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Derivation of formulas in spherical trigonometry based on rotation matrix

Hsieh T. H., Wang S. Z., Liu W., Zhao J. S., Chen C. L.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2019

Vol. 13, no. 3

553--558

The formulas of spherical triangle, which are widely used to solve various navigation problems, are the important basic knowledge of nautical mathematics. Because the sine rules and the cosine rules for the sides are the fundamental formulas to derive the other spherical triangle formulas, they are also called the genetic codes of the spherical triangle formulas. In the teaching process, teachers usually use the geometric method to derive and prove these fundamental formulas. However, the derivation of geometric methods is complicated and difficult to understand. To improve the teaching process, this paper proposes the three-dimensional rotation method, which is based on conversion of two cartesian coordinate frames using the rotation matrices. This method can easily and simultaneously derive the sine rules, the cosine rules for the sides, and the five-part formulas (I), and is also helpful to solve different kinds of spherical navigation problems.

A systematic approach for solving the great circle track problems based on vector algebra

Chen C. L.

Polish Maritime Research

2016

nr 2

3--13

A systematic approach, based on multiple products of the vector algebra (S-VA), is proposed to derive the spherical triangle formulae for solving the great circle track (GCT) problems. Because the mathematical properties of the geometry and algebra are both embedded in the S-VA approach, derivations of the spherical triangle formulae become more understandable and more straightforward as compared with those approaches which use the complex linear combination of a vector basis. In addition, the S-VA approach can handle all given initial conditions for solving the GCT problems simpler, clearer and avoid redundant formulae existing in the conventional approaches. With the technique of transforming the Earth coordinates system of latitudes and longitudes into the Cartesian one and adopting the relative longitude concept, the concise governing equations of the S-VA approach can be easily and directly derived. Owing to the advantage of the S-VA approach, it makes the practical navigator quickly adjust to solve the GCT problems. Based on the S-VA approach, a program namely GCTPro_VA is developed for friendly use of the navigator. Several validation examples are provided to show the S-VA approach is simple and versatile to solve the GCT problems.