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大地坐标系到站心坐标系(ENU)坐标转换(提供QT和JAVA源码)

⼤地坐标系到站⼼坐标系（ENU）坐标转换（提供QT和JAVA

源码）

在做两个坐标系转换的时候，⾕歌好长时间C++相关的代码资料，查到两个转换的代码，但是结果都不对，故记录本次的坐标转换。

测试结果：

QT源码：

WGS84ToENU.h

#ifndef WGS84TOENU_H

#define WGS84TOENU_H

#include <QMainWindow>

#include<QDateTime>

class WGS84ToENU

{

public:

WGS84ToENU();

double* wgs84ToEcef(double lat, double lon, double h);

double* ecefToEnu(double x, double y, double z, double lat, double lng, double height);

double DMS_RAD(double DMS);

};

#endif // WGS84TOENU_H

WGS84ToENU.cpp

#include "wgs84toenu.h"

#include<QtMath>

#include<QDebug>

#define a 6378137

#define b 6356752.3142//b为椭球的短半轴:a=6356.7523141km

#define RAD 57.295779 //⼀弧度约为57.295779°

WGS84ToENU::WGS84ToENU()

{

}

double WGS84ToENU::DMS_RAD(double DMS)

{

double Rad=0.00;

Rad=DMS/RAD;

qDebug()<<"Rad"<<QString::number(Rad,'f',9);

return Rad;

}

double* WGS84ToENU::wgs84ToEcef(double lat, double lon, double h)

{

double f = (a - b) / a;

double e_sq = f * (2 - f);

double lamb = this->DMS_RAD(lat);

double phi = this->DMS_RAD(lon);

double s = sin(lamb);

double N = a / sqrt(1 - e_sq * s * s);

double sin_lambda = sin(lamb);

double cos_lambda = cos(lamb);

double sin_phi = sin(phi);

double cos_phi = cos(phi);

double x = (h + N) * cos_lambda * cos_phi;

double y = (h + N) * cos_lambda * sin_phi;

double z = (h + (1 - e_sq) * N) * sin_lambda;

double *returnArr=new double[3];

returnArr[0]=x;

returnArr[1]=y;

returnArr[2]=z;

return returnArr;

}

double* WGS84ToENU::ecefToEnu(double x, double y, double z, double lat, double lng, double height) {

double f = (a - b) / a;

double e_sq = f * (2 - f);

double lamb = this->DMS_RAD(lat);

double phi = this->DMS_RAD(lng);

double s =sin(lamb);

double N = a / sqrt(1 - e_sq * s * s);

double sin_lambda = sin(lamb);

double cos_lambda = cos(lamb);

double sin_phi = sin(phi);

double cos_phi = cos(phi);

代码转换

double x0 = (height + N) * cos_lambda * cos_phi;

double y0 = (height + N) * cos_lambda * sin_phi;

double z0 = (height + (1 - e_sq) * N) * sin_lambda;

double xd = x - x0;

double yd = y - y0;

double zd = z - z0;

double t = -cos_phi * xd - sin_phi * yd;

double xEast = -sin_phi * xd + cos_phi * yd;

double yNorth = t * sin_lambda + cos_lambda * zd;

double zUp = cos_lambda * cos_phi * xd + cos_lambda * sin_phi * yd + sin_lambda * zd;

double *returnArrAndNEU=new double[3];

returnArrAndNEU[0]=xEast;

returnArrAndNEU[1]=yNorth;

returnArrAndNEU[2]=zUp;

qDebug()<<"xEast"<<QString::number(xEast,'f',9);

qDebug()<<"yNorth"<<QString::number(yNorth,'f',9);

qDebug()<<"zUp"<<QString::number(zUp,'f',9);

return returnArrAndNEU;

}

QT测试代码（主函数代码）：

WGS84ToENU *wgs84ToEnu=new WGS84ToENU();

double* arr1 = wgs84ToEnu->wgs84ToEcef(31.48999455, 121.9440825, 10.800000000);//此处经纬度是需要⽐对的偏移经纬度 qDebug()<<"arr1[0]"<<QString::number(arr1[0],'f',9);

qDebug()<<"arr1[1]"<<QString::number(arr1[1],'f',9);

qDebug()<<"arr1[2]"<<QString::number(arr1[2],'f',9);

double* xyz=wgs84ToEnu->ecefToEnu(arr1[0],arr1[1], arr1[2],31.489996667, 121.94408167, 12.700000000);

qDebug()<<"result1x"<<QString::number(xyz[0],'f',9);

qDebug()<<"result1y"<<QString::number(xyz[1],'f',9);

qDebug()<<"result1z"<<QString::number(xyz[2],'f',9);

JAVA源码：

public class testEcef {

public static double[] wgs84ToEcef(double lat, double lon, double h) {

double a = 6378137;

double b = 6356752.3142;

double f = (a - b) / a;

double e_sq = f * (2 - f);

double lamb = Radians(lat);

double phi = Radians(lon);

System.out.println("lamb"+lamb);

System.out.println("phi"+phi);

double s = Math.sin(lamb);

double N = a / Math.sqrt(1 - e_sq * s * s);

double sin_lambda = Math.sin(lamb);

double cos_lambda = s(lamb);

double sin_phi = Math.sin(phi);

double cos_phi = s(phi);

double x = (h + N) * cos_lambda * cos_phi;

double y = (h + N) * cos_lambda * sin_phi;

double z = (h + (1 - e_sq) * N) * sin_lambda;

return new double[]{x,y,z};

}

public static double[] ecefToEnu(double x, double y, double z, double lat, double lng, double height) {

double a = 6378137;

double b = 6356752.3142;

double f = (a - b) / a;

double e_sq = f * (2 - f);

double lamb = Radians(lat);

double phi = Radians(lng);

System.out.println("lamb2"+lamb);

System.out.println("phi2"+phi);

double s = Math.sin(lamb);

double N = a / Math.sqrt(1 - e_sq * s * s);

double sin_lambda = Math.sin(lamb);

double cos_lambda = s(lamb);

double sin_phi = Math.sin(phi);

double cos_phi = s(phi);

double x0 = (height + N) * cos_lambda * cos_phi;

double y0 = (height + N) * cos_lambda * sin_phi;

double z0 = (height + (1 - e_sq) * N) * sin_lambda;

double xd = x - x0;

double yd = y - y0;

double zd = z - z0;

double t = -cos_phi * xd - sin_phi * yd;

double xEast = -sin_phi * xd + cos_phi * yd;

double yNorth = t * sin_lambda + cos_lambda * zd;

double zUp = cos_lambda * cos_phi * xd + cos_lambda * sin_phi * yd + sin_lambda * zd;

return new double[] { xEast, yNorth, zUp };

}

public static void main(String[] args) {

// TODO Auto-generated method stub

//gpggaH "10.800000000"10.8

//gpslat "31.494067233"31.48999455

//gpslon "121.947391683"121.9440825

//gpggaH2 "12.700000000"12.7

//gpslat2 "31.489996667"31.489996667

//gpslon2 "121.947391667"121.94408167

double[] arr1 = wgs84ToEcef(31.48999455, 121.9440825, 10.800000000);//此处经纬度是需要⽐对的偏移经纬度

double[] xyz=ecefToEnu(arr1[0],arr1[1], arr1[2],31.489996667, 121.94408167, 12.700000000);//此处经纬度是站点经纬度 System.out.println("xyz[0]"+xyz[0]);

System.out.println("xyz[1]"+xyz[1]);

System.out.println("xyz[2]"+xyz[2]);

}

经过和MATLAB相关数据核对，结果完全⼀样。所以代码可以放⼼的尝试，如有问题请留⾔讨论

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