 Helmert transformation

The Helmert transformation, also known as the Helmert method or Helmert coordinate transformation, is a mathematical procedure used in geodesy to convert coordinates from one geodetic reference frame to another. It is particularly useful for transforming 3D Cartesian coordinates and includes the effects of translation, rotation, and scaling. The standard Helmert transformation involves a linear map defined by a set of parameters that include: 1. **Translation**: Shifts coordinates along the X, Y, and Z axes.