Showing posts with label RIght Ascension. Show all posts
Showing posts with label RIght Ascension. Show all posts

Friday, August 16, 2019

Spherical Astronomy Revisited (2) - Matrix Methods

In spherical astronomy one can also use matrix methods to obtain horizontal coordinates for celestial objects by using the so-called "astronmical triangle". (see image). 

The basic principle involves relating the Cartesian coordinates (rectilinear) of a point on the celestial sphere (diagram) to the curvilinear coordinates measured in the primary and secondary reference planes. One has then, for example:

(x)
(y)
(z) u,v =


(cos v .....cos u)
(cos v .....sin u)
(sin v..............)

After conversion the curvilinear coordinates may be calculated according to:

u = arctan (y/x) and v = arcsin (z)

Now, consider conventional orthogonal matrices of 3 x 3 dimensions, given as functions: R1(Θ), R2(Θ) and R3(Θ), to rotate the general system by the angle Θ about axes x, y and z, respectively. Thus we obtain:

R1(Θ) =

(1..........0................0)
(0.....cos(Θ)..... sin(Θ))
(0......-sin(Θ)....cos(Θ))


R2(Θ) =

(cos (Θ)......0........- sin(Θ))
(0................1...............0.. )
(sin(Θ)........0.......cos(Θ) )


R3(Θ) =


(cos(Θ)..........sin(Θ)..........0)
(-sin (Θ)......cos(Θ)...........0)
(0 ..................0..................1)

We now apply this method to the following generic problem:

You are located in Miami, Florida and the sidereal time = 9 h 13 m at 9.30 p.m.  local time for this date,  approximately. Saturn is visible and is at 13 h 44 m Right Ascension, and at a Declination of (- 7 o 56’).  If your latitude is 25. o75 north, find Saturn’s position  in terms of its altitude and azimuth

Solution:

We need to perform the matrix operations in the specific order:


(x)
(y)
(z) A,a
= R3(-180o) R2(90 - lat.) (XYZ(h, d)) 


Where:

R3(180) =

(cos(180)..........sin(180)..........0)
(-sin (180)...... cos(180)...........0)
(0 ..................0..................1)


Therefore: R3(-180) =

(-1       0      0)
(0       -1      0)
(0        0      1) 

And:  R2(90 o - lat.) =

(sin lat.       0         - cos lat.)
(0                 1                   0   )
(cos lat.      0.           sin lat.)

For which we have:

sin (lat.) = sin (25. o75)= 0.434 

cos (lat.) = cos (25. o75) = 0.900


Thence, R2(90 o - lat.) =

(0.434            0      -0.900 )
(0                   1               0   )
(0.900          0        0.434  )

Finally:

(x)
(y)
(z) h,
d =

(cos
d             cos h)
(cos
d             sin h)
(sin
d                 -    )

where: 

sin (d) = sin (- 7. o93) = -0.138

cos (
d) = cos (- 7. o93) = 0.990

cos h = cos (-52 o.5) = 0.608

sin h = sin (-52 o.5)  =  -0.793

(Rem:  h = 9 h 13 m – 13 h 44 m =  - 3h 31m.  There are 15 degrees/ hr. 

So: -3 h 31 m
» -52 o.5  )

Assembling the foregoing into the applicable matrix:


(0.990       0.608)
(0.990        -0.793)
(-0.138    ..........   )     =

(0.601)
(-0.785)
(-0.138)

Whence:

R3(-180 o) R2(90 o - lat.) (XYZ(h, d)) =

(-0.385)
(0.785 )
(0.481 )

The last element in the column yields the altitude, so:

a = arc sin(0.481) and a = 28. o  75

Meanwhile, the azimuth A =

arc tan (y/x) = arc tan (0.785/ -0.385) = -2.03

Therefore: A = arc tan(-2.03) = -63. o 8 

And, since its' negative, we must subtract from 360 degrees:

A= 360 o - 63. o 8   = 296. o 2 


Further practice problem:

Apply the  matrix method for the same location in the example problem and for the same sidereal time – but applied to the case of the planet Mars which is also visible at the same local time but at: RA = 10h 28m, and d = +12 o 51’.





Friday, March 1, 2019

Selected Questions - Answers From All Experts Astronomy Forum (Sidereal time)

Question:  Can you explain what is sidereal time and how one can find it?  - Marge M., Montreal

Answer:

"Sidereal time" basically means time by the stars, i.e. using star positions to obtain the time at one's location.   The diagram below is useful as a reference:
















Here, the observer ('Obs') at longitude L with respect to Greenwich (G, or the Greenwich meridian at 0 degrees). The L.S.T. or local sidereal time is 6h 00m as denoted by the fact that 6h Right Ascension (RA) is on the observer's meridian. Then the hour angle (HA) for the star will be as shown. (Note: the view shown is a POLAR one, i.e. the Earth as seen from above Earth's north pole).

The crucial thing to note is how the sidereal time is related to RA as well as hour angle. So to find it one usually needs to know - or find- these measures as well.

The Right Ascension (RA) is measured in units (hours, minutes, seconds) associated with time, and the Right Ascension of the star is clearly equal to the local sidereal time (L.S.T.) plus the hour angle (which in this case is negative). Thus, we can write:

HA = RA of observer meridian - RA of object

Again, the hour angle is the angular distance in hours separating your local meridian and the RA of the object. It increases westwards, unlike RA - which increases eastwards. As may be seen, the RA of the observer's meridian (6 h in Figure 1) is none other than the local sidereal time. If you know what Right Ascension is on your meridian you know the L.S.T.

Another useful expression used often is:

Local time of transit (L.T.T.) = Star's RA - Sun's RA

Where L.T.T. is the local mean solar time of transit (or L.M.T.) of the star or other object and Sun's RA is the Sun's Right Ascension on the particular date. A simple interpolation method is adequate (for most purposes) to obtain the latter, given the base data for the specific dates of the solstices and equinoxes below:

Date: ----- March 21---------June 22-----------Sept. 23--------Dec. 22

Sun R.A. ----( 0 hr.)--------(6 hr.)-----------(12 hr.)----------(18 hr.)

March 21 is just the (approx.) date of the Vernal Equinox, June 22 is the summer solstice, Sept. 23 the autumnal equinox and Dec. 22 the winter solstice. Since the Earth complete one circuit of the Sun in 365 days, the Sun (as seen from the Earth) will be apparently displaced along the ecliptic (the plane of the Earth's orbit projected onto the celestial sphere) by about one degree per day or equivalent to a 4 minute time difference. (Since 24 hours of Right Ascension corresponds to a 360 deg angular difference).

Thus, using either of the four known RA dates for the Sun - and knowing the Sun's RA changes by 4 mins/day, the new solar RA on any day can be found.

Example (1)

Find the Right Ascension of the Sun on July 1st.

We note that 8 days separates July 1st from June 22 when the Sun's R.A. is known to be 6h 00m.

The time difference is: 8 days x (4 min/day) = 32 mins.

So the Sun's RA on July 1st = 6h 00m + 32 min = 6h 32 m

Example  (2):

Aldebaran (RA = 4h 34m) is found to be 45 degrees east of your meridian on a particular date. What is your L.S.T.?

Solution

First, find the hour angle (HA) of Aldebaran. We have 45 deg = 45 deg/(15 deg/h) = 3 h. But since the HA is measured east of the meridian then one must use the negative value (-3 h) so:

24 h + (- 3h) = 21 h 00m

We know:

HA = RA of the meridian - RA (object)

and RA of the meridian = L.S.T.

Therefore:

L..S.T.= HA + RA of object

L.S.T. = 21h 00m + 4 h 34 m = 25h 34m = 1h 34m (25h 34m - 24h 00m)


A nice additional problem for practice, to see if you understand sidereal time, is given below:

The star Canopus (RA = 6h 20m) is observed to have a local hour angle = 45 deg on Feb. 10th for a given location.

What is the local sidereal time ?

Friday, February 1, 2019

Selected Questions- Answers From All Experts Astronomy Forum (Spherical Astronomy)

Question: I am a recent (2014) Mathematics graduate and would like to learn more about spherical astronomy. What exactly is it?  How does it work, i.e. what sort of computations and what objectives? And what are the best texts to get to learn more?  - Mason Dix, Louisville, KY

Answer:   According to author W.M. Smart ('Textbook On Spherical Astronomy', Cambridge University Press, 1931):  Spherical Astronomy:

"is concerned essentially with the directions in which stars are viewed, and it is convenient to define these directions in terms of the positions on the surface of a sphere - the celestial sphere - in which straight lines joining the observer to the stars intersect the surface."

This is probably as complete a definition as one will find without going into much more details. But at the very least it's clear one requires a spherical geometry.  This isn't difficult to grasp when one realizes a spherical geometry essentially was obvious from antiquity to anyone who looked up at the stars, e.g.
No photo description available.

So what the observer would detect appeared to be on the inner surface of an immense sphere.  The earliest spherical analog then was based on the central observer looking outward as if to a dome. It then was later tweaked and refined and became know as the horizon system - marked by the cardinal directions of the compass (N, S, E,W) and measuring altitude and azimuth.

The next step was for ancient observers to recognize the need for an independent spherical system with which the star positions could be pinpointed. This then introduced the celestial sphere concept:Image result
Thus, the north pole is projected to the North Celestial Pole, the equator is projected to the celestial equator, and all latitude lines are projected to become declination lines, while longitude lines become Right Ascension lines. Thus, just as every geographical location on Earth has a latitude and longitude so also every sky location has a declination and Right Ascension.   The "vernal equinox" position, for example, is at 0 degrees Declination and 0 hours RA.  (The vernal equinox marks the  first day of spring.) 



The red circle projected onto the celestial sphere defines the ecliptic or the projected (apparent) path of the Sun onto the celestial sphere through the year.  If we follow the red circle - the ecliptic - UP from the vernal equinox we come to the northernmost point at +23.5 degrees declination and 6h  RA. This coincides with the summer solstice - or when the Sun appears over that latitude on Earth. This marks the longest day of the year in the northern hemisphere.

So inevitably the next logical step became how to compute star positions on this sphere (which had the designated coordinates of R.A. and declination) and also how to transform between coordinate systems, say between the horizon system and the celestial sphere system.  

 This is critical given each such coordinate system is defined by a different set of poles and equator. For example, the coordinate system depicted  in the color graphic above - the equatorial system - is based on the projections of the Earth's own equator and N. and S. poles onto the sky sphere.  The poles then become the North and South Celestial poles, and the equator becomes the celestial equator. If these poles are defined respectively at +90 degrees (NCP) and -90 degrees (SCP) and the celestial equator at 0 degrees, then a system of celestial latitude can be constructed.  

Once the vernal equinox position is fixed at 0 hours R.A. then the celestial longitude emerges and spans 24 hours across the same celestial sphere.  (Refer again to color graphic for direction of celestial longitude circles.) These can be used in conjunction with celestial latitude (declination)  to locate any celestial object. It is then possible to make computations translating one system's coordinates to those of others (horizon, ecliptic etc.) 

Consider this example which seeks to find the star’s declination.

The altitude of a star as it transits your meridian is found to be 45 deg along a vertical circle at azimuth 180 deg, the south point. Find the declination  
d of the star.

Since this was designed for students at latitude 13 degrees north, the key to the solution rests on the recognition that z, the zenith distance is negative. From the geometry of Fig. 3  one sees that:

90o = z + a or z = 90o - a = 90o – 45 o = 45 o

But since we require: z = φ (latitude) = 13 o

Then z must have a negative value, or: (-45 o), since:

d = z + φ = (-45 o) + 13 o = -32 o

    This makes sense, since by examining the right side of Fig. 2.,  the zenith distance z, plus altitude (a) must equal 90 degrees and we know CE (celestial equator) defines 0 degrees declination, then a star’s altitude of a = 45 o shows it to be SOUTH of CE. How much? Ans. 90 o - 45 o = 45 o.

 But,  this is still 32 o south of CE, and hence must be negative in value.

Another wide application of spherical astronomy is to find the azimuth of the Sun for particular dates, and locations.  In general: 

cos (A) = sin(
d)/ cos (φ)

 where A is the azimuth of the Sun, 
d denotes its declination, and φ is the observer’s latitude. (Note that d may be obtained from a table but can also be estimated from the equinox/solstice positions, i.e. +23 ½ o at solstices, 0 degrees at equinoxes.
Example: φ = 51.5 degrees N, for London. Now, for the December (winter) Solstice the Sun is directly over the Tropic of Capricorn (φ  = 23.5 S) therefore we do know its declination is - 23.o5. We have then for the Sun's azimuth at sunrise on Dec. 21:

cos (A) = sin (-23.o 5)/ cos (51.o 5)

which gives approximately, 130 o.


  Where is this on our directional reference circle for azimuth? We know that 180 degrees is due South so that this must be: 

40 degrees SOUTH of due East. (90 o + 40 o = 130 o)

Now, on the longest day of the year (say June 21), the Sun is over the Tropic of Cancer at 23.5 N latitude, so the Sun's declination is + 23. o 5 . Then the azimuth for that date is:

cos (A) = sin (23. o 5)/ cos (51. o5)

And A = 50 o

     This puts the Sun's rising position North of due E. or specifically 40 degrees North of due East.    


Now, we  can again use Fig. 3, for a celestial sphere application, in which we use the spherical trig relations to obtain an astronomical measurement, say for declination of an object.

    Using the angles shown in Fig. 3 each of the angles for the law of cosines (given above) can be found. They are as follows:

cos a = cos (90o -
d)

where
d = declination

cos b = cos (90 o - Lat) 


Where 'Lat' denotes the latitude of the observer.  Further:

cos c = cos z

where z here is the zenith distance.

sin b = sin (90 deg - Lat)

sin c = sin z

and finally,

cos A = cos A

Where A is the azimuth. 

Let's say we wish to find the declination of a  star observed by  an observer at latitude 45 o N.  The azimuth of the star is measured to be 60 o, and its zenith distance z = 30 o. Then one would solve for cos a:

cos a = cos (90 o -
d)=

cos (90 o - Lat) cos z + sin (90 o - Lat) sin z cos (A)

cos (90 o -
d) =  cos (90 o - 45 o) cos 30 o

+ sin (90 o - 45 o) sin 30 o cos 60 o

And:

cos (90 o -
d) = cos (45 o) cos 30 o

+ sin (45 o) sin 30 o cos 60 o

We know, or can use tables or calculator to find:

cos 45 o =
Ö2 / 2

cos 30 o =
Ö3/ 2

sin 45 o =
Ö2/ 2

sin 30 o = ½

cos 60 o = ½

Then:

cos (90 -
d)= {(Ö2/ 2 )( Ö3/ 2)} + {Ö2/ 2} Ö (½) }

cos (90 -
d)= Ö6/ 4 + Ö2/ 8 = {2Ö6 + Ö2}/ 8

cos (90 -
d) = 0.789

arc cos (90 -
d)= 37.o9 

Then:

d = 90 o - 37. o 9  = 52. o 1

Or, in more technical terms:

d (star) = + 52.1 degrees

Hopefully, this gives some small insight into the sort of computations used in spherical astronomy.  As for one of the best books,  you can't surpass this textbook:
Image may contain: text
When I took Spherical Astronomy & Geodesy at USF.

The problem is the book is now out of print though I suspect copies are available at university libraries. The next best option is to get hold of W. M. Smart's  monograph:

Image may contain: text

Go through the text methodically, working as many problems as you can, and you will master spherical astronomy.



Saturday, September 22, 2018

Selected Questions- Answers From All Experts Astronomy Forum (Design of the Celestial Sphere)

Question: I've been learning  about the celestial sphere lately and wonder how it was originally designed? What exact considerations led to the form it has including the coordinates of Right Ascension and declination? - Curious in Michigan

Answer:  The celestial sphere, probably since antiquity, has been perceived as a sphere of infinite radius, only half of which we can see at any one time.  (The other half on the opposite side of Earth). Using it to fix on the distant stars, it also appears to be rotating in an east-west direction.  Basically, it is a result of projecting the Earth's own latitude and longitude lines - as well as the Earth's north and south poles - onto the sky,  thereby yielding a corresponding sphere in the sky which has its own coordinate system. This can then be used to locate sky objects presumed to be on its interior surface.


Image result for celestial sphere
The projected coordinates corresponding to latitude circles are called declination, and those corresponding to longitude are called Right Ascension.  Given this, the "celestial equator"  would simply be the Earth's own equator (latitude 0 degrees) projected onto the sky sphere, while the North Celestial Pole is the projection of the Earth's north pole and the South Celestial Pole is the projection of the south pole.   These projections are shown on the accompanying diagram.

In effect, the "design" of the celestial sphere is such that if one were travel to one of the Earth's geographical poles, the corresponding celestial pole would be directly overhead (at the zenith).  If one were to travel to Earth's equator, the celestial equator would pass directly through your zenith.

Declination circles, like latitude circles, run in the east-west direction parallel to the celestial equator, starting at 0 degrees and increasing to +90 degrees (North celestial pole or NCP). Also decreasing in the opposite direction to (-90) degrees, or the South celestial pole. When one superimposes these lines one would envisage this more complete celestial coordinate system:

Image result

The other celestial sphere coordinate, Right Ascension,  corresponds to Earth longitude. Both longitude and Right Ascension circles run from pole to pole.   However, the 'prime meridians' are different. For Earth, the prime meridian of longitude is the same as the Greenwich meridian defined as 0 degrees. All longitude circles to the west, e.g. Barbados at 60 degrees W., are designated such that times are earlier than a calibrated clock reads at Greenwich.  All longitude circles to the east are designated as having later times than at Greenwich.

By contrast, for Right Ascension we need to use a specific abstract point in the sky, called the Vernal Equinox, to mark the meridian of origin.  This is the point at which the Sun - on its journey north (seen as a projection via the ecliptic on the celestial sphere) crosses the celestial equator. This is visible in the second diagram, where you will see the reddish line for the ecliptic (which is the projection of the Sun's apparent path onto the celestial sphere).  Bear in mind here, the Sun is not really moving across the sky.  It is only the appearance of such because the Earth is really doing the moving, i.e. orbiting about the Sun.  Hence, in a real sense, the ecliptic is the projection of Earth's own orbital motion onto the celestial sphere, but which is embodied in the Sun's apparent path.

The point called the Vernal Equinox -  as can be seen in the diagram - occurs on or about March 21 each year.  Now, the celestial circle of longitude which passes through the Vernal Equinox is defined as 0 hours Right Ascension.    Note here that Right Ascension is measured in hours and minutes (60 minutes being  equal to one hour), and increases numerically eastwards from the Vernal Equinox This would be continuously (unlike Earth longitude - which divides into E. and W. ) from 0h through 24 h.

Using the design conventions given here any astronomical object, planet, star, star cluster, etc. can be pinpointed by coordinates in the night sky.


Wednesday, November 6, 2013

Math Drives Astronomy (Pt. 2)



















By the time the aspiring Astronomy major reaches his sophomore year, he will be facing even more math in courses such as Spherical Astronomy.  The emphasis here is on astronomical time (sidereal time and position - the latter based on different coordinate systems used (equatorial, horizontal, ecliptic).

Each such coordinate system is defined by a different set of poles and equator. For example, the coordinate system depicted above - the equatorial system - is based on the projection of the Earth's N. and S. poles into the sky, as well as its equator. The poles then become the North and South Celestial poles, and the equator becomes the celestial equator. If these poles are defined respectively at +90 degrees (NCP) and -90 degrees (SCP) and the celestial equator at 0 degrees, then a consistent system of celestial latitude and longitude  can be defined in a consistent system, to locate any celestial object. We call the longitude coordinate (Θ) the Right Ascension (R.A.) while the celestial latitude coordinate is called declination and is measured in degrees north or south of the celestial equator. (In the diagram, the complementary angle of the declination is shown, φ, which we call the zenith distance.)

One of the first things the astronomy sophomore learns is how to find directions around the celestial sphere, including how to relate the R.A. to time and time keeping.  He must also do exercises showing he can find the hour angle - and distinguish it from the Right Ascension. This starts with identifying the R.A. of his local meridian (the imaginary celestial longitude passing through his zenith or highest point.)  The Right Ascension of the star is clearly equal to the local sidereal time (L.S.T.) plus the hour angle. Thus, we can write:  HA = RA of observer meridian - RA of object
Of course, before he gets very far, he will be adept at sketching any number of diagrams to solve time and position problems, such as the diagram below - with perspective looking down onto the North Celestial pole:

For example, in the diagram shown (Fig. 2) if the star's R.A. is 7h 00m and the observer is at a local sidereal time of 6h 00m, then the hour angle becomes: HA = 6h - 7h = -1h or -15 degrees. (Since every hour of longitude corresponds to 15 degrees angle, i.e. Earth turns through 15 degrees every hour, 360 degrees in 24 hours.)

The budding astronomy student will also have to know how to sketch a three dimensional diagram to enable conversion between coordinates, say from the horizontal (observer -based) to the celestial sphere. This will always include what is called the fundamental "astronomical triangle" (shaded region of Fig. 3) from which spherical trig relationships can be obtained and conversions can be made to different coordinate systems.

Using spherical trig, the student can write the law of sines and law of cosines for spherical triangles (such as shown in Fig. 3)which are analogs of the law of sines and cosines for triangles in plane trig.

We have for the law of sines:

Sin A/ sin a = sin B/ sin b = sin C/ sin c

where A, B, C denote ANGLES and a,b,c denote measured arcs. (Note: we could also have written these by flipping the numerators and denominators).

We have for the law of cosines:

cos a = cos b cos c + sin b sin c cos A

Where a, b, c have the same meanings, and of course, we could write the same relationship out for any included angle.

Now, we use Fig. 3, for a celestial sphere application, in which we use the spherical trig relations to obtain an astronomical measurement.

Using the angles shown in Fig. 3 each of the angles for the law of cosines (given above) can be found. They are as follows:

cos a = cos (90 deg - decl.)

where decl. = declination

cos b = cos (90 deg - Lat)

where 'Lat' denotes the latitude. (Recall from Fig. 1 if φ is polar distance (which can also be zenith distance) then φ = (90 - Lat))

cos c = cos z

where z here is the zenith distance.

sin b = sin (90 deg - Lat)

sin c = sin z

and finally,

cos A = cos A

where A is azimuth.

Let's say we want to find the declination of the star if the observer's latitude is 45 degrees N, and the azimuth of the star is measured to be 60 degrees, with its zenith distance z = 30 degrees. Then one would solve for cos a:

cos a = cos (90 deg - decl.)=

cos (90 deg - Lat) cos z + sin (90 deg - Lat) sin z cos (A)

cos (90 deg - decl.) =
 
cos (90 - 45) cos 30 + sin (90 - 45) sin 30 cos 60
 
And:

cos (90 deg - decl.)= cos (45) cos 30 + sin (45) sin 30 cos 60

We know, or can use tables or calculator to find:

cos 45 = [2]^½/ 2

cos 30 = [3]^½/ 2

sin 45 = [2]^½/ 2

sin 30 = ½

cos 60 = ½

Then:
cos (90 deg - decl.)= {([2]^½/ 2 )([3]^½/ 2)} + {[2]^½/ 2} (½) (½)

cos (90 deg - decl.)= [6]^½/ 4 + [2]^½/ 8
 
= {2[6]^½ + [2]^½}/ 8

cos (90 deg - decl.)= 0.789

arc cos (90 deg - decl.)= 37.9 deg

Then:

decl. = 90 deg - 37.9 deg = 52.1 deg

Or,  decl. (star) = + 52.1 degrees
 
The student will also become familiar with matrix methods for converting between the different coordinate systems.
 
The basic principle involves relating the Cartesian coordinates (rectilinear) of a point on the celestial sphere (diagram) to the curvilinear coordinates measured in the primary and secondary reference planes. One has then, for example:

(x)
(y)
(z) u,v =


(cos v .....cos u)
(cos v .....sin u)
(sin v..............)

After conversion the curvilinear coordinates may be calculated according to:

u = arctan (y/x) and v = arcsin (z)

Now, consider conventional orthogonal matrices of 3 x 3 dimensions, given as functions: R1(Θ), R2(Θ) and R3(Θ), to rotate the general system by the angle Θ about axes x, y and z, respectively. Thus we obtain:

R1(Θ) =

(1..........0................0)
(0.....cos(Θ)..... sin(Θ))
(0......-sin(Θ)....cos(Θ))


R2(Θ) =

(cos (Θ)......0........- sin(Θ))
(0................1...............0.. )
(sin(Θ)........0.......cos(Θ) )


R3(Θ) =


(cos(Θ)..........sin(Θ)..........0)
(-sin (Θ)......cos(Θ)...........0)
(0 ..................0..................1)


To fix ideas, say you wish to obtain the horizontal coordinates (A, a) for some object in the sky and you know its R.A. and decl. from an almanac.  Then the procedure is fairly straightforward, and entails writing:
 
R3(Θ) = R3(-180 deg)

R2(Θ) = R2(90 - lat.)

so that:

(x)
(y)
(z) A,a = R3(-180 deg) R2(90 - lat.) (XYZ(h, decl.))
 
where : (XYZ(h, decl.)) =

(x)
(y)
(z) h,decl.
 
Bear in mind: R3(-180 deg) =

(cos 180........-sin 180................0)
(sin 180........cos 180................0)
(0......................0......................1)


And:R3(Θ) =


(cos(Θ)..........sin(Θ)..........0)
(-sin (Θ)......cos(Θ)...........0)
(0 ..................0..................1)

Therefore: R3(-180) =

(-1.....0.......0)
(0.......-1.....0)
(0.......0.......1)

Obtaining R2(Θ) = R2(90 - lat.) is just as easy, if one recalls the basic trig identity:

cos (90 - φ) = sin (φ)
 
Not surprisingly, it is the sophomore year at which point most wannabe Astronomy majors change their minds and either drop out entirely or change their major - say to a less mathematically demanding subject. At the Univ. of South Florida, nearly 60% had dropped out by the end of the quarter which featured spherical astronomy.