% This file is generated for exercise in course Least Squares method in Geosciece im 2018 by Ulla Kallio
 
 
%Transformation parameters from instrument system to object system 
 1                      % scale (constant)
 2.791803628747712      % omega [rad]
 2.352437251663937      % phi [rad]
 -0.7617926350353156    % kappa [rad]
 15.49239205229114      % T1 [m]
 1.243285691520671      % T2 [m]
 13.60693617512911      % T3 [m]

Useage:
Form the rotation matrix: R=R3(kappa)*R2(phi)*R1(omega)
Form T=[T1,T2,T3]'
XYZ=R*UVW+T


% Covariance matrix of transformation parameters
% Order: scale, omega, phi, kappa,T1,T2,T3
% 
 0 0 0 0 0 0 0
 0 3.399990519835238e-008 2.094629804663802e-008 -6.525914993308288e-009 -3.736011061017219e-008 -4.842510012146635e-007 -1.052692985668362e-007
 0 2.094629804663849e-008 3.265701097790518e-008 4.822329068880449e-009 -1.662873037796732e-007 -5.221711112651754e-007 7.605609168148712e-008
 0 -6.525914993308002e-009 4.822329068880743e-009 1.563489982062895e-008 -8.585058231389584e-008 -1.375733369865943e-007 8.328673799413684e-008
 0 -3.736011061017559e-008 -1.662873037796748e-007 -8.585058231389461e-008 1.273002867518312e-006 2.516753245005939e-006 -9.063775321637642e-007
 0 -4.842510012146696e-007 -5.221711112651726e-007 -1.375733369865888e-007 2.5167532450059e-006 1.117548906285237e-005 -9.747757336256047e-008
 0 -1.052692985668332e-007 7.605609168149048e-008 8.328673799413686e-008 -9.063775321637778e-007 -9.747757336261915e-008 1.443874147964697e-006