Introduction
• In surveying, we often have geometric
constraints for our measurements
– Differential leveling loop closure = 0
– Sum of interior angles of a polygon = (n-2)180°
– Closed traverse: Σlats = Σdeps = 0
• Because of measurement errors, these
constraints are generally not met exactly, so an
adjustment should be performed
Random Error Adjustment
• We assume (hope?) that all systematic errors
have been removed so only random error
remains
• Random error conforms to the laws of
probability
• Should adjust the measurements accordingly
• Why?
Definition of a Residual
If M represents the most probable value of a measured
quantity, and zi represents the ith measurement, then the ith
residual, vi is:
vi = M – zi
Fundamental Principle of Least
Squares
In order to obtain most probable values (MPVs), the sum
of squares of the residuals must be minimized. (See book
for derivation.) In the weighted case, the weighted squares
of the residuals must be minimized.
v 2
v1
2
v2
2
v3
2
vn minimum
2
wv 2
w v
1 1
2
w v
2 2
2
w v
3 3
2
wn n minimum
v 2
(1) x + y = 3.0
(2) 2x – y = 1.5
(3) x – y = 0.2
f
2( x y 3.0) 2(2 x y 1.5)(2) 2( x y 0.2) 0
x
f
2( x y 3.0) 2(2 x y 1.5)(1) 2( x y 0.2)(1) 0
y
6 2 x 6 .2
2 3 y 1.3
x 1 3 2 6.2 1.514
y 14 2 6 1.3 1.443
ATAX = ATL
or
NX = ATL
Solution is:
X = (ATA)-1ATL = N -1ATL
and residuals are computed from:
V = AX – L
Example – Matrix Approach
1 1 3.0 v1
x
AX 2 1 1.5 v2 L V
y
1 1 0.2 v3
1 1
1 2 1 x 6 2 x
A AX
T
2 1 y
1 1 1
y 2 3
1 1
3 .0
1 2 1 6.2
A L
T
1 .5
1 1 1 1.3
0.2
Matrix Form With Weights
F G H
1 2x 6x
x x x
F G H
1 4 y 2y 2 y
y y y
1 1 4 y0 1 7
J 2 x0 2 y0 4 4
6 x0 2 y0 12 4
Example - Continued
Form K matrix and set up least squares solution.
4 F ( x0 , y0 ) 4 (4) 0
K 8 G ( x0 , y0 ) 8 8 0
7.7 H ( x0 , y0 ) 7.7 8 0.3
1 7
1 4 12 161 39
J J
T
4 4
7 4 4 39 81
12 4
0
1 4 12 3.6
J K
T
0
7 4 4 1.2
0.3
Example - Continued
1
161 39 3.6 0.2125
X
39 81 1.2 0.00458
In matrix form: AX = L + V
xA 1 y A v y A
x 1 m y B v y B
B
xC
1 b yC v yC
x 1 y v
D D yD
Example 10.3
Fit a straight line to the point x y
points in the table.
Compute m and b by
A 3.00 4.50
least squares. B 4.25 4.25
C 5.50 5.50
D 8.00 5.50
In matrix form:
3.00 1 4.50 v A
4.25 1 m 4.25 vB
5.50 1 b 5.50 vC
8.00 1 5.50 v
D
Example - Continued
1
m 1 121.3125 20.7500 105.8125 0.246
X ( A A) ( A L)
T T
b 20.7500 4.0000 19.7500 3.663
S0 v 2
0.47
0.48
mn 42
Equation: Ax2 + Bx + C = y
0 2 0 1 103.84
2 105.43
1 1 1
2 2 2 1 104.77
L
A 2 102.21
3 3 1
4 2 4 1 98.43
2
5 5 1 93 . 41
Parabola Fit Solution - 2
Solve by unweighted least squares solution
1
979 225 55 5354.53 0.813
x ( AT A) 1 AT L 225 55 15 1482.37 1.902
55 15 6 608.09 104.046
0.206
0.295
Compute
0.172
residuals V AX L
0.225
0.216
0.180
Condition Equations
• Establish all independent, redundant
conditions
• Residual terms are treated as unknowns in the
problem
• Method is suitable for “simple” problems
where there is only one condition (e.g. interior
angles of a polygon, horizon closure)
Condition Equation Example
Condition Example - Continued
Condition Example - Continued
Condition Example - Continued
Note that the angle with the smallest standard deviation has
the smallest residual and the largest SD has the largest residual
Example Using Observation Equations
Observation Example - Continued
1 0
1 0 6 .7 2 0
13438'56"
A 0 1 1
L 8317'35"
W 0 0
1 1 9. 9 2 142 03'14"360
0 1
0
4.32
1 134
39'00.2"
X ( A WA) ( A WL )
T T
83 17 '44.1"
C i2
vi n
i
2
i 1
Angular Closure – Simple Method
3
i
2
i 1
6.7 2
9.9 2
4.3 2
161.39
15" (6.7) 2
v1 4.2"
161.39
15" (9.9) 2
v2 9.1"
161.39
15" (4.3) 2
v3 1.7"
161.39