From: Analytical dual quaternion algorithm of the weighted three-dimensional coordinate transformation
Parameters
Scheme 1
Scheme 2
Coordinates of control points in the original system
Set 1 in Table 9
λ
1.000016
tx (m)
30
ty (m)
tz (m)
10
θx (°)
50
θ0
θy (°)
θz (°)
80
Noise
N(0, σ02)
N(0, 0.0012)