大地坐标系(Geocentric Geodetic Coordinate System)与笛卡尔积坐标系(Geocentric Space Rectangular Coordinate System)

大地坐标系(Geocentric Geodetic Coordinate System)与笛卡尔积坐标系(Geocentric Space Rectangular Coordinate System)关系推导

大地坐标系到空间直角坐标系的转换推导

参考自方庆林

假定空间直角坐标系的原点位于地球参考椭球的中心，Z轴与地球自转轴平行并指向参考椭球的北极，X轴指向参考椭球的本初子午线，Y轴与X轴和Z轴相互垂直最终构成一个右手系。大地坐标系是以大地基准为基础建立起来的，大地基准又以参考椭球为基础，由此大地坐标系又被称为椭球坐标系。如下图所示：

$根据图示，点M所在的经纬面截椭球体所得的椭圆为：$
$$\frac{u^2}{a^2}+\frac{z^2}{b^2}=1\text{\hspace{1em}(1)}$$
$其中a为椭球体长轴,b为椭球体短轴,椭球面焦点为(-c,0)和(c,0),椭球面第一偏心率e=\frac{\sqrt{a^2-b^2}}{a}。a,b,c满足椭圆焦点计算公式：$
$$a^2-b^2=c^2\text{\hspace{1em}(2)}$$
$且点M_0的椭球经纬度坐标为(L,B),$
$设\overrightarrow{M_{0}M}与地球椭球面位于点M_0处的重力铅垂线方向平行，点M位于铅垂线上，且距M_0的高度为H，即点M_0的法向量\vec{n}\parallel \overrightarrow{F{M}_0},点M_0=(u_0,z_0),F=(u_F,0),M=(u_M,z_M),$
$则过点M_0的切线方程为：$
$$\frac{u_{0}u}{a^2}+\frac{z_{0}z}{b^2}=1\text{\hspace{1em}(3)}$$
$$则存在\vec{n}=(\frac{u_0}{a^2},\frac{z_0}{b^2}),(\boxed{根据空间直线一般式方程AX+BY+CZ+D=0推得})$$
$又\because \vec{n}\parallel \overrightarrow{F{M}_0},$
$$\therefore \frac{u_0-u_F}{\frac{u_0}{a^2}}=\frac{z_0-0}{\frac{z_0}{b^2}}$$
$$\Rightarrow \frac{u_0(u_0-u_F)}{a^2}=b^2$$
$$\Rightarrow u_0-u_F=\frac{b^2}{a^2}{u}_0$$
$$\Rightarrow u_F=u_0(1-\frac{b^2}{a^2})\text{\hspace{1em}(4)}$$
$$\boxed{根据椭圆焦点计算公式(2)可得}$$
$$\Rightarrow u_F=u_0\frac{c^2}{a^2}\text{\hspace{1em}(5)}$$
$根据图示存在：$
$$\tan B=\frac{z_0-z_F}{u_0-u_F}=\frac{z_0}{u_0-\frac{c^2}{a^2}{u}_0}\text{\hspace{1em}(6)}$$
$联合(1)和(6)有:$
$$\{\begin{array}{l}\tan B=\frac{z_0}{u_0-\frac{c^2}{a^2}{u}_0}\\ \frac{u_0^2}{a^2}+\frac{z_0^2}{b^2}=1\end{array}\text{\hspace{1em}(7)}$$
$$\because \tan B=\frac{z_0}{u_0-\frac{c^2}{a^2}{u}_0}$$
$$\boxed{根据椭圆焦点计算公式(2)可得}$$
$$\therefore \tan B=\frac{z_0}{\frac{b^2}{a^2}{u}_0}$$
$$\Rightarrow z_0=\frac{b^2}{a^2}{u}_0\tan B\text{\hspace{1em}(8)}$$
$(8)式代入(7)方程组第二个方程得:$
$$\frac{u_0^2}{a^2}+\frac{(\frac{b^2}{a^2}{)}^2{u_0}^2{\tan }^{2}B}{b^2}=1$$
$$\Rightarrow u_0^2(\frac{1}{a^2}+\frac{b^2}{a^4}{\tan }^{2}B)=1$$
$$\Rightarrow u_0^2\frac{a^2+b^2{\tan }^{2}B}{a^4}=1$$
$$\Rightarrow u_0^2=\frac{a^4}{a^2+b^2{\tan }^{2}B}$$
$$\Rightarrow u_0=\frac{a^2}{\sqrt{a^2+b^2{\tan }^{2}B}}\text{\hspace{1em}(9)}$$

$(9)式代入(4)式得$
$$u_F=u_0(1-\frac{b^2}{a^2})=\frac{a^2}{\sqrt{a^2+b^2{\tan }^{2}B}}\frac{a^2-b^2}{a^2}=\frac{a^2-b^2}{\sqrt{a^2+b^2{\tan }^{2}B}}\text{\hspace{1em}(10)}$$
$由向量\overrightarrow{F{M}_0}得$
$$\parallel \overrightarrow{F{M}_0}\parallel =\sqrt{(u_0-u_F{)}^2+(z_0-0{)}^2}\text{\hspace{1em}(11)}$$
$由(9)式和(10)式得$
$$u_0-u_F=\frac{a^2}{\sqrt{a^2+b^2{\tan }^{2}B}}-\frac{a^2-b^2}{\sqrt{a^2+b^2{\tan }^{2}B}}=\frac{b^2}{\sqrt{a^2+b^2{\tan }^{2}B}}\text{\hspace{1em}(12)}$$
$(9)式代入(8)式得$
$$z_0=\frac{b^2}{a^2}{u}_0\tan B=\frac{b^2}{a^2}\frac{a^2}{\sqrt{a^2+b^2{\tan }^{2}B}}\tan B=\frac{b^2\tan B}{\sqrt{a^2+b^2{\tan }^{2}B}}\text{\hspace{1em}(13)}$$
$(12)式和(13)式代入(11)式得$
$$\parallel \overrightarrow{F{M}_0}\parallel =\sqrt{\frac{(b^2{)}^2}{a^2+b^2{\tan }^{2}B}+\frac{(b^2{)}^2{\tan }^{2}B}{a^2+b^2{\tan }^{2}B}}$$
$$\Rightarrow \parallel \overrightarrow{F{M}_0}\parallel =b^2\sqrt{\frac{1+{\tan }^{2}B}{a^2+b^2{\tan }^{2}B}}\text{\hspace{1em}(14)}$$
$根据三角公式$
$$1+{\tan }^{2}B=\frac{{\sin }^{2}B+{\cos }^{2}B}{{\cos }^{2}B}=\frac{1}{{\cos }^{2}B}$$
$代入(14)式得$
$$\parallel \overrightarrow{F{M}_0}\parallel =b^2\sqrt{\frac{\frac{1}{{\cos }^{2}B}}{\frac{a^2{\cos }^{2}B+b^2{\sin }^{2}B}{{\cos }^{2}B}}}=b^2\sqrt{\frac{1}{a^2{\cos }^{2}B+b^2{\sin }^{2}B}}$$
$$\Rightarrow \parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a}\sqrt{\frac{1}{{\cos }^{2}B+\frac{b^2}{a^2}{\sin }^{2}B}}\text{\hspace{1em}(15)}$$
$根据三角公式$
$${\cos }^{2}B=1-{\sin }^{2}B$$
$代入(15)式得$
$$\parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a}\sqrt{\frac{1}{1-{\sin }^{2}B+\frac{b^2}{a^2}{\sin }^{2}B}}$$
$$\Rightarrow \parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a}\sqrt{\frac{1}{1-\frac{a^2-b^2}{a^2}{\sin }^{2}B}}$$
$$\Rightarrow \parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a}\sqrt{\frac{1}{1-\frac{c^2}{a^2}{\sin }^{2}B}}$$
$$\Rightarrow \parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a}\sqrt{\frac{1}{1-e^2{\sin }^{2}B}},(\boxed{根据椭球第一偏心率计算关系推得})$$
$$\Rightarrow \parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a^2}\frac{a}{\sqrt{1-e^2{\sin }^{2}B}}\text{\hspace{1em}(16)}$$
$令$
$$N=\frac{a}{\sqrt{1-e^2{\sin }^{2}B}}\text{\hspace{1em}(17)}$$
$(17)式代入(16)式得$
$$\parallel \overrightarrow{F{M}_0}\parallel =\frac{b^2}{a^2}N\text{\hspace{1em}(18)}$$

$由(10)式得$
$$u_F=\frac{a^2-b^2}{\sqrt{a^2+b^2{\tan }^{2}B}}=\frac{c^2}{\sqrt{a^2+b^2{\tan }^{2}B}}$$
$$\Rightarrow u_F=\frac{c^2}{\sqrt{a^2(1+\frac{b^2}{a^2}{\tan }^{2}B)}}=\frac{c^2}{a}\frac{1}{\sqrt{1+\frac{b^2}{a^2}{\tan }^{2}B}}$$
$$\Rightarrow u_F=\frac{c^2}{a}\frac{1}{\sqrt{\frac{{\cos }^{2}B}{{\cos }^{2}B}+\frac{b^2}{a^2}\frac{{\sin }^{2}B}{{\cos }^{2}B}}}$$
$$\Rightarrow u_F=\frac{c^2}{a}\frac{\cos B}{\sqrt{{\cos }^{2}B+\frac{b^2}{a^2}{\sin }^{2}B}}=\frac{c^2}{a}\frac{\cos B}{\sqrt{1-{\sin }^{2}B+\frac{b^2}{a^2}{\sin }^{2}B}}$$
$$\Rightarrow u_F=\frac{c^2}{a}\frac{\cos B}{\sqrt{1-\frac{c^2}{a^2}{\sin }^{2}B}}$$
$$\Rightarrow u_F=\frac{c^2}{a^2}\frac{a\cos B}{\sqrt{1-e^2{\sin }^{2}B}}\text{\hspace{1em}(19)}$$
$(17)式代入(19)式得$
$$u_F=\frac{c^2}{a^2}N\cos B\text{\hspace{1em}(20)}$$

$根据图示，存在关系:$
$$u_M=u_F+(\parallel \overrightarrow{F{M}_0}\parallel +H)\cos B\text{\hspace{1em}(21)}$$
$(18)式和(20)式代入(21)式得$
$$u_M=\frac{c^2}{a^2}N\cos B+(\frac{b^2}{a^2}N+H)\cos B=(N+H)\cos B\text{\hspace{1em}(22)}$$
$根据图示，存在关系:$
$$z_M=(\parallel \overrightarrow{F{M}_0}\parallel +H)\sin B\text{\hspace{1em}(23)}$$
$(18)式代入(23)式得$
$$z_M=(\frac{b^2}{a^2}N+H)\sin B\text{\hspace{1em}(24)}$$
$根据图示，存在关系:$
$$\{\begin{array}{l}X=u_M\cos L=(N+H)\cos B\cos L\\ Y=u_M\sin L=(N+H)\cos B\sin L\\ Z=z_M=(\frac{b^2}{a^2}N+H)\sin B\end{array}$$

$则椭球坐标系到空间直角坐标系的转换公式如下:$
$$\{\begin{array}{l}X=(N+H)\cos B\cos L\\ Y=(N+H)\cos B\sin L\\ Z=(\frac{b^2}{a^2}N+H)\sin B\end{array}$$
$其中，$
$$N=\frac{a}{\sqrt{1-e^2{\sin }^{2}B}},e=\frac{\sqrt{a^2-b^2}}{a}$$
$e为椭球面第一偏心率，a为椭球体长半轴，b为椭球体短半轴，c为椭球面的正焦点长度。$

$又\because \frac{b^2}{a^2}=\frac{a^2-c^2}{a^2}=1-\frac{c^2}{a^2}=1-e^2$
$\therefore 转换公式有如下形式：$
$$\{\begin{array}{l}X=(N+H)\cos B\cos L\\ Y=(N+H)\cos B\sin L\\ Z=((1-e^2)N+H)\sin B\end{array}$$

$补充一个扁率f与第一偏心率e的关系：$
$$f=\frac{a-b}{a},e=\frac{\sqrt{a^2-b^2}}{a},c^2=a^2-b^2,$$
$$\Rightarrow e^2=\frac{a^2-b^2}{a^2}$$
$$\Rightarrow 2f-f^2=\frac{2a-2b}{a}-\frac{a^2-2ab+b^2}{a^2}$$
$$\Rightarrow 2f-f^2=\frac{2a^2-2ab-a^2+2ab-b^2}{a^2}=\frac{a^2-b^2}{a^2}=e^2$$

笛卡尔积空间直角坐标系到大地坐标系的转换推导