|||
A=[-2066241.5001 5360801.8835 2761896.3022
-1983936.0407 5430615.7282 2685375.7214
-1887112.7302 5468749.1944 2677688.9806
-1808505.4212 5512502.2716 2642356.5720
-1847017.0670 5573542.7934 2483802.9904 ];%源坐标
B=[-2066134.4896 5360847.0595 2761895.5970
-1983828.7084 5430658.9827 2685374.6681
-1887005.1714 5468790.6487 2677687.2680
-1808397.7260 5512542.0921 2642354.4550
-1846909.0036 5573582.6511 2483801.6147 ]; %目标坐标
K=[];
for i=1:5
C(:,:,i)=[0 -A(i,3) A(i,2) A(i,1); A(i,3) 0 -A(i,1) A(i,2); -A(i,2) A(i,1) 0 A(i,3)];% 每个点对应的系数
D(:,:,i)=[eye(3) C(:,:,i)];
K=[K;D(:,:,i)];%
end
A1=A';
B1=B';
l=B1(:)-A1(:);
xhat=(K'*K)(K'*l);%系数矩阵【 deltaX deltaY deltaZ 欧拉角x 欧拉角y 欧拉角z 尺度参数】
xhat(4:6)=xhat(4:6)*180*3600/pi;
xhat
v=K*xhat+A1(:)-B1(:)
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