Linear conform transformation: errors in both coordinate systems. (Q558562)

We have an \(n\)-tuple of points with known coordinates in two coordinate systems (identical points). There are some nonidentical points with known coordinates only in one of the coordinate systems. The relation between two coordinate systems can be described by the linear conform (Helmert) transformation. The paper deals with this transformation in the case of non-negligible errors in both coordinate systems. Estimation of transformation parameters and their statistical properties are described. Confidence ellipses of transformed nonidentical points and cross covariance matrices among them and identical points are determined. Some simulations for a verification of theoretical results are presented.