1.0 Basic Orthogonal Coordinates

Potential Theory and Spherical Harmonics ( SG315) by Surv. K. F. A. Aleem Ph.
1.00 BASIC ORTHOGONAL COORDINATES
Lecture Notes
by
K. F. Aleem
Department of Surveying and Geoinformatics,
Abubakar Tafawa Balewa University,
Bauchi
Orthogonal Coordinate Systems - Cartesian, Cylindrical and Spherical
COORDINATEs may be defined as: one of a sequence of unambiguous N numbers

qualified by units to designate the position of a point in N-dimensional space in a coordinate
reference system
A coordinate is one of n scalar values that define the position of a single point. A coordinate
tuple is an ordered list of coordinates. The coordinate tuple is composed of one, two or
three spatial coordinates. The coordinates shall be mutually independent and their number
shall be equal to the dimension of the coordinate space.
Coordinates are unambiguous only when the coordinate reference system to which those
coordinates are related has been fully defined.
Coordinate Reference System (CRS) is a Coordinate System which is related to the real
world by a datum, that is a parameter (or a set of parameters) that define the position of the
origin, the scale, and the orientation of a coordinate reference system with respect to.
A COORDINATE REFERENCE SYSTEM is a coordinate system that has a reference to the

Earth. The concept of a coordinate reference system (CRS) captures the choice of values for
the parameters that constitute the degrees of freedom of the coordinate space. The fact that
such a choice has to be made, either arbitrarily or by adopting values from survey
measurements, leads to the large number of coordinate reference systems in use around the
world.
BASE VECTORS
In a three-dimensional space, a point can be located as the intersection of three surfaces.

The three surfaces are described by
u1 = constant
u2 = constant
u3 = constant
u1, u2, and u3 need not all be lengths as shown in the table below.
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Lecture Note Contact: [email protected] 1
Potential Theory and Spherical Harmonics ( SG315) by Surv. K. F. A. Aleem Ph.D
u1 u2 u3
Cartesian Coordinate
x y z
System
Cylindrical Coordinate
r φ z
System
Spherical Coordinate
R θ φ
System
If these three surfaces (in fact, their normal vectors) are mutually perpendicular to each
other, we call them orthogonal coordinate system.
Cartesian Coordinate System:
In Cartesian coordinate system, a point is located by the intersection of the following three
surfaces:
1. A plane parallel to the y-z plane (x = constant, normal to the x axis, unit vector )
2. A plane parallel to the x-z plane (y = constant, normal to the y axis, unit vector )
3. A plane parallel to the x-y plane (z = constant, normal to the z axis, unit vector )
This is shown in the figure below.
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Base Vectors:
, , and are the unit vectors in the three coordinate directions. They are called the base
vectors.
The base vectors meet the following relations:
Cylindrical Coordinate System:
In cylindrical coordinate systems a point P(r1, θ1, z1) is the intersection of the following three
surfaces as shown in the following figure.
 A circular cylindrical surface r = r1

 A half-plane containing the z-axis and making angle φ = φ1 with the xz-plane
 A plane parallel to the xy-plane at z = z1.
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Base Vectors:
1. The base vector at P is perpendicular to the cylindrical surface of constant r1.
2. The base vector at P is perpendicular to the half-plane surface of

constant φ1 and tangential to the cylindrical surface of constant r1.
3. The base vector is perpendicular to the plane of constant z1.

Spherical Coordinate System:
A point P(R1, θ1, φ1) in spherical coordinates is located at the intersection of the following
three surfaces:
1. A spherical surface centered at the origin with a radius R = R1 (sphere of constant R)
2. A right circular cone with its apex at the origin, its axis coinciding with the +z axis, and
having a half-angle θ = θ1 (cone of constant θ)
3. A half-plane containing the z-axis and making an angle φ = φ1 with the xz-plane (plane of
constant φ)
This is shown below.
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Base Vectors:
 The base vector at P is radial from the origin and is perpendicular to the
sphere of constant R = R1
 The base vector at P is perpendicular to the cone of constant θ = θ1
 The base vector at P is per perpendicular to the plane of constant φ = φ1
Orthogonal Curvelinear Coordinates
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Cartesian Coordinates
2D coordinates
3D coordinates
Curvilinear Coordinates
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2D coordinates
3D coordinates
Geodetic Coordinates
Astronomic Coordinates
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1.0 Basic Orthogonal Coordinates

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Potential Theory and Spherical Harmonics ( SG315) by Surv. K. F. A. Aleem Ph.

1.00 BASIC ORTHOGONAL COORDINATES

Department of Surveying and Geoinformatics,

Abubakar Tafawa Balewa University,

Orthogonal Coordinate Systems - Cartesian, Cylindrical and Spherical

COORDINATEs may be defined as: one of a sequence of unambiguous N numbers

A COORDINATE REFERENCE SYSTEM is a coordinate system that has a reference to the

In a three-dimensional space, a point can be located as the intersection of three surfaces.

Cartesian Coordinate System:

The base vectors meet the following relations:

Cylindrical Coordinate System:

 A circular cylindrical surface r = r1

 A plane parallel to the xy-plane at z = z1.

1. The base vector at P is perpendicular to the cylindrical surface of constant r1.

2. The base vector at P is perpendicular to the half-plane surface of

3. The base vector is perpendicular to the plane of constant z1.

Spherical Coordinate System:

1. A spherical surface centered at the origin with a radius R = R1 (sphere of constant R)

 The base vector at P is per perpendicular to the plane of constant φ = φ1

The base vectors meet the following relations:

Orthogonal Curvelinear Coordinates

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