The subject of this investigation is to deterrnine the transformation parameters (three rotations, three translations and a scale factor) between two Cartesian coordinate systems from sets of coordinates Riven in both systems. The objective is the determination of well separated transformation parameters with reduced correlations between each other, a problem especially relevant when the sets of coordinates are not well distributed. The above objective is achieved by preliminarily determining the three rotational para meters and the scale factor from the respective direction cosines and chord distances (these being independent of the translation parameters) between the common points, and then computing all the seven parameters from a solution in which the rotations and the scale factor are entered as weighted constraints according to their variances and covariances obtained in the preliminary solutions.
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