private double[,] GetV(double[,] X, double[,] Y, CoordTrans7Param dpp)
{
int rowNum = X.GetLength(0);
double[,] B, F, A, B2, B3, F2, V;
double[,] AT = MatrixTool.Init(6, 3);
A = GetA();
MatrixTool.AT(A, ref AT);
MatrixTool.MutliConst(ref AT, 1 / (1 + (1 + k) * (1 + k)));
F = GetF(X, Y);
B = GetB(X);
B2 = MatrixTool.Init(3, 7);
B3 = MatrixTool.Init(3, 1);
F2 = MatrixTool.Init(rowNum, 1);
for (int i = 0; i < rowNum / 3; i++)
{
MatrixTool.CopySub(B, i * 3, 0, 3, 7, ref B2, 0, 0);
MatrixTool.Multi(B2, dpp.values, ref B3);
MatrixTool.CopySub(B3, 0, 0, 3, 1, ref F2, i * 3, 0);
}
MatrixTool.Sub(F, F2, ref F2);
V = specialMulti(AT, F2);
return(V);
}
/// <summary>
/// 最小二乘误差矩阵
/// [1 0 -y x]
/// [0 1 x y]
/// </summary>
/// <param name="X"></param>
/// <returns></returns>
private double[,] GetB(double[,] X)
{
int rowNum = X.GetLength(0);
double[,] B = MatrixTool.Init(rowNum, 4);
//double[,] M = GetM();
double[,] mi = MatrixTool.Ident(2);
//double[,] MK;
//MK = specialMulti(M, X);
for (int i = 0; i < rowNum; i += 2)
{
MatrixTool.CopySub(mi, 0, 0, 2, 2, ref B, i, 0);
}
for (int i = 0; i < rowNum; i += 2)
{
B[i, 2] = X[i, 0];
B[i, 3] = -X[i + 1, 0];
B[i + 1, 2] = X[i + 1, 0];
B[i + 1, 3] = X[i, 0];
}
return(B);
}
/// <summary>
/// X矩阵如下所示
///
///
/// </summary>
/// <param name="X"></param>
/// <param name="Y"></param>
/// <returns></returns>
public double CalculateTrans7Param(double[,] X, double[,] Y)
{
int PtNum = X.GetLength(0) / 3;
double[,] B;
double[,] F;
double[,] BT = MatrixTool.Init(7, 3 * PtNum);
double[,] BTB = MatrixTool.Init(7, 7);
double[,] BTF = MatrixTool.Init(7, 1);
//init pararm
CoordTrans7Param dpp = new CoordTrans7Param();
Set4Param(0, 0, 0, 0);
this.SetRotationParam(0, 0, 0);
//debug
//this.TransCoord(X[0,0],X[1,0],X[2,0],out x2,out y2,out z2);
int round = 0;
while (round++ < 20)
{
F = GetF(X, Y);
B = GetB(X);
MatrixTool.AT(B, ref BT);
MatrixTool.Multi(BT, B, ref BTB);
MatrixTool.Inv(BTB);
MatrixTool.Multi(BT, F, ref BTF);
MatrixTool.Multi(BTB, BTF, ref dpp.values);
if (dpp.isSmall())
{
break;
}
else
{
MatrixTool.Add(this.values, dpp.values, ref this.values);
}
}
Console.WriteLine(round);
//this.TransCoord(X[0,0],X[1,0],X[2,0],out x2,out y2,out z2);
//double[,] V = GetV(X, Y, dpp);
double vMax = -1;
//for (int i = 0; i < V.GetLength(0); i++)
//{
// if (Math.Abs(V[i, 0]) > vMax)
// vMax = Math.Abs(V[i, 0]);
//}
return(vMax);
}
private double[,] GetA()
{
double[,] M = GetM();
double[,] I2 = MatrixTool.Ident(3);
double[,] A = MatrixTool.Init(3, 6);
MatrixTool.MutliConst(ref I2, -1);
MatrixTool.MutliConst(ref M, (1 + k));
MatrixTool.CopySub(M, 0, 0, 3, 3, ref A, 0, 0);
MatrixTool.CopySub(I2, 0, 0, 3, 3, ref A, 0, 3);
return(A);
}
/// <summary>
/// 获取观测方程。 -DeltaX - ((1+k)*RotateMatrix*X - Y)， 或者 Y = DeltaX + (1+k)*RotateMatrix*X (布尔沙方程)
/// </summary>
/// <param name="X">原始点</param>
/// <param name="Y">目标点</param>
/// <returns></returns>
private double[,] GetF(double[,] X, double[,] Y)
{
double[,] f0;
double[,] qx = MatrixTool.Init(X.GetLength(0), 1);
double[,] K = { { -dx }, { -dy } };
//double[,] S = { { 1 } };
//MatrixTool.Multi(X, S, ref qx);
double[,] M = GetM();
qx = specialMulti(M, X);
MatrixTool.Sub(qx, Y, ref qx);
f0 = specialSub(K, qx);
return(f0);
}
private double[,] specialSub(double[,] m, double[,] X)
{
int rowNumM = m.GetLength(0);
int colNumM = m.GetLength(1);
int rowNumX = X.GetLength(0);
int colNumX = X.GetLength(1);
int lines = rowNumX / rowNumM;
double[,] subX = MatrixTool.Init(rowNumM, colNumX);
double[,] res = MatrixTool.Init(rowNumX, colNumX);
for (int i = 0; i < rowNumX; i += rowNumM)
{
MatrixTool.CopySub(X, i, 0, rowNumM, colNumX, ref subX, 0, 0);
MatrixTool.Sub(m, subX, ref subX);
MatrixTool.CopySub(subX, 0, 0, rowNumM, colNumX, ref res, i, 0);
}
return(res);
}
private double[,] GetB(double[,] X)
{
int rowNum = X.GetLength(0);
double[,] B = MatrixTool.Init(rowNum, 7);
//double[,] M = GetM();
//double[,] Mdx = GetMdx();
//double[,] Mdy = GetMdy();
//double[,] Mdz = GetMdz();
double[,] mi = MatrixTool.Ident(3);
//double[,] MX, MY, MZ, MK;
//MK = specialMulti(M, X);
//MX = specialMulti(Mdx, X);
//MY = specialMulti(Mdy, X);
//MZ = specialMulti(Mdz, X);
for (int i = 0; i < rowNum; i += 3)
{
MatrixTool.CopySub(mi, 0, 0, 3, 3, ref B, i, 0);
B[i, 3] = 0;
B[i, 4] = -X[i + 2, 0];
B[i, 5] = X[i + 1, 0];
B[i, 6] = X[i, 0];
B[i + 1, 3] = X[i + 2, 0];
B[i + 1, 4] = 0;
B[i + 1, 5] = -X[i + 0, 0];
B[i + 1, 6] = X[i + 1, 0];
B[i + 2, 3] = -X[i + 1, 0];
B[i + 2, 4] = X[i + 0, 0];
B[i + 2, 5] = 0;
B[i + 2, 6] = X[i + 2, 0];
}
//MatrixTool.CopySub(MX, 0, 0, rowNum, 1, ref B, 0, 3);
//MatrixTool.CopySub(MY, 0, 0, rowNum, 1, ref B, 0, 4);
//MatrixTool.CopySub(MZ, 0, 0, rowNum, 1, ref B, 0, 5);
//MatrixTool.CopySub(MK, 0, 0, rowNum, 1, ref B, 0, 6);
return(B);
}
//private double[,] GetMdx()
//{
// double[,] mt = { { 0, 0, 0 }, { 0, -Math.Sin(rx), Math.Cos(rx) }, { 0, -Math.Cos(rx), -Math.Sin(rx) } };
// double[,] m = new double[3, 3];
// MatrixTool.Multi(GetMz(), GetMy(), ref m);
// MatrixTool.Multi(m, mt, ref m);
// return m;
//}
//private double[,] GetMdy()
//{
// double[,] mt = { { -Math.Sin(ry), 0, -Math.Cos(ry) }, { 0, 0, 0 }, { Math.Cos(ry), 0, -Math.Sin(ry) } };
// double[,] m = new double[3, 3];
// MatrixTool.Multi(GetMz(), mt, ref m);
// MatrixTool.Multi(m, GetMx(), ref m);
// return m;
//}
//private double[,] GetMdz()
//{
// double[,] mt = { { -Math.Sin(rz), Math.Cos(rz), 0 }, { -Math.Cos(rz), -Math.Sin(rz), 0 }, { 0, 0, 0 } };
// double[,] m = new double[3, 3];
// MatrixTool.Multi(mt, GetMy(), ref m);
// MatrixTool.Multi(m, GetMx(), ref m);
// return m;
//}
private double[,] specialMulti(double[,] m, double[,] X)
{
int rowNumM = m.GetLength(0);
int colNumM = m.GetLength(1);
int rowNumX = X.GetLength(0);
int colNumX = X.GetLength(1);
int lines = rowNumX / colNumM;
double[,] mt = MatrixTool.Init(rowNumM, colNumX);
double[,] subX = MatrixTool.Init(colNumM, colNumX);
double[,] res = MatrixTool.Init(rowNumM * lines, colNumX);
for (int i = 0; i < lines; i++)
{
MatrixTool.CopySub(X, i * colNumM, 0, colNumM, colNumX, ref subX, 0, 0);
MatrixTool.Multi(m, subX, ref mt);
MatrixTool.CopySub(mt, 0, 0, rowNumM, colNumX, ref res, i * rowNumM, 0);
}
return(res);
}
/// <summary>
/// 获取观测方程。 -DeltaX - ((1+k)*RotateMatrix*X - Y)， 或者 Y = DeltaX + (1+k)*RotateMatrix*X (布尔沙方程)
/// </summary>
/// <param name="X">原始点</param>
/// <param name="Y">目标点</param>
/// <returns></returns>
private double[,] GetF(double[,] X, double[,] Y)
{
double[,] f0 = MatrixTool.Init(X.GetLength(0), 1);
int pn = X.GetLength(0) / 3;
//double[,] qx = MatrixTool.Init(X.GetLength(0), 1);
//double[,] K = { { -dx }, { -dy }, { -dz } };
//double[,] S = { { k } };
//MatrixTool.Multi(X, S, ref qx);
//double[,] M = GetM();
//qx = specialMulti(M, qx);
//MatrixTool.Sub(qx, Y, ref qx);
for (int i = 0; i < pn; i++)
{
f0[i * 3 + 0, 0] = -(dx + (-X[i * 3 + 2, 0] * ry) + X[i * 3 + 1, 0] * rz + X[i * 3 + 0, 0] * (1 + k) - Y[i * 3 + 0, 0]);
f0[i * 3 + 1, 0] = -(dy + (X[i * 3 + 2, 0] * rx) + (-X[i * 3 + 0, 0] * rz) + X[i * 3 + 1, 0] * (1 + k) - Y[i * 3 + 1, 0]);
f0[i * 3 + 2, 0] = -(dz + (-X[i * 3 + 1, 0] * rx) + X[i * 3 + 0, 0] * ry + X[i * 3 + 2, 0] * (1 + k) - Y[i * 3 + 2, 0]);
}
//f0 = specialSub(K, qx);
return(f0);
}
// 117.11726427，36.67414252
public static void MarsToEarth(double[] marsLong, double[] marsLat, double[] earthLong, double[] earthLat,
double[] newMarsLong, double[] newMarsLat, out double[] newEarthLong, out double[] newEarthLat)
{
int ptNum = marsLong.Length;
double[,] X = MatrixTool.Init(2 * ptNum, 1);
double[,] Y = MatrixTool.Init(2 * ptNum, 1);
int pN = newMarsLong.Length;
double[] XX = new double[pN * 2];
double[] YY = new double[pN * 2];
newEarthLong = new double[pN];
newEarthLat = new double[pN];
//double[] YYRes = new double[pN * 2];
for (int i = 0; i < ptNum; i++)
{
CoordinateConverter.LatLonToUTMXY(marsLat[i], marsLong[i], out X[2 * i + 0, 0], out X[2 * i + 1, 0]);
CoordinateConverter.LatLonToUTMXY(earthLat[i], earthLong[i], out Y[2 * i + 0, 0], out Y[2 * i + 1, 0]);
CoordinateConverter.LatLonToUTMXY(newMarsLat[i], newMarsLong[i], out XX[2 * i + 0], out XX[2 * i + 1]);
}
CoordTrans4Param ct = new CoordTrans4Param();
ct.CalculateTrans4Param(X, Y);
for (int i = 0; i < pN; i++)
{
ct.TransCoord(XX[i * 2 + 0], XX[i * 2 + 1], out YY[i * 2 + 0], out YY[i * 2 + 1]);
CoordinateConverter.UTMXYToLatLon(YY[i * 2 + 0], YY[i * 2 + 1], out newEarthLat[i], out newEarthLong[i]);
//Console.WriteLine("准确的 x {0}, y {1}, 计算的 x {2} , y {3} ", YYRead[i * 2 + 0], YYRead[i * 2 + 1], YY84[i * 2 + 0], YY84[i * 2 + 1]);
//Console.WriteLine("准确的 x {0}, y {1}, 计算的 x {2} , y {3} ", YYRead[i * 2 + 0], YYRead[i * 2 + 1], YY[i * 2 + 0] / sx + cx2, YY[i * 2 + 1] / sy + cy2);
}
//return YYRes;
}
private void button1_Click(object sender, EventArgs e)
{
double x1, y1, x2, y2;
x1 = 119;
x2 = 120;
y1 = y2 = 35;
Console.WriteLine("x:" + CoordinateConverter.getUTMDistance(x1, y1, x2, y2));
Console.WriteLine("y:" + CoordinateConverter.getUTMDistance(x1, y1, x1, y2 + 1));
string fileName = @"D:\sevenParamsTest.xlsx";
//if (chainList.Count > 0)
// chainList.Clear();
//LoadDataTableFromExcel(fileName, "Sheet1");
int ptNum = 10;
double[,] X = MatrixTool.Init(3 * ptNum, 1);
double[,] Y = MatrixTool.Init(3 * ptNum, 1);
double[,] Y84 = MatrixTool.Init(3 * ptNum, 1);
int pN = 10;
double[] XX = new double[pN * 3];
double[] YYRead = new double[pN * 3];
double[] YY = new double[pN * 3];
double[] YY84 = new double[pN * 3];
int i = 0;
int j = 0;
int k = 0;
foreach (DataRow dr in ds.Tables["Sheet1"].Rows)
{
if (i % 20 == 0 && j < ptNum)
{
X[j * 3 + 1, 0] = Convert.ToDouble(dr["North"]);
X[j * 3 + 0, 0] = Convert.ToDouble(dr["East"]);
X[j * 3 + 2, 0] = Convert.ToDouble(dr["Altitude"]);
Y84[j * 3 + 0, 0] = Convert.ToDouble(dr["Longitude"]);
Y84[j * 3 + 1, 0] = Convert.ToDouble(dr["Latitude"]);
Y84[j * 3 + 2, 0] = Convert.ToDouble(dr["Altitude"]);
j++;
}
if (i % 20 == 10 && k < ptNum)
{
XX[k * 3 + 1] = Convert.ToDouble(dr["North"]);
XX[k * 3 + 0] = Convert.ToDouble(dr["East"]);
XX[k * 3 + 2] = Convert.ToDouble(dr["Altitude"]);
YYRead[k * 3 + 0] = Convert.ToDouble(dr["Longitude"]);
YYRead[k * 3 + 1] = Convert.ToDouble(dr["Latitude"]);
YYRead[k * 3 + 2] = Convert.ToDouble(dr["Altitude"]);
k++;
}
i++;
if (j == ptNum && k == ptNum)
{
break;
}
}
for (i = 0; i < ptNum; i++)
{
CoordinateConverter.LatLonToUTMXY(Y84[3 * i + 1, 0], Y84[3 * i + 0, 0], out Y[3 * i + 0, 0], out Y[3 * i + 1, 0]);
}
CoordTrans7Param ct = new CoordTrans7Param();
ct.CalculateTrans7Param(X, Y);
for (i = 0; i < pN; i++)
{
ct.TransCoord(XX[i * 3 + 0], XX[i * 3 + 1], XX[i * 3 + 2], out YY[i * 3 + 0], out YY[i * 3 + 1], out YY[i * 3 + 2]);
CoordinateConverter.UTMXYToLatLon(YY[i * 3 + 0], YY[i * 3 + 1], out YY84[i * 3 + 1], out YY84[i * 3 + 0]);
Console.WriteLine("准确的 x {0}, y {1}, z{2}, 计算的 x {3} , y {4} , z {5}", YYRead[i * 3 + 0], YYRead[i * 3 + 1], YYRead[i * 3 + 2], YY84[i * 3 + 0], YY84[i * 3 + 1], YY[i * 3 + 2]);
}
}
private void button2_Click1(object sender, EventArgs e)
{
double x1, y1, x2, y2;
x1 = 119;
x2 = 120;
y1 = y2 = 35;
Console.WriteLine("x:" + CoordinateConverter.getUTMDistance(x1, y1, x2, y2));
Console.WriteLine("y:" + CoordinateConverter.getUTMDistance(x1, y1, x1, y2 + 1));
string fileName = @"D:\sevenParamsTest.xlsx";
//if (chainList.Count > 0)
// chainList.Clear();
//LoadDataTableFromExcel(fileName, "Sheet1");
int ptNum = 5;
double[,] X = MatrixTool.Init(2 * ptNum, 1);
double[,] Y = MatrixTool.Init(2 * ptNum, 1);
int pN = 10;
double[] XX = new double[pN * 2];
double[] YYRead = new double[pN * 2];
double[] YY = new double[pN * 2];
int i = 0;
int j = 0;
int k = 0;
foreach (DataRow dr in ds.Tables["Sheet1"].Rows)
{
if (i % 40 == 0 && j < ptNum)
{
X[j * 2 + 0, 0] = Convert.ToDouble(dr["North"]);
X[j * 2 + 1, 0] = Convert.ToDouble(dr["East"]);
Y[j * 2 + 0, 0] = Convert.ToDouble(dr["Longitude"]);
Y[j * 2 + 1, 0] = Convert.ToDouble(dr["Latitude"]);
j++;
}
if (i % 20 == 10 && k < pN)
{
XX[k * 2 + 0] = Convert.ToDouble(dr["North"]);
XX[k * 2 + 1] = Convert.ToDouble(dr["East"]);
YYRead[k * 2 + 0] = Convert.ToDouble(dr["Longitude"]);
YYRead[k * 2 + 1] = Convert.ToDouble(dr["Latitude"]);
k++;
}
i++;
if (j == ptNum && k == pN)
{
break;
}
}
double cx1, cy1, cx2, cy2;
cx1 = cy1 = cx2 = cy2 = 0;
double sx = 91310;
double sy = 111000;
for (i = 0; i < pN; i++)
{
cx1 += XX[2 * i];
cy1 += XX[2 * i + 1];
cx2 += YYRead[2 * i];
cy2 += YYRead[2 * i + 1];
}
cx1 /= pN;
cy1 /= pN;
cx2 /= pN;
cy2 /= pN;
for (i = 0; i < ptNum; i++)
{
X[2 * i, 0] = X[2 * i, 0] - cx1;
X[2 * i + 1, 0] = X[2 * i + 1, 0] - cy1;
Y[2 * i, 0] = (Y[2 * i, 0] - cx2) * sx;
Y[2 * i + 1, 0] = (Y[2 * i + 1, 0] - cy2) * sy;
}
for (i = 0; i < pN; i++)
{
XX[2 * i] = XX[2 * i] - cx1;
XX[2 * i + 1] = XX[2 * i + 1] - cy1;
}
CoordTrans4Param ct = new CoordTrans4Param();
ct.CalculateTrans4Param(X, Y);
for (i = 0; i < pN; i++)
{
ct.TransCoord(XX[i * 2 + 0], XX[i * 2 + 1], out YY[i * 2 + 0], out YY[i * 2 + 1]);
Console.WriteLine("准确的 x {0}, y {1}, 计算的 x {2} , y {3} ", YYRead[i * 2 + 0], YYRead[i * 2 + 1], YY[i * 2 + 0] / sx + cx2, YY[i * 2 + 1] / sy + cy2);
}
}