utm转xy

最新推荐文章于 2023-09-18 18:38:46 发布

原创最新推荐文章于 2023-09-18 18:38:46 发布 · 715 阅读

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这篇博客详细介绍了如何将车体坐标系中的物体坐标转换为UTM坐标，涉及到了坐标平移和旋转的计算过程。通过计算delta_east和delta_north，再利用三角函数将坐标转换到车体坐标系中，从而得到物体在车体坐标系的精确位置。

//车体

static double map_utm_east =;
static double map_utm_north = ;
static double map_utm_yaw = ;

//某个物体的坐标系

double utm_east = ;
double utm_north = ;
double utm_yaw = ;

double cartesian_origin_utm_yaw = map_utm_yaw;//化笛卡尔坐标原点在utm中的方向
double cartesian_utm_yaw = utm_yaw;//笛卡尔坐标系中某点在utm中的方向cartesian_origin_utm_yaw = - cartesian_origin_utm_yaw;
cartesian_utm_yaw = - cartesian_utm_yaw;
double delta_east = -utm_east + map_utm_east;//east取反
double delta_north = utm_north - map_utm_north;

//物体在车体坐标系中的坐标
double x = delta_north*cos(map_utm_yaw/180*M_PI) - delta_east*sin(map_utm_yaw/180*M_PI);
double y = delta_north*sin(map_utm_yaw/180*M_PI) + delta_east*cos(map_utm_yaw/180*M_PI);