Series

Paths — the series

24 essays on one idea, from the one that introduces it to the one that assumes the rest.
  1. London to Tokyo on Mercator. Two routes. The great circle is 9559 km and is the shortest path on the sphere. The rhumb line holds a single compass bearing the whole way and is 11296 km — 1737 km further, or 18.2 per cent. On Mercator the rhumb line departs from straight by 5.0e-9 of its own length.

    The shortest route is not straight

    The shortest path between two points on a sphere is an arc of a great circle, and on almost every map it is a curve. The straight line on a Mercator chart is a different route entirely, and on some journeys it is twenty-eight per cent longer.

    part 1 · paths
  2. New York to Madrid on Mercator. Two routes. The great circle is 5768 km and is the shortest path on the sphere. The rhumb line holds a single compass bearing the whole way and is 5939 km — 171 km further, or 3.0 per cent. On Mercator the rhumb line departs from straight by 9.6e-16 of its own length.

    Why Mercator exists

    A ship can hold a compass bearing and cannot easily hold a great circle. Mercator is the answer to one question — what must a map do so that a constant bearing is a straight line — and it answers it exactly.

    part 2 · paths
  3. London to Tokyo, seen four ways. The same two routes on four projections. The gnomonic projection renders every great circle as an exactly straight line, which is what it is for; Mercator renders every rhumb line straight instead. Neither path changed — only the map did.

    The gnomonic companion

    One projection turns every great circle into a straight line, and it is the only one that does. It shows less than half the sphere, distorts enormously, and was indispensable for three centuries because of that single exact property.

    part 2 · paths
  4. London to Tokyo on Orthographic. Two routes. The great circle is 9559 km and is the shortest path on the sphere. The rhumb line holds a single compass bearing the whole way and is 11296 km — 1737 km further, or 18.2 per cent. On Orthographic the rhumb line departs from straight by 2.9e-1 of its own length.

    The great-circle vertex

    One quantity is constant along a shortest path on a sphere, and it fixes the highest latitude that path will reach before the journey starts. That number is why polar routes exist, and it can be read off the departure bearing without tracing the route at all.

    part 3 · paths
  5. What treating the Earth as a sphere costs, per journey. The ellipsoidal geodesic minus the spherical great circle, in kilometres, for five journeys. The correction is a few tenths of a per cent and it changes sign: a route running east–west at mid latitude is longer on the ellipsoid, and one running along a meridian is shorter, because an oblate body is fatter round the equator and flatter pole to pole. Both distances are computed — Vincenty's iteration against the haversine formula — and the ellipsoidal one is checked against a geodesic obtained by integrating its own differential equation.

    Geodesics on the ellipsoid, and why they are hard

    The shortest path on a flattened Earth is not a plane curve, has no closed form, and can be longer or shorter than the spherical answer depending on which way it runs. Every practical method is a series or an iteration, and the correction changes sign.

    part 3 · paths
  6. Where the inverse problem stops converging, 3° around the antipode of London. Every target in a 6° square centred on the point diametrically opposite London, shaded by how many iterations Vincenty's inverse formula needed to find the geodesic to it. 3 of 625 — 0% — never converged at all, and the worst success took 113 steps against a handful anywhere else on Earth. The failure is not a defect in the formula: near the antipode the shortest path is nearly ambiguous, and an iteration looking for one answer is being asked which of many.

    The route with no shortest path

    Between a point and the point diametrically opposite there are infinitely many shortest routes and no shortest route, and the standard formula for the distance between two places stops converging in a neighbourhood of it. The failure is a property of the question rather than a defect in the answer.

    part 4 · paths
  7. London to Tokyo in three straight legs. The great circle, and the route a plan of three constant-heading legs actually follows between waypoints on it. The two touch at the waypoints and part between them by up to 456 km, and the flown route is 253 km longer than the direct one. The headings are 50°, 109°, 149°. Two routes. The great circle is 9559 km and is the shortest path on the sphere. The rhumb line holds a single compass bearing the whole way and is 11296 km — 1737 km further, or 18.2 per cent. On Orthographic the rhumb line departs from straight by 2.4e-1 of its own length.

    Flying a curve in straight legs

    Nobody steers a great circle, because a great circle requires the heading to change continuously. What is actually flown is a handful of constant-heading legs between waypoints on it, and the gap between plan and curve falls as the square of the number of legs.

    part 4 · paths
  8. London to Tokyo, round a 15° exclusion. The direct great circle, dashed, runs through the disc. The admissible shortest route leaves it along a great circle tangent to the rim, follows the rim, and leaves along another tangent — which is the closed-form answer and is checked against a shortest-path search over the rim that knows nothing about tangents. It costs 39 kilometres on 9559, which is 0.41 per cent. The rim stretch is 293 kilometres of it, and it is the only part of the route that is not a geodesic anywhere along its length. Drawn in Orthographic.

    A route that must go round

    A shortest route is usually free to go anywhere, and no real route is. The shortest path past a circular exclusion is two tangent great circles and an arc of the rim — a closed form that agrees with a shortest-path search to three metres in 9,598 kilometres — and it costs not the obstacle's size but the square of how far the obstacle reaches past the route.

    part 5 · paths
  9. The shortest route and the quickest one, in a zonal jet. A craft making 20 km/h through the medium, from 40° north, 34° west to 52° north, 6° east. The great circle is 3313 km and takes 111.6 hours in this flow; the quickest track is 169 km longer — 5.1 per cent further — and takes 99.1 hours, saving 11.2 per cent of the time. The strokes are the flow at its own scale, and the whole difference is that the track bends into the helping part of it. Drawn in Lambert conformal conic.

    The quickest route is not the shortest

    In a medium that does nothing, length and time are the same question divided by a constant. Once the water moves, they are different questions with different answers: the quickest track sails five per cent further and arrives eleven per cent sooner, and the journey back takes four times as long as the journey out.

    part 6 · paths
  10. Where two equal geodesics meet, from 15° north. A geodesic leaving at azimuth α and its mirror image at −α have the same length wherever they meet, and by symmetry they meet on the antipodal meridian. On a sphere they all meet at one point, the antipode, to 1.4e-7° — the flat line. On the ellipsoid the meeting latitude moves with the azimuth, from -15.563° to -15.009°, so the set of points with two shortest routes is an arc 61 km long, and the distance to it varies by 31 km along its own length.

    Where the shortest route stops being the only one

    On a sphere there is exactly one point with no shortest route from a given place: the antipode. On the ellipsoid the Earth actually is, that point is an arc — sixty-six kilometres of the antipodal meridian for a point on the equator, half a kilometre for one at 85°, and every point of it reachable by two different geodesics of exactly equal length.

    part 7 · paths
  11. The route at height does not lie above the route on the ground. London to Tokyo, solved at the surface and again at a stated height, with the two ground tracks compared point for point. At a cruising altitude of eleven kilometres the two part by 11.8 metres; the departure is proportional to the height, at a fitted slope of 0.997. On a sphere the same measurement returns 2.7e-9 metres, because the offset of a sphere is a sphere and the two geodesics coincide exactly. The offset of an ellipsoid is not an ellipsoid, and this is what that costs.

    The shortest route is not at sea level

    Routes are computed on a surface and nothing is ever flown on one. The offset of a sphere is a sphere, so at altitude the great circle is the great circle. The offset of an ellipsoid is not an ellipsoid — its radii of curvature are M + h and N + h, which belong to no ellipsoid — so the shortest route at cruising height does not lie above the shortest route on the ground.

    part 8 · paths
  12. What the drawn line costs, projection by projection. The ground length of the page-straight route from London to Tokyo, as a percentage above the shortest route. Two of these have names. On the gnomonic, centred on the route, the drawn line IS the shortest route, at -0.0000 per cent. On Mercator it is the rhumb, matching the rhumb's own length to 1 parts per million — which is why that projection exists. On the other eight it is a curve with no name and a cost between 0.0 and 19.6 per cent.

    The line drawn straight on the page is a route

    Eleven essays draw the route on the map. Nobody has drawn the map's own proposal: the ground curve somebody follows by laying a ruler on the page. It has a name on exactly two projections and is 18.2 per cent long on the one where it is famous.

    part 9 · paths
  13. The shortest route, and the shortest route a vehicle can fly. A leg of 60 kilometres for a vehicle whose minimum turning radius is 5, arriving on a heading 120° off the line and required to leave on one -60° off it. The straight line is the geodesic; the curve is the shortest curvature-bounded path, which is Dubins's RSR — a turn, a straight, a turn — at 67.29 kilometres against 60. The second curve is the runner-up word, drawn to show that the choice between them is a real one rather than a formality.

    The shortest route a vehicle can fly

    A shortest path under a metric says nothing about whether the thing travelling can follow it. Bound the curvature and the route depends on two headings as well as two positions: the turning cost is a fixed 1.81 kilometres whatever the leg length, so it is 18 per cent of a short leg and 0.28 per cent of a long one, and the whole of it vanishes when the vehicle happens to be pointing the right way.

    part 10 · paths
  14. The shortest route between two regions, and the pair it runs between. Europe and the conterminous United States, with the shortest route between them: 3,581 km, attained at one point on each boundary. The pair is not a corner, not a centre and not anything a reader could name — it is wherever two edges happen to come closest, which depends on the whole shape of both. The dashed route is the pair Gall–Peters makes look nearest: 4,085 km, which is 505 kilometres long, and its two ends sit 2135 kilometres from the true pair between them.

    The shortest route between two coasts

    A shortest path is usually asked for between two points. Between two regions the answer is attained at a pair of boundary points, and which pair is not the pair any page makes look nearest — a cylindrical map picks a pair 2,135 kilometres from the right one across the Atlantic, and 1,716 kilometres wrong between Chile and New Zealand, where its route is 22.5 per cent long.

    part 11 · paths
  15. The plan, the crossing that was flown, and the one a right forecast would have given. A crossing of NaN km planned against a jet forecast to sit on the fortieth parallel, flown through a jet that is actually 6 degrees further south, and re-planned six times on the way. Committing to the plan costs 167.81 hours. Re-planning costs 165.84. A vehicle that had known where the jet was would have taken 163.21. So the wrong forecast is worth 4.60 hours and re-planning recovers 1.97 of them.

    A crossing is a chain of decisions

    A route is handed back as a curve, and nothing anybody flies is decided once. Re-planning is worth exactly nothing when the forecast turns out right — a sub-path of an optimal path is optimal, and the chain is the plan. When it turns out wrong it recovers 19 per cent of the cost at two decisions and 83 at eighteen, and never all of it.

    part 12 · paths
  16. The shortest crossing that never goes more than 745 km from an airfield. New York to London, drawn on a conformal conic, with a circle of 745 km round each of twenty airfields on both sides of the North Atlantic. The dashed line is the great circle, 5,540 km. The solid line is the shortest route that stays inside the circles, 5,698 km — 158 km or 2.85 per cent longer — and it bends only where two circles cross: between Narsarsuaq and Keflavík; Keflavík and Vágar. Nowhere else can it bend, because anywhere else a straight cut stays inside a circle.

    The rule that keeps a route near land is pinned at both ends

    A crossing that may never be more than a stated distance from an airfield is refused below one radius and free above another, and each wall is set by a single feature of the ocean. Between them the price falls continuously, with corners and no jumps — and at the lower wall it falls as the square root of the allowance, so the first kilometre is worth twelve of route.

    part 13 · paths
  17. The quickest way out of the ice bends at the edge. A ship twelve kilometres inside a straight ice edge, making 6 km/h in the ice and 25 km/h in open water, bound for a point ten kilometres out into the water and twenty along. The dashed line is the straight route, 3.244 hours. The solid one is the quickest, 2.849 hours — 24 min sooner — and it reaches the edge only 2.55 km along, leaving the slow ice as directly as it can. At the edge it meets the perpendicular at 12.0° in the ice and leaves at 60.2° in the water, and the sines of those angles stand in the ratio of the speeds to within 4e-17.

    A crossing bends by a law only a conformal chart can show

    A ship leaving pack ice for open water takes its quickest route by bending at the ice edge, so that the sines of its angles to the perpendicular stand in the ratio of its two speeds. The law has nothing in it but angles, so on Mercator it can be checked with a protractor — and on a plate carrée at sixty degrees north the same crossing reads as a ship making ten kilometres an hour in the ice rather than six.

    part 14 · paths
  18. In a wind every circle moves upwind, and the route moves with them. New York to London with the sixty-minute allowance at a stated one-engine speed of 745 km/h. In still air every airfield's circle has a radius of 745 km, drawn faint and dashed. In a northerly of 150 km/h the places from which each airfield can be reached in sixty minutes form a circle of the same radius moved 150 km upwind, drawn solid. The dashed route is the shortest the still-air rule allows, 5,698 km; from one point of it the quickest diversion in this wind takes 68.7 minutes. The solid route stays inside the moved circles, 5,765 km, and its longest diversion takes 60.8 minutes — the sixty the moved circles stand for, to within what the Earth's curvature does to a wind that keeps one bearing.

    A diversion allowance in a wind is the same circle, moved upwind

    A diversion rule written in minutes is turned into a distance by assuming still air. In a uniform wind the places from which an airfield can be reached in sixty minutes are not a stretched region but the still-air circle moved upwind by the wind's run. A 150 km/h northerly makes the still-air route across the North Atlantic need a diversion of 68.7 minutes, a southerly makes it 54.0 — and the least radius at which the ocean can be crossed barely moves.

    part 15 · paths
  19. In a jet the sixty-minute sets stop moving together. The North Atlantic airfields with a southerly jet of 200 km/h whose core, the solid line, runs north past the southern tip of Greenland; dotted lines mark where it has slowed to 150, 100 and 50 km/h. Faint dashed circles are the still-air sets of 745 km. Solid outlines are the places within sixty minutes of each airfield in the jet, computed as quickest flights through it: each is a circle moved by the wind it meets, and airfields on opposite sides of a gap meet different winds. The least allowance at which New York is joined to London moves from 624.7 km of still-air radius to 587.7 (−36.9 km), pinned between Goose Bay–Narsarsuaq, whose sets first touch at the marked point. A uniform southerly of the same speed moves it +3.0 km.

    A jet moves the floor that a uniform wind cannot

    A uniform wind leaves the least radius at which the North Atlantic can be crossed almost where it was, because it blows the same way on both halves of every gap between airfields. A jet does not. A southerly of 200 km/h past the southern tip of Greenland lowers that floor by 36.9 kilometres, the same jet 400 kilometres further west raises it by 23.3, and one integral of the wind along each gap predicts every such move to within a few kilometres.

    part 16 · paths
  20. A fast stretch over one half of a gap, with nothing changed across the jet. A jet of 100 km/h blowing along the Goose Bay–Narsarsuaq gap, carrying a streak that reaches 300 km/h over a stretch about 1,000 km long, centred 500 km from the gap's midpoint on the Goose Bay side. The dotted bands are where the wind has slowed to 150, 100 and 50 km/h, and they are drawn from the jet's own cross-section — nothing about it changes across the flow. The solid outlines are the places within sixty minutes of each airfield. The least allowance at which New York is joined to London is 665.6 km of still-air radius against the plain jet's 624.7 — a move of +40.9 km, pinned between Goose Bay–Iqaluit.

    A streak along the jet moves the floor while the crossing is flown

    The diversion floor answers only to the difference between the wind on a gap's two halves, and every case so far produced that difference by moving a jet sideways. A jet carrying a streak — a thousand kilometres of core markedly faster than the rest — produces the same difference with nothing changed across the flow at all, and moves the floor by up to 43 km where the same jet at one speed along its whole length moves it by ten metres. Plotted against the half-integral difference the two geometries fall on one line: the floor cannot tell them apart. And because a streak drifts with the flow, the allowance an operator must satisfy is 30 km higher than the one the departure analysis reported.

    part 17 · paths
  21. The floor against where the streak is, and the stretch of it a crossing sweeps. The diversion floor for the New York–London chain with a streak 200 km/h faster than a 100 km/h jet core, against where along the jet the streak's centre lies, computed exactly on a grid of positions 125 km apart and read between them. With the streak far off the floor is the plain jet's, 624.7 km. With it over the Goose Bay half it rises by up to 41.1; over the Narsarsuaq half it falls by up to 44.8. The bar is the stretch a streak starting at -1400 km sweeps in a four-hour crossing at 250 km/h; the floor to be met is the worst on it, 666.0 km. The shaded band either side is a forecast position error of ±200 km at one standard deviation.

    A forecast's error in where the streak is becomes a margin

    A jet streak drifting along a gap moves the diversion floor by up to forty kilometres during a crossing, and an operator knows where the streak is only from a forecast. Planned to the worst over the forecast's own crossing window, the floor needs a margin of about eight kilometres for every hundred of error in the streak's position, and stops paying for itself against simply ignoring the streak near an error of two hundred and fifty. Planned to the departure analysis alone, it is worse than ignoring the streak at any error at all.

    part 18 · paths
  22. Nineteen forecasts of one crossing, and the floor each says must be met. One crossing, with the forecast's error in where the streak starts at 150 km and in its drift speed at 50 km/h. The line is the worst floor over a four-hour crossing against where the streak starts, at the assumed drift of 250 km/h. Dots: nineteen ensemble members, each drawn with its own start and drift speed and placed at the worst floor its own crossing window meets. Open circle: the truth, 660.3 km. Square: the ensemble's centre, 640.3 km. Dashed: the centre's floor plus the fixed margin that covers 95 per cent of crossings at these errors, 653.3 km. Solid: the highest member, 663.2 km — the plan the ensemble gives with no margin added.

    An ensemble carries its own margin, if its spread is honest

    A fixed margin of about eight kilometres for every hundred of forecast error covers the diversion floor in nineteen crossings of twenty, but it needs the error's size and it is spent on every crossing alike. Nineteen forecasts of the same crossing need neither. If the truth is one more draw from the spread they come from, the highest of them covers the floor met in nineteen crossings in twenty by rank alone — whatever the error, the streak or the drift — and it holds a fifth to two fifths less in hand than the fixed margin, because it spends nothing on the crossings the streak cannot reach. What it cannot do is notice that its own spread is too small: at half the true spread it covers 88 in a hundred.

    part 19 · paths
  23. A season of crossings pins the stretch to a tenth only if it learns from where the streak was. The share of 400 seasons at each length whose learned stretch lies within a tenth of 1.25. From the floors' rank histogram: 25 crossings 19 per cent, 50 crossings 27 per cent, 100 crossings 32 per cent, 200 crossings 43 per cent, 400 crossings 55 per cent, 800 crossings 67 per cent. From where the streak turned out to be: 25 crossings 56, 50 crossings 72, 100 crossings 85, 200 crossings 98, 400 crossings 99, 800 crossings 100. At a hundred crossings, 85 against 32 per cent.

    A season learns the stretch from where the streak was, not from the floors

    An ensemble whose members spread four fifths as widely as the forecast's real error covers the diversion floor in 94 crossings of a hundred instead of 95, and the repair is to stretch every member away from the centre by a factor learned from past crossings. Learned the way the rank histogram teaches it — from where the truth's floor fell among the members' floors — a season of a hundred crossings lands within a tenth of the right stretch one time in three, and a season of eight hundred two times in three. Learned from where the streak turned out to be, which the analysis after each crossing supplies whether the streak reached the gap or not, a hundred crossings land within a tenth 85 times in a hundred and two hundred almost always. The floor is the quantity the plan is about; it is the wrong quantity to learn the spread from.

    part 20 · paths
  24. After a revision narrows the ensemble, a learner that never forgets is still well short of the new stretch three hundred crossings later. The stretch each learner holds before each crossing, the median over 400 winters, from 100 crossings before a forecast revision to 300 after it. Before it the members spread 0.8 of the truth's spread and the right stretch is 1.25; after it they spread 0.6 and the right stretch is 1.667 (dashed). never forgets: 1.28 at 25 crossings, 1.34 at 100, 1.44 at 300; memory 200: 1.31 at 25 crossings, 1.44 at 100, 1.59 at 300; memory 50: 1.42 at 25 crossings, 1.62 at 100, 1.68 at 300; restarts on the date: 1.63 at 25 crossings, 1.67 at 100, 1.67 at 300. Shaded: the middle eight winters in ten for the learner with a memory of 50 crossings, 1.55–1.78 at the end.

    A revised forecast is relearned in as many crossings as the learner remembers

    An ensemble's stretch is a property of the forecast system, and forecast systems are revised. When a revision narrows the members from four fifths of the real spread to three fifths, a learner that weights every crossing since the start of the winter equally still holds 1.44 for a new stretch of 1.67 three hundred crossings later, and leaves the plan under the floor in 93.8 crossings of a hundred instead of 95. A learner that forgets regains ninety-five per cent coverage after about as many crossings as its memory — 31, 57, 113 and 206 for memories of 25, 50, 100 and 200 — and pays for forgetting only when nothing has changed. A memory of fifty costs nothing measurable over a winter. And a bias the whole ensemble shares, which the stretch alone reads as extra spread, is found to a kilometre by a learner that tracks the mean departure as well.

    part 21 · paths

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