摘要
利用对偶四元数能同时描述旋转矩阵和平移向量的优势,提出一种适用于大角度的三维空间坐标转换参数求解模型。该模型解决了传统算法不适用于大旋角的问题,可以直接解算坐标转换参数,且无需迭代初始值。通过模拟数据进行仿真实验表明,该方法无需线性化,计算简便,验证了该方法的正确性与有效性。
The traditional three-dimensional space coordinate transformation model is restricted to solving the coordinate conversion parameters of small angles. This paper proposes a model that is suit-able for the coordinate conversion of large angles by using dual quaternion that can simultaneously describe the rotation matrix and the translation vector. The model solves the problem of the traditional algorithm, and can directly calculate the coordinate transformation parameters without initial iteration value. Finally, a simulation experiment is carried out by the simulation data. The numerical example shows that the method does not need linearization and its calculation is simple and convenient. The correctness and effectiveness of it is also verified by the simulation results.
出处
《大地测量与地球动力学》
CSCD
北大核心
2017年第12期1276-1280,共5页
Journal of Geodesy and Geodynamics
基金
国家重点研发计划(2016YFC0803103)
河南省高校科技创新团队支持计划(14IRTSTHN026)~~
关键词
坐标转换
七参数
对偶四元数
直接解法
coordinate transformation
seven parameters
dual quaternion
direct solution
