# Understanding the Sextant

This is intended to give an understanding into the math that allows a navigator with two measurements of the angle of the sun (using, say, a sextant) to calculate his/her position on the earth. I’ve written small python utility that does just this.

## Math

Given two measurements of the angle between the horizon and the sun and two different times of day. Let’s call the angle theta_1 and theta_2 and the times tau_1 and tau_2.

The zenith angle, the compliement of theta, is the angle between the sky’s zenith and the sun. These angles are:

phi_1 = pi/2 - theta_1
phi_2 = pi/2 - theta_2


If we assume the sun and position vectors are normalized then these angles are the arccosine of the dot product of vector pointing to the sun and the vector pointing to your location.

Using the assumption that your movement on the earth’s surface is insignificant between tau_1 and tau_2 this gives us

cos(pi/2-theta_1) = a1 = sun_1 . pos
cos(pi/2-theta_2) = a2 = sun_2 . pos


Fortunately sun_1 and sun_2 are predictable functions of time, which we know (tau_1 and tau_2).

Now we just have to solve for pos as a function of sun_1, sun_2, a1, and a2. To do this we’ll use the vector triple product which states

a X (b X c) = b(a dot c) - c(a dot b)


Let’s use the above with the vectors of interest for this problem and introduce some new helper variables to make the problem more tractable

pos X (sun_1 X sun_2) = sun_1(pos dot sun_2) - sun_2(pos dot sun_1)
pos X (sun_1 X sun_2) = pos X b = -c = sun_1*a2 - sun_2*a1
b X pos = c


Figuring out pos is the last step here. With some understanding of cross products and assuming each vector involved here is normalized we can arrive at

pos = (c X b)/(b.b) + t*b
pos = d + t*b;


Now we can make use of the fact that ||pos||=1 which means pos . pos = 1.

(d+tb).(d+tb) = 1
t^2(b.b) + 2t(b.d) + d.d - 1 = 0


And we can solve for t

t = [-2(b.d) +- sqrt(4(b.d)^2 - 4(b.b)*(d.d-1))]/(2b.b)


And to recap

b = sun_1 X sun_2
a1 = cos(pi/2 - theta_1)
a2 = cos(pi/2 - theta_2)
d = (c X b)/(b.b) = (sun_2*a1 - sun_1*a2) X (sun_1 X sun_2) / (b.b)
pos = d + t*b


You’ll have two solutions for t and thus two solutions for pos. This will usually mean you need to know which hemisphere you’re in.

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Written by David Friedman on 13 March 2017