1 问题描述
已知A、B两点的经度( λ \lambda λ)、纬度( ϕ \phi ϕ)和高度( h h h)分别为 ( λ 1 , ϕ 1 , h 1 ) (\lambda_1,\phi_1,h_1) (λ1,ϕ1,h1)和 ( λ 2 , ϕ 2 , h 2 ) (\lambda_2,\phi_2,h_2) (λ2,ϕ2,h2),以A点为东北天坐标系的原点,求B点在该坐标系下的坐标值。
2 解决方案
2.1 经纬高转ECEF
已知某点的经纬高坐标
(
λ
,
ϕ
,
h
)
(\lambda, \phi, h)
(λ,ϕ,h),通过公式(1)-(3)转换成ECEF坐标
(
X
,
Y
,
Z
)
(X,Y,Z)
(X,Y,Z):
X
=
(
N
+
h
)
c
o
s
ϕ
c
o
s
λ
(1)
X = (N + h) cos \phi cos \lambda \tag{1}
X=(N+h)cosϕcosλ(1)
Y
=
(
N
+
h
)
c
o
s
ϕ
s
i
n
λ
(2)
Y = (N + h) cos \phi sin\lambda \tag{2}
Y=(N+h)cosϕsinλ(2)
Z
=
[
N
(
1
−
e
2
)
+
h
]
s
i
n
ϕ
(3)
Z = [N(1-e^2) + h]sin\phi \tag{3}
Z=[N(1−e2)+h]sinϕ(3)
其中
e
e
e为椭圆偏心率,
N
N
N是基准椭球体的卯酉曲率半径,这两个值可通过公式(4)-(5)来计算,
e
2
=
a
2
−
b
2
a
2
(4)
e^2 = \frac{a^2 - b^2}{a^2} \tag{4}
e2=a2a2−b2(4)
N
=
a
1
−
e
2
s
i
n
2
ϕ
(5)
N = \frac{a}{\sqrt{1-e^2sin^2 \phi}} \tag{5}
N=1−e2sin2ϕa(5)
其中
a
a
a为基准椭球体的长半径,
b
b
b为基准椭球体的短半径。
2.2 ECEF转东北天
已知 A A A点的ECEF坐标为 ( X 1 , Y 1 , Z 1 ) (X_1,Y_1,Z_1) (X1,Y1,Z1),A点的经度为 λ 1 \lambda_1 λ1,A点的纬度为 ϕ 1 \phi_1 ϕ1;B点的 E C E F ECEF ECEF坐标为 ( X 2 , Y 2 , Z 2 ) (X_2,Y_2,Z_2) (X2,Y2,Z2);以A点为东北天坐标系的原点,求B点在该坐标系下的坐标。
通过公式(6)-(8)求得A点
(
e
1
,
n
1
,
u
1
)
(e_1,n_1,u_1)
(e1,n1,u1)和B点
(
e
2
,
n
2
,
u
2
)
(e_2,n_2,u_2)
(e2,n2,u2)的坐标差值,
e
2
−
e
1
=
−
s
i
n
λ
1
⋅
(
X
2
−
X
1
)
+
c
o
s
λ
1
⋅
(
Y
2
−
Y
1
)
(6)
e_2-e_1=-sin\lambda_1 \cdot (X_2-X_1) + cos\lambda_1 \cdot (Y_2-Y_1) \tag{6}
e2−e1=−sinλ1⋅(X2−X1)+cosλ1⋅(Y2−Y1)(6)
n
2
−
n
1
=
−
s
i
n
ϕ
1
⋅
c
o
s
λ
1
⋅
(
X
2
−
X
1
)
−
s
i
n
ϕ
1
⋅
s
i
n
λ
1
⋅
(
Y
2
−
Y
1
)
+
c
o
s
ϕ
1
⋅
(
Z
2
−
Z
1
)
(7)
n_2-n_1 = -sin\phi_1 \cdot cos\lambda_1 \cdot (X_2-X_1) - sin\phi_1 \cdot sin\lambda_1 \cdot (Y_2-Y_1) + cos\phi_1 \cdot (Z_2-Z_1) \tag{7}
n2−n1=−sinϕ1⋅cosλ1⋅(X2−X1)−sinϕ1⋅sinλ1⋅(Y2−Y1)+cosϕ1⋅(Z2−Z1)(7)
u
2
−
u
1
=
c
o
s
ϕ
1
⋅
c
o
s
λ
1
⋅
(
X
2
−
X
1
)
+
c
o
s
ϕ
1
⋅
s
i
n
λ
1
⋅
(
Y
2
−
Y
1
)
+
s
i
n
ϕ
1
⋅
(
Z
2
−
Z
1
)
(8)
u_2-u_1 = cos\phi_1 \cdot cos\lambda_1 \cdot (X_2 - X_1) + cos\phi_1 \cdot sin\lambda_1 \cdot (Y_2-Y_1) + sin\phi_1 \cdot (Z_2 - Z_1) \tag{8}
u2−u1=cosϕ1⋅cosλ1⋅(X2−X1)+cosϕ1⋅sinλ1⋅(Y2−Y1)+sinϕ1⋅(Z2−Z1)(8)
已知A点为原点,即
e
1
=
0
e_1 = 0
e1=0、
n
1
=
0
n_1=0
n1=0和
u
1
=
0
u_1=0
u1=0,则可求得
e
2
e_2
e2、
n
2
n_2
n2和
u
2
u_2
u2的值。
python3代码如下,
from pyproj import Proj, transform
import numpy as np
# 定义 WGS84 的地理坐标系
wgs84 = Proj(proj='latlong', datum='WGS84')
# 定义一个转换为东北天坐标系的函数
def geodetic_to_enu(lat, lon, h, lat0, lon0, h0):
# 使用pyproj库中的函数将经纬度转换为ECEF坐标
ecef_proj = Proj(proj='geocent', datum='WGS84')
# 原点(A点)的ECEF坐标
x0, y0, z0 = transform(wgs84, ecef_proj, lon0, lat0, h0)
# 点的ECEF坐标
x, y, z = transform(wgs84, ecef_proj, lon, lat, h)
# 将ECEF坐标转换为ENU坐标
enu_x = -(np.sin(np.radians(lon0)) * (x - x0) + np.cos(np.radians(lon0)) * (y - y0))
enu_y = -(
np.sin(np.radians(lat0)) * np.cos(np.radians(lon0)) * (x - x0)
+ np.sin(np.radians(lat0)) * np.sin(np.radians(lon0)) * (y - y0)
- np.cos(np.radians(lat0)) * (z - z0)
)
enu_z = (
np.cos(np.radians(lat0)) * np.cos(np.radians(lon0)) * (x - x0)
+ np.cos(np.radians(lat0)) * np.sin(np.radians(lon0)) * (y - y0)
+ np.sin(np.radians(lat0)) * (z - z0)
)
return enu_x, enu_y, enu_z
# 示例用法
origin = (37.7749, -122.4194, 0) # A点的经纬度和海拔
points = [
(34.0522, -118.2437, 0), # B点的经纬度和海拔
(36.1699, -115.1398, 0), # C点的经纬度和海拔
(40.7128, -74.0060, 0), # D点的经纬度和海拔
(51.5074, -0.1278, 0) # E点的经纬度和海拔
]
enu_points = [geodetic_to_enu(lat, lon, alt, *origin) for lat, lon, alt in points]
for i, enu in enumerate(enu_points):
print(f"Point {chr(66 + i)} (B, C, D, E) in ENU coordinates: {enu}")
2.3 代入求解
2.3.1 东向化简
代入
X
2
−
X
1
X_2-X_1
X2−X1的值和
Y
2
−
Y
1
Y_2-Y_1
Y2−Y1的值,公式(6)可写成,
e
2
−
e
1
=
−
s
i
n
λ
1
⋅
[
(
N
+
h
2
)
c
o
s
ϕ
2
c
o
s
λ
2
−
(
N
+
h
1
)
c
o
s
ϕ
1
c
o
s
λ
1
]
+
c
o
s
λ
1
⋅
[
(
N
+
h
2
)
c
o
s
ϕ
2
s
i
n
λ
2
−
(
N
+
h
1
)
c
o
s
ϕ
1
s
i
n
λ
1
]
=
(
N
+
h
2
)
c
o
s
ϕ
2
(
s
i
n
λ
2
s
i
n
λ
1
−
c
o
s
λ
2
s
i
n
λ
1
)
=
(
N
+
h
2
)
c
o
s
ϕ
2
s
i
n
(
λ
2
−
λ
1
)
(9)
\begin{aligned} e_2-e_1&=-sin\lambda_1 \cdot [(N+h_2)cos\phi_2 cos\lambda_2 - (N+h_1)cos\phi_1cos\lambda_1]+cos\lambda_1 \cdot [(N+h_2)cos\phi_2 sin \lambda_2 - (N+h_1)cos\phi_1 sin\lambda_1] \\ &= (N+h_2)cos \phi_2 (sin\lambda_2sin\lambda_1-cos\lambda_2sin\lambda_1)\\ &= (N+h_2)cos\phi_2 sin(\lambda_2-\lambda_1) \end{aligned} \tag{9}
e2−e1=−sinλ1⋅[(N+h2)cosϕ2cosλ2−(N+h1)cosϕ1cosλ1]+cosλ1⋅[(N+h2)cosϕ2sinλ2−(N+h1)cosϕ1sinλ1]=(N+h2)cosϕ2(sinλ2sinλ1−cosλ2sinλ1)=(N+h2)cosϕ2sin(λ2−λ1)(9)
由于点A和点B相隔较近,故经度差
λ
2
−
λ
1
\lambda_2-\lambda_1
λ2−λ1是一个极小量,有
s
i
n
(
λ
2
−
λ
1
)
≈
(
λ
2
−
λ
1
)
sin(\lambda_2-\lambda_1) \approx (\lambda_2 - \lambda_1)
sin(λ2−λ1)≈(λ2−λ1)。那么
e
2
−
e
1
e_2-e_1
e2−e1可写成,
e
2
−
e
1
=
(
N
+
h
2
)
c
o
s
ϕ
2
⋅
(
λ
2
−
λ
1
)
(10)
e_2-e_1 = (N+h_2)cos\phi_2 \cdot (\lambda_2- \lambda_1) \tag{10}
e2−e1=(N+h2)cosϕ2⋅(λ2−λ1)(10)
2.3.2 北向化简
代入
X
2
−
X
1
X_2-X_1
X2−X1、
Y
2
−
Y
1
Y_2-Y_1
Y2−Y1和
Z
2
−
Z
1
Z_2-Z_1
Z2−Z1的值,公式(7)可写成,
n
2
−
n
1
=
−
(
N
+
h
2
)
c
o
s
ϕ
2
s
i
n
ϕ
1
(
c
o
s
λ
2
c
o
s
λ
1
+
s
i
n
λ
2
s
i
n
λ
1
)
+
(
N
+
h
1
)
s
i
n
ϕ
1
c
o
s
ϕ
1
(
c
o
s
2
λ
1
+
s
i
n
2
λ
1
)
+
c
o
s
ϕ
1
[
[
N
(
1
−
e
2
)
+
h
2
]
s
i
n
ϕ
2
−
[
N
(
1
−
e
2
)
+
h
1
]
s
i
n
ϕ
1
]
(11)
\begin{aligned} n_2-n_1 = &-(N+h_2)cos\phi_2sin\phi_1(cos\lambda_2cos\lambda_1+sin\lambda_2sin\lambda_1)\\ &+ (N+h_1)sin\phi_1cos\phi_1(cos^2\lambda_1+sin^2\lambda_1) \\ & + cos\phi_1\Big[[N(1-e^2)+h_2]sin\phi_2-[N(1-e^2)+h_1]sin\phi_1\Big] \end{aligned} \tag{11}
n2−n1=−(N+h2)cosϕ2sinϕ1(cosλ2cosλ1+sinλ2sinλ1)+(N+h1)sinϕ1cosϕ1(cos2λ1+sin2λ1)+cosϕ1[[N(1−e2)+h2]sinϕ2−[N(1−e2)+h1]sinϕ1](11)
将地球近似处理成标准球体,即
e
=
0
e=0
e=0,
c
o
s
ϕ
1
[
[
N
(
1
−
e
2
)
+
h
2
]
s
i
n
ϕ
2
−
[
N
(
1
−
e
2
)
+
h
1
]
s
i
n
ϕ
1
]
(12)
cos\phi_1\Big[[N(1-e^2)+h_2]sin\phi_2-[N(1-e^2)+h_1]sin\phi_1\Big] \tag{12}
cosϕ1[[N(1−e2)+h2]sinϕ2−[N(1−e2)+h1]sinϕ1](12)
可以化简为,
(
N
+
h
2
)
s
i
n
ϕ
2
c
o
s
ϕ
1
−
(
N
+
h
1
)
s
i
n
ϕ
1
c
o
s
ϕ
1
(13)
(N+h_2)sin\phi_2cos\phi_1-(N+h_1)sin\phi_1cos\phi_1 \tag{13}
(N+h2)sinϕ2cosϕ1−(N+h1)sinϕ1cosϕ1(13)
将式子(13)代入到公式(11)中,有,
n
2
−
n
1
=
−
(
N
+
h
2
)
c
o
s
ϕ
2
s
i
n
ϕ
1
c
o
s
(
λ
2
−
λ
1
)
+
(
N
+
h
1
)
s
i
n
ϕ
1
c
o
s
ϕ
1
+
(
N
+
h
2
)
s
i
n
ϕ
2
c
o
s
ϕ
1
−
(
N
+
h
1
)
s
i
n
ϕ
1
c
o
s
ϕ
1
(14)
\begin{aligned} n_2-n_1=&-(N+h_2)cos\phi_2sin\phi_1cos(\lambda_2-\lambda_1)\\ &+(N+h_1)sin\phi_1cos\phi_1\\ &+(N+h_2)sin\phi_2cos\phi_1-(N+h_1)sin\phi_1cos\phi_1 \end{aligned} \tag{14}
n2−n1=−(N+h2)cosϕ2sinϕ1cos(λ2−λ1)+(N+h1)sinϕ1cosϕ1+(N+h2)sinϕ2cosϕ1−(N+h1)sinϕ1cosϕ1(14)
进一步化简,可得,
n
2
−
n
1
=
−
(
N
+
h
2
)
c
o
s
ϕ
2
s
i
n
ϕ
1
c
o
s
(
λ
2
−
λ
1
)
+
(
N
+
h
2
)
s
i
n
ϕ
2
c
o
s
ϕ
1
(15)
\begin{aligned} n_2-n_1=&-(N+h_2)cos\phi_2sin\phi_1cos(\lambda_2-\lambda_1)\\ &+(N+h_2)sin\phi_2cos\phi_1 \end{aligned}\tag{15}
n2−n1=−(N+h2)cosϕ2sinϕ1cos(λ2−λ1)+(N+h2)sinϕ2cosϕ1(15)
由于A点和B点离得很近,经度差
λ
2
−
λ
1
\lambda_2-\lambda_1
λ2−λ1是极小量,故有
c
o
s
(
λ
2
−
λ
1
)
≈
1
cos(\lambda_2-\lambda_1)\approx1
cos(λ2−λ1)≈1。那么
n
2
−
n
1
n_2-n_1
n2−n1可以进一步化简为,
n
2
−
n
1
=
−
(
N
+
h
2
)
c
o
s
ϕ
2
s
i
n
ϕ
1
+
(
N
+
h
2
)
s
i
n
ϕ
2
c
o
s
ϕ
1
=
(
N
+
h
2
)
(
s
i
n
ϕ
2
c
o
s
ϕ
1
−
c
o
s
ϕ
2
s
i
n
ϕ
1
)
=
(
N
+
h
2
)
s
i
n
(
ϕ
2
−
ϕ
1
)
(16)
\begin{aligned} n_2-n_1 &= -(N+h_2)cos\phi_2sin\phi_1+(N+h_2)sin\phi_2cos\phi_1\\ &=(N+h_2)(sin\phi_2cos\phi_1-cos\phi_2sin\phi_1)\\ &=(N+h_2)sin(\phi_2-\phi_1) \end{aligned} \tag{16}
n2−n1=−(N+h2)cosϕ2sinϕ1+(N+h2)sinϕ2cosϕ1=(N+h2)(sinϕ2cosϕ1−cosϕ2sinϕ1)=(N+h2)sin(ϕ2−ϕ1)(16)
由于A点和B点离得很近,纬度差
ϕ
2
−
ϕ
1
\phi_2-\phi_1
ϕ2−ϕ1是极小量,故有
s
i
n
(
ϕ
2
−
ϕ
1
)
≈
ϕ
2
−
ϕ
1
sin(\phi_2-\phi_1)\approx \phi_2-\phi_1
sin(ϕ2−ϕ1)≈ϕ2−ϕ1。那么
n
2
−
n
1
n_2-n_1
n2−n1可以进一步化简为,
n
2
−
n
1
=
(
N
+
h
2
)
(
ϕ
2
−
ϕ
1
)
(17)
n_2-n_1=(N+h_2)(\phi_2-\phi_1) \tag{17}
n2−n1=(N+h2)(ϕ2−ϕ1)(17)
2.3.3 天向化简
将
X
2
−
X
1
X_2-X_1
X2−X1、
Y
2
−
Y
1
Y_2-Y_1
Y2−Y1和
Z
2
−
Z
1
Z_2-Z_1
Z2−Z1代入公式(8),有,
u
2
−
u
1
=
(
N
+
h
2
)
c
o
s
ϕ
1
c
o
s
λ
1
c
o
s
ϕ
2
c
o
s
λ
2
−
(
N
+
h
1
)
c
o
s
2
ϕ
1
c
o
s
2
λ
1
+
(
N
+
h
2
)
c
o
s
ϕ
1
s
i
n
λ
1
c
o
s
ϕ
2
s
i
n
λ
2
−
(
N
+
h
1
)
c
o
s
2
ϕ
1
s
i
n
2
λ
1
+
s
i
n
ϕ
1
[
[
N
(
1
−
e
2
)
+
h
2
]
s
i
n
ϕ
2
−
[
N
(
1
−
e
2
)
+
h
1
]
s
i
n
ϕ
1
]
(18)
\begin{aligned} u_2-u_1 = &(N+h_2)cos\phi_1 cos\lambda_1 cos\phi_2 cos\lambda_2 - (N+h_1)cos^2\phi_1cos^2\lambda_1\\ +&(N+h_2)cos\phi_1sin\lambda_1cos\phi_2sin\lambda_2-(N+h_1)cos^2\phi_1sin^2\lambda_1\\ +&sin\phi_1\Big[ [N(1-e^2)+h_2]sin\phi_2 - [N(1-e^2)+h_1]sin\phi_1 \Big] \end{aligned} \tag{18}
u2−u1=++(N+h2)cosϕ1cosλ1cosϕ2cosλ2−(N+h1)cos2ϕ1cos2λ1(N+h2)cosϕ1sinλ1cosϕ2sinλ2−(N+h1)cos2ϕ1sin2λ1sinϕ1[[N(1−e2)+h2]sinϕ2−[N(1−e2)+h1]sinϕ1](18)
将地球近似成标准球体,有
e
=
0
e=0
e=0,则
s
i
n
ϕ
1
[
[
N
(
1
−
e
2
)
+
h
2
]
s
i
n
ϕ
2
−
[
N
(
1
−
e
2
)
+
h
1
]
s
i
n
ϕ
1
]
(19)
sin\phi_1\Big[ [N(1-e^2)+h_2]sin\phi_2 - [N(1-e^2)+h_1]sin\phi_1 \Big] \tag{19}
sinϕ1[[N(1−e2)+h2]sinϕ2−[N(1−e2)+h1]sinϕ1](19)
可化简为,
(
N
+
h
2
)
s
i
n
ϕ
2
s
i
n
ϕ
1
−
(
N
+
h
1
)
s
i
n
2
ϕ
1
(20)
(N+h_2)sin\phi_2sin\phi_1-(N+h_1)sin^2\phi_1 \tag{20}
(N+h2)sinϕ2sinϕ1−(N+h1)sin2ϕ1(20)
因此,
u
2
−
u
1
u_2-u_1
u2−u1可以进一步化简为,
u
2
−
u
1
=
(
N
+
h
2
)
[
c
o
s
ϕ
1
c
o
s
ϕ
2
(
c
o
s
λ
1
c
o
s
λ
2
+
s
i
n
λ
1
s
i
n
λ
2
)
+
s
i
n
ϕ
2
s
i
n
ϕ
1
]
−
(
N
+
h
1
)
[
c
o
s
2
ϕ
1
(
c
o
s
2
λ
1
+
s
i
n
2
λ
2
)
+
s
i
n
2
ϕ
1
]
(21)
\begin{aligned} u_2-u_1 = &(N+h_2)[cos\phi_1cos\phi_2(cos\lambda_1cos\lambda_2+sin\lambda_1sin\lambda_2)+sin\phi_2sin\phi_1]\\ -&(N+h_1)[cos^2\phi_1(cos^2\lambda_1+sin^2\lambda_2)+sin^2\phi_1] \end{aligned} \tag{21}
u2−u1=−(N+h2)[cosϕ1cosϕ2(cosλ1cosλ2+sinλ1sinλ2)+sinϕ2sinϕ1](N+h1)[cos2ϕ1(cos2λ1+sin2λ2)+sin2ϕ1](21)
继续化简,可得,
u
2
−
u
1
=
(
N
+
h
2
)
[
c
o
s
ϕ
1
c
o
s
ϕ
2
c
o
s
(
λ
2
−
λ
1
)
+
s
i
n
ϕ
2
s
i
n
ϕ
1
]
−
(
N
+
h
1
)
(22)
\begin{aligned} u_2-u_1 = &(N+h_2)[cos\phi_1cos\phi_2cos(\lambda_2-\lambda_1)+sin\phi_2sin\phi_1]\\ -&(N+h_1) \end{aligned} \tag{22}
u2−u1=−(N+h2)[cosϕ1cosϕ2cos(λ2−λ1)+sinϕ2sinϕ1](N+h1)(22)
由于A点和B点距离很近,因此经度差
λ
2
−
λ
1
\lambda_2-\lambda_1
λ2−λ1是一个极小量,有
c
o
s
(
λ
2
−
λ
1
)
≈
1
cos(\lambda_2-\lambda_1)\approx1
cos(λ2−λ1)≈1,故
u
2
−
u
1
u_2-u_1
u2−u1可以化简为,
u
2
−
u
1
=
(
N
+
h
2
)
(
c
o
s
ϕ
1
c
o
s
ϕ
2
+
s
i
n
ϕ
2
s
i
n
ϕ
1
)
−
(
N
+
h
1
)
=
(
N
+
h
2
)
c
o
s
(
ϕ
2
−
ϕ
1
)
−
(
N
+
h
1
)
(23)
\begin{aligned} u_2-u_1 = &(N+h_2)(cos\phi_1cos\phi_2+sin\phi_2sin\phi_1)-(N+h_1)\\ =&(N+h_2)cos(\phi_2-\phi_1)-(N+h_1) \end{aligned} \tag{23}
u2−u1==(N+h2)(cosϕ1cosϕ2+sinϕ2sinϕ1)−(N+h1)(N+h2)cos(ϕ2−ϕ1)−(N+h1)(23)
由于A点和B点距离很近,因此纬度差
ϕ
2
−
ϕ
1
\phi_2-\phi_1
ϕ2−ϕ1是一个极小量,有
c
o
s
(
ϕ
2
−
ϕ
1
)
≈
1
cos(\phi_2-\phi_1)\approx1
cos(ϕ2−ϕ1)≈1,故
u
2
−
u
1
u_2-u_1
u2−u1可以继续化简为,
u
2
−
u
1
=
(
N
+
h
2
)
−
(
N
+
h
1
)
=
h
2
−
h
1
(24)
u_2-u_1=(N+h_2)-(N+h_1)=h_2-h_1 \tag{24}
u2−u1=(N+h2)−(N+h1)=h2−h1(24)
2.4 总结
由2.3小节可知,在如下前提条件下,
- A点和B点的经度差 λ 2 − λ 1 \lambda_2-\lambda_1 λ2−λ1是一个极小值,则有 s i n ( λ 2 − λ 1 ) ≈ ( λ 2 − λ 1 ) sin(\lambda_2-\lambda_1)\approx(\lambda_2-\lambda_1) sin(λ2−λ1)≈(λ2−λ1)和 c o s ( λ 2 − λ 1 ) ≈ 1 cos(\lambda_2-\lambda_1)\approx1 cos(λ2−λ1)≈1。
- A点和B点的纬度差 ϕ 2 − ϕ 1 \phi_2-\phi_1 ϕ2−ϕ1是一个极小值,则有 s i n ( ϕ 2 − ϕ 1 ) ≈ ( ϕ 2 − ϕ 1 ) sin(\phi_2-\phi_1)\approx(\phi_2-\phi_1) sin(ϕ2−ϕ1)≈(ϕ2−ϕ1)和 c o s ( ϕ 2 − ϕ 1 ) ≈ 1 cos(\phi_2-\phi_1)\approx1 cos(ϕ2−ϕ1)≈1。
- 地球近似为标准球体,则有 e = 0 e=0 e=0。
可以得到如下解,
e
2
−
e
1
=
(
N
+
h
2
)
c
o
s
ϕ
2
⋅
(
λ
2
−
λ
1
)
n
2
−
n
1
=
(
N
+
h
2
)
(
ϕ
2
−
ϕ
1
)
u
2
−
u
1
=
h
2
−
h
1
(25)
\begin{aligned} e_2-e_1 &= (N+h_2)cos\phi_2 \cdot (\lambda_2- \lambda_1) \\ n_2-n_1&=(N+h_2)(\phi_2-\phi_1)\\ u_2-u_1&=h_2-h_1 \end{aligned} \tag{25}
e2−e1n2−n1u2−u1=(N+h2)cosϕ2⋅(λ2−λ1)=(N+h2)(ϕ2−ϕ1)=h2−h1(25)
更形象的理解,依据公式,
l
=
R
⋅
θ
(26)
l = R \cdot \theta \tag{26}
l=R⋅θ(26)
其中
R
R
R为圆的半径,
θ
\theta
θ为角度,
l
l
l为该角度对应的弧长。
将地球近似为标准球体,那么东向弧长 e 2 − e 1 e_2-e_1 e2−e1等于半径 ( N + h 2 ) c o s ϕ 2 (N+h_2)cos\phi_2 (N+h2)cosϕ2乘以经度差值 ( λ 2 − λ 1 ) (\lambda_2-\lambda_1) (λ2−λ1),北向弧长 n 2 − n 1 n_2-n_1 n2−n1等于半径 ( N + h 2 ) (N+h_2) (N+h2)乘以纬度差值 ( ϕ 2 − ϕ 1 ) (\phi_2-\phi_1) (ϕ2−ϕ1)。
天向差值 u 2 − u 1 u_2-u_1 u2−u1等于高度差 h 2 − h 1 h_2-h_1 h2−h1。