Parameter estimation in 3D affine and similarity transformation: implementation of variance component estimation

Three-dimensional (3d) coordinate transformations, generally consisting of origin shifts, axes rotations, scale changes, and skew parameters, are widely used in many geomatics applications. although in some geodetic applications simplified transformation models are used based on the assumption of small transformation parameters, in other fields of applications such parameters are indeed large. the algorithms of two recent papers on the weighted total least-squares (wtls) problem are used for the 3d coordinate transformation. the methodology can be applied to the case when the transformation parameters are generally large of which no approximate values of the parameters are required. direct linearization of the rotation and scale parameters is thus not required. the wtls formulation is employed to take into consideration errors in both the start and target systems on the estimation of the transformation parameters. two of the well-known 3d transformation methods, namely affine (12, 9, and 8 parameters) and similarity (7 and 6 parameters) transformations, can be handled using the wtls theory subject to hard constraints. because the method can be formulated by the standard least-squares theory with constraints, the covariance matrix of the transformation parameters can directly be provided. the above characteristics of the 3d coordinate transformation are implemented in the presence of different variance components, which are estimated using the least squares variance component estimation. in particular, the estimability of the variance components is investigated. the efficacy of the proposed formulation is verified on two real data sets.