the radial direction is unity,
deed, if the starting point of a geodesic is a pole, 1 = while the scale in the azimuthal direction is s12 /m12 .
, then the reduced length is the radius of the circle of
The rectangular coordinate system (x, y) uses a reference
latitude, m12 = a cos2 = a sin12 . Similarly, for a meridgeodesic dened by A and 1 as the x axis. The point (x,
ional geodesic starting on the equator, 1 = 1 = 0, we
y) is found by traveling a distance s13 = x from A along
have M 12 = cos12 . In the typical case, these quantities
the reference geodesic to an intermediate point C and
oscillate with a period of about 2 in 12 and grow linthen turning counter-clockwise and traveling along a
early with distance at a rate proportional to f. In trigonogeodesic a distance s32 = y. If A is on the equator and 1 =
metric adjustments over small areas, it may be possible
, this gives the equidistant cylindrical projection. If 1
to approximate K(s) in Eq. (9) by a constant K. In this
= 0, this gives the Cassini-Soldner projection. Cassinis
limit, the solutions for m12 and M 12 are the same as for
map of France placed A at the Paris Observatory. Due to
a sphere of radius 1/K, namely,
the basic properties of geodesics (Gauss 1828), lines of
constant x and lines of constant y intersect at right angles
on the surface. The scale of the projection in the y direcm12 = sin( Ks12 )/ K, M12 = cos( Ks12 ).
tion is unity, while the scale in the x direction is 1/M 32 .
To simplify the discussion of shortest paths in this paragraph we consider only geodesics with s12 > 0. The point
at which m12 becomes zero is the point conjugate to the
starting point. In order for a geodesic between A and B, of
14
Gaussian curvature (Beltrami 1865). Thus a projection
in which geodesics map to straight lines is not possible
for an ellipsoid. However, it is possible to construct an ellipsoidal gnomonic projection in which this property approximately holds (Karney 2013, 8). On the sphere, the
gnomonic projection is the limit of a doubly azimuthal
projection, a projection preserving the azimuths from
two points A and B, as B approaches A. Carrying out
this limit in the case of a general surface yields an azimuthal projection in which the distance from the center of projection is given by = m12 /M 12 . Even though
geodesics are only approximately straight in this projection, all geodesics through the center of projection are
straight. The projection can then be used to give an iterative but rapidly converging method of solving some
problems involving geodesics, in particular, nding the
intersection of two geodesics and nding the shortest path
from a point to a geodesic.
4
A
x2/3 + y 2/3 = 1
or, in parametric form,
x = cos3 ,
Fig. 19. The envelope of geodesics from a point A at 1
= 30.
y = sin3 .
1.10
Software implementations
15
x
y
+
= 1,
cos
sin
S12 =
R22 (2 1 )+b2
1
tanh1 (e sin ) R22
+
2
2e sin
b
2(1 e2 sin2 )
1.9
t(x) = 1 + x +
sinh1 x
1+x
,
x
Here we develop the formula for the area S 12 of AFHB The area of a geodesic polygon is given by summing S 12
following Sjberg (2006). The area of any closed region over its edges. This result holds provided2that the polygon
does not include a pole; if it does 2 R2 must be added
of the ellipsoid is
to the sum. If the edges are specied by their vertices,
then a convenient expression for E 12 is
1
T = dT =
cos d d,
K
sin 12 (2 + 1 )
12
E12
tan
tan
=
.
where dT is an element of surface area and K is the
1
2
2
cos 2 (2 1 )
Gaussian curvature. Now the GaussBonnet theorem applied to a geodesic polygon states
This result follows from one of Napiers analogies.
K dT =
cos d d,
R
2 cos d d, includes a command-line utility, GeodSolve, for geodesic
2
2
2
(1 e sin )
calculations. As of version 4.9.1, the PROJ.4 library for
where the value of K for an ellipsoid has been substituted. cartographic projections uses the C implementation for
Applying this formula to the quadrilateral AFHB, noting geodesic calculations. This is exposed in the commandthat = 2 1 , and performing the integral over gives line utility, geod, and in the library itself.
where
16
The solution of the geodesic problems in terms of elliptic integrals is included in GeographicLib (in C++ only),
e.g., via the -E option to GeodSolve. This method of solution is about 23 times slower than using series expansions; however it provides accurate solutions for ellipsoids
of revolution with b/a [0.01, 100] (Karney 2013, addenda).
Solving the geodesic problem for an ellipsoid of revolution is, from the mathematical point of view, relatively
simple: because of symmetry, geodesics have a constant
of the motion, given by Clairauts relation allowing the
problem to be reduced to quadrature. By the early 19th
century (with the work of Legendre, Oriani, Bessel, et
al.), there was a complete understanding of the properties of geodesics on an ellipsoid of revolution.
On the other hand, geodesics on a triaxial ellipsoid (with
3 unequal axes) have no obvious constant of the motion Charles Dupin
and thus represented a challenging unsolved problem
in the rst half of the 19th century. In a remarkable paper, Jacobi (1839) discovered a constant of the motion
X2
Y2
Z2
allowing this problem to be reduced to quadrature also h = 2 + 2 + 2 = 1,
a
b
c
(Klingenberg 1982, 3.5).[22][23]
where (X,Y,Z) are Cartesian coordinates centered on the
ellipsoid and, without loss of generality, a b c > 0.[24]
A point on the surface is specied by a latitude and longi2.1 Triaxial coordinate systems
tude. The geographical latitude and longitude (, ) are
dened by
cos cos
h
= cos sin .
|h|
sin
The parametric latitude and longitude (, ) are dened
by
X = a cos cos ,
Y = b cos sin ,
Z = c sin .
Jacobi (1866, 2627) employed the ellipsoidal latitude
and longitude (, ) dened by
Gaspard Monge
a2 b2 sin2 c2 cos2
X = a cos
,
a2 c2
Y = b cos sin ,
a2 sin2 + b2 cos2 c2
Z = c sin
.
a2 c2
2.2
Jacobis solution
17
ds2
b2 sin2 + c2 cos2
=
d 2
(a2 b2 ) sin2 + (b2 c2 ) cos2
a2 b2 sin2 c2 cos2
+
a2 sin2 + b2 cos2
d
a2 sin2 + b2 cos2 c2
a2 b2 sin2 c2 cos2
b2 sin2 + c2 cos2
(a2 b2 ) sin2 + (b2 c2 ) cos2
d
1
a2 sin2 + b2 cos2 c
=
ds
a2 sin2 + b2 cos2
(a2 b2 ) sin2 + (b2 c2 ) cos2
d
=
ds
d
1
=
2
2
2
ds
((a b ) sin + (b2 c2 ) cos2 )3/2
( 2
(a b2 ) cos sin a2 sin2 + b2 cos2 c2
cos
a2 sin2 + b2 cos2
)
(b2 c2 ) cos sin a2 b2 sin2 c2 cos2
sin .
+
b2 sin2 + c2 cos2
Jacobis solution
The grid lines of the ellipsoidal coordinates may be interpreted in three dierent ways
1. They are lines of curvature on the ellipsoid, i.e.,
they are parallel to the directions of principal curvature (Monge 1796).
2. They are also intersections of the ellipsoid with
confocal systems of hyperboloids of one and two
sheets (Dupin 1813, Part 5).
3. Finally they are geodesic ellipses and hyperbolas dened using two adjacent umbilical points (Hilbert &
Cohn-Vossen 1952, p. 188). For example, the lines
of constant in Fig. 21 can be generated with the
C. G. J. Jacobi
familiar string construction for ellipses with the ends
of the string pinned to the two umbilical points.
Jacobi showed that the geodesic equations, expressed in
ellipsoidal coordinates, are separable. Here is how he reConversions between these three types of latitudes and counted his discovery to his friend and neighbor Bessel
longitudes and the Cartesian coordinates are simple alge- (Jacobi 1839, Letter to Bessel),
braic exercises.
The element of length on the ellipsoid in ellipsoidal coordinates is given by
18
b2 sin2 + c2 cos2 d
a2 sin2 + b2 cos2 d
As Jacobi notes a function of the angle equals a function of the angle . These two functions are just Abelian
integrals... Two constants and appear in the solution.
Typically is zero if the lower limits of the integrals are
taken to be the starting point of the geodesic and the direction of the geodesics is determined by . However,
for geodesics that start at an umbilical points, we have
= 0 and determines the direction at the umbilical point.
The constant may be expressed as
Joseph Liouville
where is the angle the geodesic makes with lines of constant . In the limit b a, this reduces to sin cos =
const., the familiar Clairaut relation. A nice derivation of
Jacobis result is given by Darboux (1894, 583584)
where he gives the solution found by Liouville (1846) for
general quadratic surfaces. In this formulation, the distance along the geodesic, s, is found using
ds
b2 sin2 + c2 cos2
2
(a2 b2 ) sin + (b2 c2 ) cos2
a2 b2 sin2 c2 cos2 (b2
a2 sin2 + b2 cos2
=
a2 sin2 + b2 cos2 c2 (a
J. G. Darboux
ds =
a2 b2 sin2 c2 cos2
+
.
a2 sin2 + b2 cos2 c2
2.3
2.3
19
Transpolar geodesics, 1 = 90, 1 = 180.
20
3 APPLICATIONS
Applications
The direct and inverse geodesic problems no longer play Henri Poincar
the central role in geodesy that they once did. Instead
of solving adjustment of geodetic networks as a twodimensional problem in spheroidal trigonometry, these (Vincenty & Bowring 1978). Nevertheless, terrestrial
problem are now solved by three-dimensional methods geodesics still play an important role in several areas:
21
for measuring distances and areas in geographic information systems;
the denition of maritime boundaries (UNCLOS
2006);
in the rules of the Federal Aviation Administration
for area navigation (RNAV 2007);
the method of measuring distances in the FAI Sporting Code (FAI 2013).
By the principle of least action, many problems in physics
can be formulated as a variational problem similar to that
for geodesics. Indeed, the geodesic problem is equivalent to the motion of a particle constrained to move on
the surface, but otherwise subject to no forces (Laplace
1799a) (Hilbert & Cohn-Vossen 1952, p. 222). For this
reason, geodesics on simple surfaces such as ellipsoids of
revolution or triaxial ellipsoids are frequently used as test
cases for exploring new methods. Examples include:
the development of elliptic integrals (Legendre
1811) and elliptic functions (Weierstrass 1861);
the development of dierential geometry (Gauss
1828) (Christoel 1869);
methods for solving systems of dierential equations
by a change of independent variables (Jacobi 1839);
the study of caustics (Jacobi 1891);
investigations into the number and stability of periodic orbits (Poincar 1905);
in the limit c 0, geodesics on a triaxial ellipsoid
reduce to a case of dynamical billiards;
extensions to an arbitrary number of dimensions
(Knrrer 1980);
geodesic ow on a surface (Berger 2010, Chap. 12).
5 Notes
[1] Here 2 is the forward azimuth at B. Some authors calculate the back azimuth instead; this is given by 2 .
[2] This prompted a courteous note by Oriani (1826) noting
his previous work, of which, presumably, Bessel was unaware, and also a thinly veiled accusation of plagiarism
from Ivory (1826) (his phrase was second-hand from
Germany), which resulted in an angry rebuttal by Bessel
(1827).
[3] Clairaut (1735) uses the circumlocution perpendiculars
to the meridian"; this refers to Cassinis proposed map
projection for France (Cassini 1735) where one of the coordinates was the distance from the Paris meridian.
[4] Kummell (1883) attempted to introduce the word
brachisthode for geodesic. This eort failed.
[5] Laplace (1799a) showed that a particle constrained to
move on a surface but otherwise subject to no forces
moves along a geodesic for that surface. Thus, Clairauts
relation is just a consequence of conservation of angular
momentum for a particle on a surface of revolution. A
similar proof is given by Bomford (1952, 8.06).
[6] In terms of , the element of distance on the ellipsoid is
given by ds2 = (a2 sin2 2 + b2 cos2 ) d2 + a2 cos2 d2 .
[7] It may be useful to impose the restriction that the surface
have a positive curvature everywhere so that the latitude
be single valued function of Z.
[8] Other choices of independent parameter are possible. In
particular many authors use the vertex of a geodesic (the
point of maximum latitude) as the origin for .
[9] Nowadays, the necessary algebraic manipulations, expanding in a Taylor series, integration, and performing trigonometric simplications, can be carrying using
a computer algebra system. Earlier, Levallois & Dupuy
(1952) gave recurrence relations for the series in terms of
Wallis integrals and Pittman (1986) describes a similar
method.
[10] Legendre (1806, Art. 13) also gives a series for in terms
of s; but this is not suitable for large distances.
[11] Despite the presence of i = 1, the elliptic integrals in
Eqs. (6) and (7) are real.
See also
Geographical distance
Great-circle navigation
Geodesics
Geodesy
Meridian arc
Rhumb line
Vincentys formulae
[12] Rollins (2010) obtains dierent, but equivalent, expressions in terms of elliptic integrals.
[13] It is also possible to express the integrals in terms of Jacobi
elliptic functions (Jacobi 1855) (Luther 1855) (Forsyth
1896) (Thomas 1970, Appendix 1). Halphen (1888) gives
the solution for the complex quantities R exp(i) = X
iY in terms of Weierstrass sigma and zeta functions. This
form is of interest because the separate periods of latitude and longitude of the geodesic are captured in a single
doubly periodic function; see also Forsyth (1927, 75.)
[14] When solving for , , or using a formula for its tangent,
the quadrant should be determined from the signs of the
numerator of the expression for the tangent, e.g., using the
atan2 function.
22
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8893. doi:10.1179/sre.1975.23.176.88. Addendum: Survey Review 23 (180): 294 (1976).
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EXTERNAL LINKS
Waters, T. J. (2012).
Regular and irregular geodesics on spherical harmonic
surfaces.
Physica D: Nonlinear PhenomarXiv:1112.3231.
ena 241 (5): 543552.
Bibcode:2012PhyD..241..543W.
doi:10.1016/j.physd.2011.11.010.
Weierstrass, K. T. W. (1861).
"ber die
geodtischen Linien auf dem dreiaxigen Ellipsoid
[Geodesic lines on a triaxial ellipsoid]. Monatsbericht Kniglichen Akademie der Wissenschaft zu
Berlin (in German): 986997. PDF.
7 External links
Online geodesic bibliography, approximately 180
books and articles on geodesics on ellipsoids together with links to online copies.
Implementations of Vincenty (1975a) for oblate ellipsoids:
NGS implementation, includes modications
described in Vincenty (1975b).
NGS online tools.
Online calculator from Geoscience Australia.
Javascript implementations of solutions to
direct problem and inverse problem.
Implementation of Karney (2013) for ellipsoids of
revolution in Geographiclib (Karney 2015):
GeographicLib web site for downloading library and documentation.
GeodSolve(1), man page for a utility for
geodesic calculations.
An online version of GeodSolve.
Planimeter(1), man page for a utility for calculating the area of geodesic polygons.
An online version of Planimeter.
geod(1), man page for the PROJ.4 utility for
geodesic calculations.
Javascript utility for direct and inverse problems and area calculations.
Drawing geodesics on Google Maps.
Matlab implementation of the geodesic routines (used for the gures for geodesics on ellipsoids of revolution in this article).
The rst description of the geodesic algorithms from (Karney 2009).
Geodesics on a triaxial ellipsoid:
Additional notes about Jacobis solution.
Caustics on an ellipsoid.
27
8.1
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Geodesics on an ellipsoid Source: https://en.wikipedia.org/wiki/Geodesics_on_an_ellipsoid?oldid=680091074 Contributors: TakuyaMurata, Michael Devore, Bgwhite, Arthur Rubin, NeilN, Colonies Chris, Huon, Lambiam, Euhedral, David Eppstein, Billinghurst, Ck,
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