The Development of Geometric Satellite ~riangulationand Field Operations
HERE HAVE BEEN numerous papers presented at for portable camera systems to be submitted for the T the meetings of, or in the publications of, the 1961 budget. American Congress on Surveying and Mapping and Mr. Harris of the Photogrammetry Research the American Society of Photogrammetry and many Branch did the research to determine the camera other engineering and scientific organizations, most suited for photographing both flashing-light dealing with some particular aspect of satellite trian- and sun-illuminated satellites, using the chopping gulation. In 1963 there were papers dealing with technique for satellite and star imagery. He, with the accuracy, calibration, and logistics of the por- the invaluable help of Mr. Ralph E. A. Putnam, the table camera system planned and designed by the electronic system designer who designed the Bal- Coast and Geodetic Survey, now the National listic Research Laboratories' missile tracking elec- Ocean Survey of NOAA. Since then there have been tronic system, wrote the specifications for mobile papers comparing satellite and geodetic triangula- timing and synchronization units; i. e., the original tion, and on world datum and related continental electronic package for the BC-4 system. networks. The specifications for the purchase of the camera All of these papers have dealt with what was were completed in September of 1960; and the planned and anticipated; accuracies and logistical specifications for the C&GS camera modification and support, or calling attention to the effects such a shutter, capping shutter control, which would en- completed world satellite triangulation network able the synchronization of the camera shutters with might have on the conventional continental and standard radio time signals (wwv) within *300 mi- small independent geodetic nets. croseconds, were completed in May 1961. Jack Davidson thought it might be interesting to Our personnel continued to study the BC-4 op- many to give a rather short summary of what ac- erations using different satellites at the Research tually happened in making passive satellite trian- Laboratories. In October 1961 a C&GS field party gulation a going program. In 1957 geometric satel- was for the first time located at the BRL, with Com- lite triangulation was unknown. But in January of mander Eugene A. Taylor as chief. He was charged that year three of us-William D. Harris', G. C. to become the expert on the total BC-4 field oper- Tewinke12, and myself-visited Dr. Hellmut ation, i.e., he was given the responsibility of Schmid at the Ballistic Research Laboratories, Ab- training the new personnel assigned to his party and erdeen Proving Ground. We were there to make for making the field equipment operational in any the necessary arrangements for these and other em- climate, completely self-sufficient, and fully por- ployees from the Division of Geodesy to visit and table for any mode of transportation (Figure 1). work with Dr. Schmid; to learn his methods of an- Those first assigned to his party of a period of alytic aerotriangulation as he applied this photo- months were LCDR Austin Yeager and Messers. grammetric technique to ballistic tracking. This Guy Fisher, Robert Price, Dick Fallgren, Dee group included Dr. Charles Whitten2, the chief of Kimble, Larry Schenkat, and Jack Fried. However, the Computing Division, and mathematicians such he called upon assistance from such people as Dick as Messers, Wallace Blackwell and Erwin Schmidt Ross from the Electronics Branch; John Smith, and Miss Rosemary Riordin. Chief of the Photographic Lab of Div. of Photo- In December of 1957 and January of 1958 the grammetry; Charles Theurer, Chief of Photogram- Russians launched Sputnik I and 11. These satellites metry Branch; and Ray Puhl of the same branch. In were photographed at Aberdeen and also their sat- January 1962 the C~GSreceived its first modified ellite trails were chopped. This work aroused our camera and electronics timing and synchronization interest in determining geodetic positions by pho- system. tographing a passive (sun-illuminated) satellite si- Echo I was launched on 31 October 1962; and on multaneously with three cameras at different known 2 November 1962, we were fortunate to photograph positions. Discussions with Dr. Schmid led us to the the flashing lights that were triggered manually at conclusion that with extreme care in design and op- an altitude of 1,000 km. eration of the cameras, timing, and plate measuring Taylor wrote, with the assistance of some of the systems, an accuracy of 1 part in 250,000 could be above personnel, the first Satellite Triangulation expected from the application of ballistic tracking Manual. As cameras and equipment were to be techniques for geodetic triangulation through the identical, it was necessary to use the same identical use of artificial Earth satellites. procedures of operation. By September of 1959 the Director of the Coast He, with the assistance of the U.S. Naval Obser- and Geodetic Survey had approved cost estimates vatory, Washington, D.C., solved the original basic
PHOTOGRAMMETRICENGINEERING AND REMOTESENSING, 0099-1 112/84/5009-1333$02.25/0 Vol. 50, No. 9, September 1984, pp. 1333-1340. O 1984 American Society of Photogralnmetry PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING, 1984
FIG.1. Setup for transporting the complete equipment for satellite tracking. problem in geometrical satellite geodesy programs, During 1962 we were refining the total camera that is, to record accurately time-correlated satellite system and assuring its mobility for all climates and and star images on photographic plates. We used a conditions. In the meantime the Photogrammetry fixed-camera approach, that is, the camera is fixed Division had been testing the accuracy of measuring in orientation during the entire observational pe- images on photographic plates with a stereocom- riod. Accurately timed shutters interrupt the star parator, an autograph, and monocomparator. After and satellite trails as they cross the camera's field of exhaustive tests it was determined by Mr. Frank view. The result is a photogrammetric record con- Lampton that the monocomparator was slightly sisting, on an average, of 700 star and 300 satellite more accurate than the regular photogrammetric images across the plate (Figure 2). The shutters that stereo instruments, and also better adapted to the produce the satellite images must be referred to a measurement of images on star and satellite plates. time standard to all the other camera systems in- At the suggestion of Mr. Harris we began improving volved in the simultaneous observation. In the be- the monocomparators by making them binocular ginning this precise transfer of epoch time was ef- viewing monocularly. We were also improving our fected by using portable crystal clocks, which were measuring and processing techniques and calibra- hand-carried, never shipped or checked as baggage. tion of the instruments. If necessary, an additional seat was paid for on The Coast and Geodetic Survey's first objective planes and the camera was strapped in a seat along- was to strengthen the North American Datum. The side the person carrying the clock. The same care original program was modest. It included the 48 was taken regardless of the mode of transportation. states and Alaska, via Canada. But the test of the This was replaced by a portable cesium clock which accuracy of a satellite triangulation was to be made was given the same care. at home first, on a 1500 km triangle with stations In 1964 or 65, Lt. George M. Cole, C&GS, was located in Maryland, Minnesota, and Mississippi. A one of several who carried these clocks from station fourth station, in Florida, was added to form a to station for synchronization reset. While transfer- second triangle. All stations were located on or tied ring time, he found there was a signal on Doppler to first-order triangulation stations. Observations that was as accurate without having to filter out data were made on the Echo I satellite, which ranged in or information. Because Johns Hopkins University altitude from 1300 to 1900 km. In processing and Laboratory was the one that worked on the devel- evaluating, the standard error of unit weight of the opment and refinement of Doppler, we went to plate measdrements after adjustment was 20.3 mi- them directly and asked if they could develop an crometres. This was a measure of precision of the instrument for us to utilize this signal. They agreed, photogrammetric process. The absolute accuracy of and an accurate and operational instrument was de- the photographic measurements was better than livered to us. We then contracted with an electrical '0.6 micrometres, or better than 1 part in 500,000. firm in the instrument business to build ten such The calibrations and comparisons we made with our instruments. These instruments were used in the 1st order network indicated that we consistently ob- Atlantic and Pacific Oceans and Antarctica for time tained accuracies of at least 1 part in 500,000 (all reset capability, utilizing polar orbit Doppler. They accuracy figures given are standard errors). proved very effective and accurate. They also solved Because of these accuracies, we were requested a problem of time we had not solved because of by the Defense Intelligence Agency (DIA) to locate Antigua and Bermuda. We readily agreed, pro- SATELLITE TRIANGULATION AND FIELD OPERATIONS
background.
viding they furnished the logistics and expenses in- the distances measured with the same, if not volved, as these islands were not a part of our plans greater, accuracy. to reach Alaska. The manufacturer of the Geodimeter was re- At this time it was realized we needed to start quested to make similar instruments for us, using the measurements of long accurate Baselines, such our instrument as a model. We were told that, be- as Florida to Maryland, Maryland to Minnesota, cause the C&GS was the only outfit in the world in- west from Florida to Mississippi, etc. The Model terested in such an instrument that would measure 4D Geodimeter was the instrument being used by such long distances so accurately, it would not pay the Division of Geodesy, and Mr. "Red" Smathers for them to do it. As a result, the Army Map Service of the Research Division suggested that, before (AMS) joined with us in having 12 to 14 Model 4D's starting to measure these long lines, it might double transformed to laser instruments. or triple the distance measured if a laser as a light The C&GS bought ten and AMS bought four source was used in the instrument. This would cer- second-hand Model 4 Geodimeters, and bids were tainly speed up the work as it would greatly reduce put out for remodeling these instruments as per the the number of set-ups. A second-hand Model 4D C&GS model. The bid stated that our instrument was purchased for him to work with, funded by the would be furnished to the successful bidder to be program, as well as new parts required for the use used as a model, that only American-made parts of a laser. With the help of Dr. Robert Straub of the could be used, and required the delivery of at least Research Division and Mr. George Lesley of the one instrument per month after a certain number Division of Geodesy a laser geodimeter was devel- of days following the acceptance of the successful oped, tested, and calibrated. It more than doubled bid. The successful bidder was the manufacturer of PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING, 1984 the Model 4 Geodimeter. These modified laser ge- a cooperative program between the three agencies. odimeters reduced the number of set-ups and They were successful. speeded the measurement of accurate (approxi- In planning the world network, good geometry mately 1:1,000,000) long distance baselines, so that and world coverage with a minimum number of sta- we were not dependent on using scale from 1st tions was stressed. In 1964-5 a network of 36 sta- order triangulation. tions, composed of as nearly equilateral triangles as It became certain, with the results we were ob- the land masses and islands of the oceans would taining on the continuation of the densification net- allow, was designed (Figure 3). This was the world work, that with a higher-flying, larger balloon-type net that the Commerce Department presented to satellite of the Echo type, a desired unified three- and was accepted as a part of the NASA Geodetic dimensional reference net could be made accessible Explorer Project and incorporated in their Program to all continents and major islands, thus eliminating Plan of 31 August 1964. The plan called for a 100- the troublesome discontinuities in map, chart, and foot-diameter balloon satellite at approximately survey systems that did occur over the oceans and 2,300 statute miles (3700 km) altitude, near polar most national frontiers. orbit. It took more than another year to work out A program was presented to Adm. H. Arnold the cooperative agreement that made this passive Karo, the Director of C~GS,and in turn he said it geometric satellite program a reality. Final opera- would be necessary to present it to Dr. Holoman, tional arrangements between NASA,DOD, and DOC Assistant Secretary of Commerce. were agreed to on 12 March 1965. This agreement However, before it was presented to Dr. Hol- made the Worldwide Geometric Satellite Triangu- oman, it was presented to several other government lation Program an actuality and a part of the Na- organizations hoping they would join with us and tional Geodetic Satellite Program (NGSP). give support to such a world-wide program. This The program represents the cooperative efforts of was to no avail as all turned us down. NASA,which designed and put the satellite into orbit It was difficult for the C&GS to have this program and furnished the elements of the satellite's orbit accepted and treated as a scientific program: one and had overall management of the NGSP;the De- which would use identical instrumentation; one in partment of Defense, U.S. Army Topographic Com- which rigorous but attainable quality control stan- mand, which had the responsibility for the opera- dards would apply to all data acquisition, measure- tional and logistical management of the program; ment, and reduction operations. and the Department of Commerce, NOAA,NOS We then presented the program to Drs. J. W. (Coast and Geodetic Survey), which was responsible Holloman and W. W. Eaton, Assistant Secretary of for the technical direction of the field observations, Commerce and Deputy Assistant Secretary of Com- including maintenance of all the camera systems and merce, respectively, and the Commerce Science laser geodimeters and the furnishing of correct time Committee. The acceptance of this program was at- and predictions. NOS also was responsible for plate tained only because of the great support of these selection and plate measuring, processing, and geo- two men. They met with their compatriots of the detic computations3 and analysis. Defense Department and NASA to try and work out The balloon-type satellite PAGEOS 1, 100 feet in
FIG.3. BC-4 worldwide geometric satellite network. SATELLITE TRIANGULATION AND FIELD OPERATIONS diameter, was launched by NASA on 23 June 1965, acceptable observations; and four nations did not EST. These orbital characteristics were achieved: choose to have stations established on their terri- apogee, 2300.2 NM; perigee, 2271.8 NM; inclina- tories. Two nations would not allow radio commu- tion, 86.97 degrees; and anomalistic period, 181.39 nication that are a part of the world network. minutes. The field observations of the network were com- 27 June 1966 was the date observations began; pleted at the end of September, 1971, and the net- the network that was originally presented had had work is now composed of 45 stations (Figure 4). 20 stations dropped and 24 new stations added. It In the spring of 1967, Cdr. Taylor was transferred was now a 40-station network. Three stations were just 6 or 8 months after observations began on the established on the Australian continent, for better world network. During this period he had little time orientation and scale. Scale lines could be measured to do reconnaissance for more than the few stations between these stations on the continent both east that would be observed from immediately. How- and west and north and south. A north and south ever, he had built an important support facility, scale line could be measured in western Europe. "The Beltsville Calibration Site" located at the edge Most of the stations were now located near airfields of the Agricultural Research Center's airstrip in that could handle airplanes of C124 and C130 type Beltsville, Maryland. Here all field personnel re- loaded. There were of course exceptions, such as ceived specialized training in all phases of field op- Revilla Gigedo Island (Mexico), Heard Island (Aus- erations under actual field conditions. Also located tralia), South Georgia Island (U. K, and Argentina), at this site were the following sections: electronic Pitcairn Island, Tristan de Cunha (U. K.), and three maintenance, instrumentation maintenance, of the Antarctic stations. timing, supply, and accounting. The Washington During the over-four-year period of field opera- Science Center (C~XGS)in Rockville, Maryland was tions other station changes had to be made. These the other important support facility for field opera- were brought about because of weather, or to tions. Here all major logistic problems concerning shorten east-west distance between stations, or to station moves and actual operational procedures strengthen the net where there were deficiencies of were handled. The "look angle" predictions trans- PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING, 1984 mitted by teletype to the field units were compiled Wikstrom and Professor Lars Asplund, Geograph- from basic orbital data furnished by Goddard Space ical Survey Office, Stockholm, Sweden; Dr. Einer Flight Center in Greenbelt, Maryland. All other A. Anderson, Director, Geodetic Institute, Copen- communications to and from the field units also hagen, Denmark; Professor M. Kneisal, Director, were handled in this office. Quality control of all Geodatishe Commission, Munich, Federal Re- field records was another critical phase of the overall public of Germany; Professor Alois Barvir and Dr. program. Karl Rinner, Technical Universities, Vienna and Cdr. Herbert R. Lippold relieved Cdr. Taylor, Graz, respectively, Austria and Professor A. Ma- and to his credit he did an excellent iob. He was russi, Official Contact, government of Italy, Uni- assisted by Messrs. Clarence ~ille~assand his as- versity ofTrieste, Italy; Prof. Paolo Dore, University sistant Loren Van Gorder, who were in charge of of Bologna, President of Italian Geodetic Commis- instrument repairs and maintenance; Peter Mc- sion; and Gen. di. Brig. Manferti, Director General, Doran and Lt. Fidel T. Smith, in the use of satellites Istituto Geografico Militare and Col. Prof. Ing. Gui- for timing; and Mr. Don D'Onafrio, who assisted seppe Birardi, Istituto Geografica Militare, Flor- with personnel, supplies, and logistics for all field ence, Italy. It was agreed by this sub-commission parties and was called upon for special assignments that they needed such a line for the readjustment such as the loading and offloading of trailers, gen- of the European network. We were to loan them erators, living equipment, and supplies on the un- four or more instruments and see that each nation's inhabited island of Revilla Gigedo, Mexico, and surveying team would be properly trained in the Tristan de Cunha, U.K., where beach landings of use of the laser Geodimeter using the same proce- equipment were extremely difficult. On each of dures. Also, in order that all computation would be these islands a bulldozer was required to clear the made the same, Professor M. Kneisal would do the beach of rocks for an area of movement along the total computations for the European Baseline. shore to get equipment barged in and offloaded. Australia voluntarily measured two baselines, one Then it was necessary to bulldoze a road to higher east and west, Culgoora to Perth, and one north and ground above the alongshore bluffs on each island. south, Culgoora to Thursday Island, and also com- Cdr. Austin Yeager relieved Cdr. Leppold to com- puted these lines. The work was done by the De- plete all field operations on the world network, in- partment of National Development under the di- cluding the four stations in the Antarctic and island rection of Dr. Bruce Lambert, Director of National stations required to bring these stations into a closed Mapping, Australia. world network. These Antarctic stations were prob- The U.S. Army Topographic Command (TO- ably the most difficult physical field operation as POCOM) was responsible for the survey of the Af- access to these parties was not ~ossiblefor months. rican baseline. The work was accomplished through Total supplies for the entire observing period were the efforts of Messrs. John McCall and William a necessity, Jamesway shelters were supplied for the Doxie. The lines extended from Dakar, Senegal, safety of personnel trailers and operational equip- through Mali, Upper Volta, Niger, Nigeria, and Fort ment. Lancy, Chad. One section of this baseline was ac- The completion of field operations was disheart- complished through contractual arrangements with ening and difficult for Cdr. Yeager, as many of these France's Institut Geographique National; and the dedicated employees had to be separated as such a section within Nigeria by the Federal Surveying small organization as the NOS could not absorb Department of Nigeria with technical assistance them. All of these men deserved continued em- from TOPOCOM. This was computed by the Dept. of ployment. Army Commanding Officer U.S. Army Engineers (TOPOCOM). The Baselines used for the world net in the By invitation, Mr. C. I. Gilchrist, Defense Intel- United States were measured by the National Geo- ligence Agency, and L. W. Swanson, C~~GS,met detic Survey from Beltsville, Maryland to Moses with geodesists from the nations of the Western Eu- Lake, Washington and to Wrightwood, California. ropean Sub-Commission at a special meeting called These lines were computed by Messrs. B. K. during the second meeting of the International Meade and John G. Gergen, respectively. Mr. Commission for Artificial Satellites to discuss the Meade also computed the European Baseline. baseline that was needed in Europe for sealing the world network. DATAREDUCTION The European Baseline extended from Tromso, The BC-4 data processing work was accomplished Norway, via Sweden and Denmark, to Hohenpeis- by the NOS Division of Photogrammetry, Photo- senberg, Federal Republic of Germany, thence to grammetric Branch Chief Charles Theurer, under Austria and to Catania, Sicily, Italy. the direction of Raymond Puhl, Chief of the Astro- The following were responsible for their coun- metric Section. tries' cooperation for making the required surveys: This massive data reduction program required the Dr. Ole Trovag, Director, Norges Geografiske efforts of 38 people throughout a 7-year period, Oppmaling, Oslo, Norway; Director General H. 1966-1972. The world net required the preparation, SATELLITE TRIANGULATION AND FIELD OPERATIONS measuring, and data reduction of approximately metric section of the Photogrammetry Division. He 3800 satellite and star plates. Hereafter the plates was ably assisted by Robert Hanson3, Chester will be referred to as star plates. Slama, Irwin Schmidt4, Anna-May Bash (Millier), Preparation of the star plates required both and Heinz Poetesque. They wrote most of the pro- manual and computer processing. A preliminary grams and assisted in all phases of the preliminary plate orientation was required to identify the star as well as the last sophisticated programs that were images to be measured and, secondly, the prelimi- developed to get the above final accuracies. nary orientation provided the initial parameters for the main single camera orientation. Star plates were prepared for measuring; this required using star International cooperation was necessary in order charts generated to plate scale from a star catalog to accomplish such a world network. Practically all program. This portion of the reduction effort, along nations readily agreed to allowing baselines to be with the measuring of the plates on Mann compar- measured and to establish satellite stations in their ators, was under the supervision of Lew Williams countries or their possessions and in addition the and, later, Robert Kornspan. following nations gave great additional assistance to The star plate data reduction system was made of the program at their expense by furnishing well about seven main computer programs, and approx- qualified personnel to operate the camera systems, imately 100 to 150 plates were processed at these tie to national datums, and to make such other sur- stages at any given time. In the early 1960's the veys as were required. batch mode data were used in data processing on The Federal Republic of Germany, besides mea- generating "two" hardward. To process the daily suring their section of the European Baseline, workload required the assembly of more than bought two camera systems complete and furnished 400,000 punch cards for the computer runs. In the one camera and team for the entire observing period mid 1960's the processing group actually assembled and a 2nd camera and team for the last phase of the computer runs on punch cards. Over the life cycle observing program. of the project, a data base was established which The United Kingdom furnished personnel for op- utilized disk storage as the medium. This phase was eration of one camera system for the entire ob- under the supervision of Robert Wagner and, later, serving program and a second team for the last year Michael Day. They directed the five sub-phases of and even assisted in observing on the Densification the reduction program: plate measurement, star net to Europe for another year. Lieutenant Colonal identification, single camera orientation, satellite A. J. Ayers was in charge from 1966 to 1969 and was reduction, and satellite triangulation. These sub- assisted by Major DMR Batterham, R.E., 1966 to phases were processed under the direction of John 1967; by Major C. G. Notl-Bower, 1967 to 1968; Gerlach, James Lisle, Ivy Rabarn, Dave Alger, and Major J. J. Codd, R.E., 1968 to 1969; and Warrant Bill Golden. Officer L. Terry, R.E., 1966 to 1969. Lieutenant The successful completion of the program was Colonel H. G. W. Crawford, R.E. was in charge truly due to the efforts of many people. Without the from 1969 to 1972 and was assisted by Major J. A. dedicated efforts of these people, the project could Underwood, R. E., 1969 to 1970; Major D. J. Baker, not have been completed in the allocated time- R.E., 1970 to 1971; Capt. M. St. G. Irwin, R.E., frame. The Satellite Triangulation Program data re- 1971 to 1972; and Capt. P. A. Crighton, R.E., 1969 duction itself used 266 man years to produce the 45- to 1972. station network. "The experience gained from the Australia, besides voluntarily measuring two large amount of work involved in preliminary re- baselines (that met our accuracy requirements), fur- duction enabled the development of a new gener- nished assistance at three camera stations and hr- ation of computer programs with a level of sophis- nished transportation for our two parties and their tication consistent with an ultimate potential ac- equipment to stations Mawson and Wilkes, Ant- curace of 1part in 2,000,000; for all stations in the arctica. world, net for which no deficiency in observational Canada, under the direction of S. G. Gamble, data exists. That is, the positional RMS is somewhat furnished personnel and transportation, which better than r 6 metres, or specifically, 5 5.0 metres proved very helpful in carrying out the dessification for the horizontal components and at least k8.5 program. metres in height.* South Africa furnished an observing team by ex- Dr. Helmut Schmid was in charge of the com- isting NASA contract. putations after receiving the data from the Astro- A qualified C&GS chief of our Observing Unit was attached to each team except DIA, TOPOCOM to make certain the operation and maintenance of all camera * Taken from the U.S. National Report 1967-1971, 50th General Assembly International Union of Geodesy & Geo- systems were in accordance with the Satellite Trian- physics, Moscow, USSR, 2-14 August 1971, page 47. Also gulation Manual and to assist when necessary for see the computation and analysis of this satellite program parts, replacement of equipment, emergency trans- in detail in Vol. 11, NASA 365, National Geodetic Satellite portation, or such action as may become necessary. Program, Chap. 7, pages 527-643, by Dr. H. H. Schmid. When the World Geometric Satellite Triangula- PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING, 1984
TABLE7.11.-Tl~rer-Di~rre,~sio,ral Cartesia,~ Coord~
Y r, 1. qri Stallun nalne (1111 5 ("1) (ml f lm)
I'l~ule 546 567.dHZ 2.197 -I 389 990.609 :3. LA7 Beltsvtlle I 130 761 500 0 -4 830X21.597 0 \luses Lake -2 12i:i:til3 .i90 -3 -$82 - Xfil.054 2.976 Shemya -3 151 781.*61 4.888 +396 404.016 5.654 Tromso 2 LO2 9'25.118 :3.1;63 +72l 667.562 4.172 Arore* 4 43:3 6316.1170 4 737 -2 268 143.167 4.:382 Surinam :3 RP0 L'27.#2Y 4.563 -5 34L'31.698 4.50.2 Qutto 1280 K15.597 4.33H -6 250 955.436 5.XOO \laui -5 466 020.;:I2 5 045 -2 404 4335.198 4.352 W'ske -5 858 54:3.:!98 5.308 +I 394 4N9.166 5.281 Keno! n -3 ,565 hti.i.5tlg 5.200 +4 120 692A66 6.691 .\laahl>a