在默认情况下 坐标变换的基础式子为
[ c o s ( β ) s i n ( β ) − s i n ( β ) c o s ( β ) ] (右手坐标系变换速记) \left[ \begin{matrix} cos(\beta) & sin(\beta) \\ -sin(\beta) & cos(\beta) \end{matrix} \right] \tag{右手坐标系变换速记} [cos(β)−sin(β)sin(β)cos(β)](右手坐标系变换速记)
地理坐标==>甲板坐标
舰船地理坐标系到甲板坐标系的变换需按航向变换、纵摇变换及横摇变换的顺序进行。
舰船及地理系的坐标
航向变换 O-XYZ 坐标系绕O-Z 轴旋转Ｈ;(在右手系下方位是顺时针变换，和右手系方位相反)
RZ
(
theta
_
)
:=Module
[
{
}
,
(
cos
(
theta
)
−
sin
(
theta
)
0
sin
(
theta
)
cos
(
theta
)
0
0
0
1
)
]
;
\text{RZ}(\text{theta$\_$})\text{:=}\text{Module}\left[\{\},\left( \begin{array}{ccc} \cos (\text{theta}) & -\sin (\text{theta}) & 0 \\ \sin (\text{theta}) & \cos (\text{theta}) & 0 \\ 0 & 0 & 1 \\ \end{array} \right)\right];
RZ(theta_):=Module
{},
cos(theta)sin(theta)0−sin(theta)cos(theta)0001
;
纵摇变换O-XYZ 坐标系绕 O-X 轴旋转Ｐ;(在右手系下，纵摇是逆时针变换，和右手系方位相同)
RX ( theta _ ) :=Module [ { } , ( 1 0 0 0 cos ( theta ) sin ( theta ) 0 − sin ( theta ) cos ( theta ) ) ] ; \text{RX}(\text{theta$\_$})\text{:=}\text{Module}\left[\{\},\left( \begin{array}{ccc} 1 & 0 & 0 \\ 0 & \cos (\text{theta}) & \sin (\text{theta}) \\ 0 & -\sin (\text{theta}) & \cos (\text{theta}) \\ \end{array} \right)\right]; RX(theta_):=Module {}, 1000cos(theta)−sin(theta)0sin(theta)cos(theta) ;
横摇变换Ｏ-XYZ 坐标系绕 O-Y 轴旋转Ｒ;(在右手系下，面向观察者，横摇是顺时变换，和右手系方位相反)
RY
(
theta
_
)
:=Module
[
{
}
,
(
cos
(
theta
)
0
−
sin
(
theta
)
0
1
0
sin
(
theta
)
0
cos
(
theta
)
)
]
;
\text{RY}(\text{theta$\_$})\text{:=}\text{Module}\left[\{\},\left( \begin{array}{ccc} \cos (\text{theta}) & 0 & -\sin (\text{theta}) \\ 0 & 1 & 0 \\ \sin (\text{theta}) & 0 & \cos (\text{theta}) \\ \end{array} \right)\right];
RY(theta_):=Module
{},
cos(theta)0sin(theta)010−sin(theta)0cos(theta)
;
旋转顺序为Z-X-Y
K
=
RY
(
R
)
.
RX
(
P
)
.
RZ
(
H
)
K=\text{RY}(R).\text{RX}(P).\text{RZ}(H)
K=RY(R).RX(P).RZ(H)
(
cos
(
H
)
cos
(
R
)
+
sin
(
H
)
sin
(
P
)
sin
(
R
)
cos
(
H
)
sin
(
P
)
sin
(
R
)
−
cos
(
R
)
sin
(
H
)
−
cos
(
P
)
sin
(
R
)
cos
(
P
)
sin
(
H
)
cos
(
H
)
cos
(
P
)
sin
(
P
)
cos
(
H
)
sin
(
R
)
−
cos
(
R
)
sin
(
H
)
sin
(
P
)
−
cos
(
H
)
cos
(
R
)
sin
(
P
)
−
sin
(
H
)
sin
(
R
)
cos
(
P
)
cos
(
R
)
)
\left( \begin{array}{ccc} \cos (H) \cos (R)+\sin (H) \sin (P) \sin (R) & \cos (H) \sin (P) \sin (R)-\cos (R) \sin (H) & -\cos (P) \sin (R) \\ \cos (P) \sin (H) & \cos (H) \cos (P) & \sin (P) \\ \cos (H) \sin (R)-\cos (R) \sin (H) \sin (P) & -\cos (H) \cos (R) \sin (P)-\sin (H) \sin (R) & \cos (P) \cos (R) \\ \end{array} \right)
cos(H)cos(R)+sin(H)sin(P)sin(R)cos(P)sin(H)cos(H)sin(R)−cos(R)sin(H)sin(P)cos(H)sin(P)sin(R)−cos(R)sin(H)cos(H)cos(P)−cos(H)cos(R)sin(P)−sin(H)sin(R)−cos(P)sin(R)sin(P)cos(P)cos(R)
甲板坐标==>阵面坐标系
雷达侦察系统阵面安装时，由于安装在甲板的不同位置，相对于舰艏艉线阵面有一定的方位安装偏角和俯仰安装倾角，假设阵面相对于舰艏艉线的方位安装偏角为ＨＨ，俯仰安装偏角为PP，由甲板坐标到阵面坐标的转换首先沿Ｚ轴旋转， 然后沿 Ｘ 轴旋转。
M
=
RX
(
PP
)
.
RZ
(
HH
)
M=\text{RX}(\text{PP}).\text{RZ}(\text{HH})
M=RX(PP).RZ(HH)
(
cos
(
HH
)
−
sin
(
HH
)
0
cos
(
PP
)
sin
(
HH
)
cos
(
HH
)
cos
(
PP
)
sin
(
PP
)
−
sin
(
HH
)
sin
(
PP
)
−
cos
(
HH
)
sin
(
PP
)
cos
(
PP
)
)
\left( \begin{array}{ccc} \cos (\text{HH}) & -\sin (\text{HH}) & 0 \\ \cos (\text{PP}) \sin (\text{HH}) & \cos (\text{HH}) \cos (\text{PP}) & \sin (\text{PP}) \\ -\sin (\text{HH}) \sin (\text{PP}) & -\cos (\text{HH}) \sin (\text{PP}) & \cos (\text{PP}) \\ \end{array} \right)
cos(HH)cos(PP)sin(HH)−sin(HH)sin(PP)−sin(HH)cos(HH)cos(PP)−cos(HH)sin(PP)0sin(PP)cos(PP)
信号的方位俯仰综合计算
在舰载雷达侦察系统的应用中，首先把阵面坐标系下测得的方位 A c A_c Ac、俯仰 E c E_c Ec转换为甲板坐标系下的方位和俯仰。
阵面坐标到甲板坐标变换为:
MN
=
RZ
(
−
HH
)
.
RX
(
−
PP
)
\text{MN}=\text{RZ}(-\text{HH}).\text{RX}(-\text{PP})
MN=RZ(−HH).RX(−PP)
(
cos
(
HH
)
cos
(
EE
)
sin
(
HH
)
−
sin
(
EE
)
sin
(
HH
)
−
sin
(
HH
)
cos
(
EE
)
cos
(
HH
)
−
cos
(
HH
)
sin
(
EE
)
0
sin
(
EE
)
cos
(
EE
)
)
\left( \begin{array}{ccc} \cos (\text{HH}) & \cos (\text{EE}) \sin (\text{HH}) & -\sin (\text{EE}) \sin (\text{HH}) \\ -\sin (\text{HH}) & \cos (\text{EE}) \cos (\text{HH}) & -\cos (\text{HH}) \sin (\text{EE}) \\ 0 & \sin (\text{EE}) & \cos (\text{EE}) \\ \end{array} \right)
cos(HH)−sin(HH)0cos(EE)sin(HH)cos(EE)cos(HH)sin(EE)−sin(EE)sin(HH)−cos(HH)sin(EE)cos(EE)
甲板坐标到地理坐标:
K
=
RZ
(
−
H
)
.
RX
(
−
P
)
.
RY
(
−
R
)
K=\text{RZ}(-H).\text{RX}(-P).\text{RY}(-R)
K=RZ(−H).RX(−P).RY(−R)
(
cos
(
H
)
cos
(
R
)
+
sin
(
H
)
sin
(
P
)
sin
(
R
)
cos
(
P
)
sin
(
H
)
cos
(
H
)
sin
(
R
)
−
cos
(
R
)
sin
(
H
)
sin
(
P
)
cos
(
H
)
sin
(
P
)
sin
(
R
)
−
cos
(
R
)
sin
(
H
)
cos
(
H
)
cos
(
P
)
−
cos
(
H
)
cos
(
R
)
sin
(
P
)
−
sin
(
H
)
sin
(
R
)
−
cos
(
P
)
sin
(
R
)
sin
(
P
)
cos
(
P
)
cos
(
R
)
)
\left( \begin{array}{ccc} \cos (H) \cos (R)+\sin (H) \sin (P) \sin (R) & \cos (P) \sin (H) & \cos (H) \sin (R)-\cos (R) \sin (H) \sin (P) \\ \cos (H) \sin (P) \sin (R)-\cos (R) \sin (H) & \cos (H) \cos (P) & -\cos (H) \cos (R) \sin (P)-\sin (H) \sin (R) \\ -\cos (P) \sin (R) & \sin (P) & \cos (P) \cos (R) \\ \end{array} \right)
cos(H)cos(R)+sin(H)sin(P)sin(R)cos(H)sin(P)sin(R)−cos(R)sin(H)−cos(P)sin(R)cos(P)sin(H)cos(H)cos(P)sin(P)cos(H)sin(R)−cos(R)sin(H)sin(P)−cos(H)cos(R)sin(P)−sin(H)sin(R)cos(P)cos(R)
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