CN106526639B - A kind of coordinate transformation method for introducing benchmark pivot - Google Patents
A kind of coordinate transformation method for introducing benchmark pivot Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a kind of coordinate transformation method for introducing benchmark pivot, including step：First, the Gauss plane coordinate under two coordinate systems is obtained；2nd, the benchmark pivot of two coordinate systems is determined；3rd, introduce benchmark pivot and carry out Coordinate Conversion：Gauss plane coordinate under two coordinate systems obtained to a GPS reference station carries out Coordinate Conversion；Gauss plane coordinate under two coordinate systems that GPS reference station is obtained is transformed to the form of vector；Converting vector X optimal solution is sought according to Least Square Theory；4th, normal equation N conditional number is calculated；5th, the Gauss plane coordinate under the first coordinate system is disturbed, converting vector X under calculation perturbation state；6th, Coordinate Conversion result synchronously storage and output.Present invention introduces benchmark pivot is novel in design, scale that can be in coefficient of reduction matrix between each element, reduces the error that Coordinate Conversion is brought, conversion is stable, and precision is high at reduction condition number.
Description
Technical field
The invention belongs to Coordinate Conversion technical field, and in particular to a kind of Coordinate Conversion side for introducing benchmark pivot
Method.
Background technology
Coordinate system is to describe the reference system of locus existing for material.It is broadly divided into based on being fitted with local optimum
Referenced-centric system is united and the geocentric coordinate system centered on earth centroid.The referenced-centric system system in China mainly includes 1954 north
Capital coordinate system and Xi'an Geodetic Coordinate System 1980, geocentric coordinate system is mainly with 2000 Chinese earth coordinates (CGCS2000) and 1984
Based on world geodetic system (WGS84).For the conversion and uniformly of achievement, these coordinate systems are often required to carry out various turns
Change, be broadly divided into the conversion between various forms of conversions and different coordinate systems between the same coordinate system system.But the base in China
Infrastructure construction is carried out in space coordinates or ellipsoid, it is often necessary to which the ellipsoid in earth coordinates or space is straight
Angular coordinate is divided by selecting projection pattern to project in Gaussian plane or in construction surface in order to overcome distortion of projection, it is necessary to use
Band projection, this has resulted in a certain region and has been in different coordinate systems, the conversion being related between different coordinates.For flat
Areal coordinate system transfer problem, it is common practice to two sets of coordinates of selection common point in two different coordinates, utilize seat
Mark conversion formula calculates conversion parameter, but morbid state occurs in the normal equation often constructed, causes the solution of conversion parameter unreliable,
Unreliable China's most area Gaussian parabolic line value x, y that is primarily due to of the solution of conversion parameter is all bigger,
Often up to thousands of kilometers, and other elements are only 1 or 0 in the coefficient matrix formed, i.e., when (x, y) absolute value is relative to being
When the other elements of matrix number are very big, i.e., the length difference between the column vector of coefficient matrix is excessively greatly different, makes the condition of matrix
Number is excessive, and the conditional number of its normal equation is bigger, causes matrix to be also easy to produce shake when inverting in height morbid state, cause to solve
The conversion parameter gone out is unreliable.When coefficient matrix increases less fluctuation, the change highly significant of translation parameters, in existing research
There is the problem of transition matrix Very Ill-conditioned is eliminated by additional center of gravity base condition, so as to obtain correct coordinate transformation parameter,
But this method is only analyzed in theory, specific computational methods are not provided；Also by regularization method solution
The certainly ill-conditioning problem of normal equation, so as to calculate the right value of unknown parameter, but regularization method is in itself and imperfection, exists not
Stability, the simply immediate value tried to achieve, therefore inconvenience uses in actual production.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of introducing benchmark
The coordinate transformation method of pivot, it is novel in design to introduce benchmark pivot, can be in coefficient of reduction matrix between each element
Scale, reduction condition number, reduce the error that Coordinate Conversion is brought, conversion is stable, and precision is high, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of coordinate for introducing benchmark pivot
Conversion method, it is characterised in that this method comprises the following steps：
Step 1: obtain the Gauss plane coordinate under two coordinate systems：Obtain the GPS benchmark in real time using GPS reference station
The coordinate stood in the first coordinate system and the second coordinate system, and in the coordinate and the second coordinate system in the first coordinate system of acquisition
Coordinate carry out resolving and project in Gaussian plane, obtain Gauss plane coordinate of the GPS reference station under two coordinate systems and will
For the data transfer of acquisition to computer, the quantity of GPS reference station is multiple；
Step 2: determine the benchmark pivot of two coordinate systems：By a GPS reference station in step 1 in the first coordinate
Coordinate in system as the first coordinate system benchmark pivot and using coordinate of the GPS reference station in the second coordinate system as
The benchmark pivot of second coordinate system, or coordinate of multiple GPS reference stations in the first coordinate system in step 1 is averaged
Value as the first coordinate system benchmark pivot and coordinate of multiple GPS reference stations in the second coordinate system in step 1 is put down
Benchmark pivot of the average as the second coordinate system；
Step 3: introducing benchmark pivot carries out Coordinate Conversion, process is as follows：
Step 301, according to formulaTo a GPS benchmark
The Gauss plane coordinate stood under two coordinate systems obtained carries out Coordinate Conversion, wherein, (x1,y1) it is GPS reference station the
Gauss plane coordinate in one coordinate system, (x2,y2) it is Gauss plane coordinate of the GPS reference station in the second coordinate system,
(xc1,yc1) be step 2 in the first coordinate system benchmark pivot, (xc2,yc2) be step 2 in the second coordinate system benchmark
Pivot, α are the first coordinate system and the angle of the second coordinate system axial direction, and k is scale parameter, and Δ x is under two coordinate systems
Translation parameters in Gauss plane coordinate x-axis, Δ y are translation parameters in the Gauss plane coordinate y-axis under two coordinate systems；
Step 302, by formulaIt is transformed to the form of vector
AX=L, wherein, coefficient matrixConverting vectorConstant term(X1,Y1) it is that Gauss plane coordinate of the GPS reference station in the first coordinate system is vectorial, (X2,Y2) it is GPS bases
Gauss plane coordinate vector of the quasi- station in the second coordinate system, p=kcos α, q=ksin α；
Step 303, the optimal solution for seeking according to Least Square Theory converting vector X, obtain X=N-1ATL, N be normal equation andWherein, V=x11+...+x1i-ixc1, W=y11+...+y1i-iyc1, U=(x11-
xc1)2+...+(x1i-xc1)2+(y11-yc1)2+...+(y1i-yc1)2, i is GPS reference station quantity, x1iFor i-th of GPS reference station
Coordinate in the x-axis in Gaussian plane under the first coordinate system obtained, y1iThe first coordinate system obtained for i-th of GPS reference station
Under Gaussian plane on y-axis on coordinate；
Step 4: according to formula Cond (N)=| | A | | | | A-1| |, calculating normal equation N conditional number；
Step 5: the Gauss plane coordinate under the first coordinate system is disturbed, converting vector X under calculation perturbation state；
Step 6: Coordinate Conversion result synchronously storage and output：Computer is by the display that connects with it in real time to step
Coordinate Conversion result, which synchronizes, in rapid three shows and is stored in the memory to connect with computer.
A kind of coordinate transformation method of above-mentioned introducing benchmark pivot, it is characterised in that：First described in step 1
Coordinate system and the second coordinate system are Beijing Geodetic Coordinate System 1954, Xi'an Geodetic Coordinate System 1980, Chinese earth coordinates CGCS2000 or generation
Any combination between boundary earth coordinates WGS84.
A kind of coordinate transformation method of above-mentioned introducing benchmark pivot, it is characterised in that：Constant term in step 302Middle X2By x21、x22、…、x2iComposition, Y2By y21、y22、…、y2iComposition, x2iObtained for i-th of GPS reference station
The second coordinate system under Gaussian plane on x-axis on coordinate, y2iUnder the second coordinate system obtained for i-th of GPS reference station
Coordinate in y-axis in Gaussian plane；Constant termFor the dimensional vector of 2i × 1；Coefficient matrixFor the dimensional vector of 2i × 4.
A kind of coordinate transformation method of above-mentioned introducing benchmark pivot, it is characterised in that：Sat in step 5 to first
Gauss plane coordinate under mark system is when being disturbed, by for x1iConverting vector under calculation perturbation state after increase perturbation distance ε
X, perturbation distance ε meet：0 ＜ ε≤2cm.
The present invention has advantages below compared with prior art：
1st, method and step of the invention is simple, reasonable in design, realizes that convenient and input cost is low, easy to operate.
2nd, the present invention arrives by setting multiple GPS reference stations continuously to run tracking observation data, and by observation data transfer
On computer, periodically these observation data are carried out to resolve the coordinate for obtaining each GPS reference station in Two coordinate system, and will be each
The three-dimensional coordinate or geodetic coordinates of GPS reference station are projected in Gaussian plane, obtain Gauss of each GPS reference station in Two coordinate system
Plane coordinates, it is easy to promote the use of.
3rd, present invention introduces benchmark pivot, the Gauss plane coordinate for the Two coordinate system that each GPS reference station is obtained moves
The length difference moved between the column vector for coordinate system center, solving the problems, such as coefficient matrix is excessively greatly different, makes the condition of matrix
Number reduces, so that the conditional number of its normal equation reduces, reduces caused shake of inverting, and suitable for actual production, solves
The conversion parameter gone out is reliable and stable, and using effect is good.
In summary, can be in coefficient of reduction matrix between each element present invention introduces benchmark pivot is novel in design
Scale, reduction condition number, reduce the error that Coordinate Conversion is brought, conversion is stable, and precision is high, is easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the schematic block circuit diagram for the Coordinate Conversion equipment that the present invention uses.
Fig. 2 is the method flow block diagram of coordinate transformation method of the present invention.
Fig. 3 is Coordinate Conversion design sketch in the prior art.
Fig. 4 is Coordinate Conversion design sketch of the present invention.
Description of reference numerals:
1-GPS reference station；2-computer；3-memory；
4-display.
Embodiment
As depicted in figs. 1 and 2, present invention introduces the coordinate transformation method of benchmark pivot, comprise the following steps：
Step 1: obtain the Gauss plane coordinate under two coordinate systems：The GPS benchmark are obtained using GPS reference station 1 in real time
Stand 1 coordinate in the first coordinate system and the second coordinate system, and to the coordinate and the second coordinate system in the first coordinate system of acquisition
In coordinate carry out resolving and project in Gaussian plane, obtain Gauss plane coordinate of the GPS reference station 1 under two coordinate systems simultaneously
By the data transfer of acquisition to computer 2, the quantity of GPS reference station 1 is multiple；
First coordinate system described in step 1 and the second coordinate system be Beijing Geodetic Coordinate System 1954, Xi'an Geodetic Coordinate System 1980, in
Any combination between state earth coordinates CGCS2000 or world geodetic system WGS84.
In the present embodiment, the coordinate being in the first coordinate system of the acquisition of GPS reference station 1, the first coordinate system is Chinese big
Ground coordinate system CGCS2000, the coordinate being in the second coordinate system that GPS reference station 1 obtains, the second coordinate system is 1980 Xi'an
Coordinate system, the quantity of GPS reference station 1 is 20, and the common point obtained using 20 GPS reference stations 1 calculates Chinese geodetic coordinates
It is Parameter Switch of the coordinate in CGCS2000 into Xi'an Geodetic Coordinate System 1980, in actual use, calculates Chinese earth coordinates
The quantity of the common point of Parameter Switch of the coordinate into Xi'an Geodetic Coordinate System 1980 in CGCS2000 is at least 4.
Step 2: determine the benchmark pivot of two coordinate systems：A GPS reference station 1 in step 1 is sat first
Coordinate in mark system as the first coordinate system benchmark pivot and by the coordinate of the GPS reference station 1 in the second coordinate system
As the benchmark pivot of the second coordinate system, or by coordinate of multiple GPS reference stations 1 in the first coordinate system in step 1
Average value as the first coordinate system benchmark pivot and by multiple GPS reference stations 1 in step 1 in the second coordinate system
Benchmark pivot of the coordinate average value as the second coordinate system；
Step 3: introducing benchmark pivot carries out Coordinate Conversion, process is as follows：
Step 301, according to formulaTo a GPS benchmark
The Gauss plane coordinate stood under 1 two coordinate systems obtained carries out Coordinate Conversion, wherein, (x1,y1) exist for a GPS reference station 1
Gauss plane coordinate in first coordinate system, (x2,y2) it is the Gauss plane coordinate of the GPS reference station 1 in the second coordinate system,
(xc1,yc1) be step 2 in the first coordinate system benchmark pivot, (xc2,yc2) be step 2 in the second coordinate system benchmark
Pivot, α are the first coordinate system and the angle of the second coordinate system axial direction, and k is scale parameter, and Δ x is under two coordinate systems
Translation parameters in Gauss plane coordinate x-axis, Δ y are translation parameters in the Gauss plane coordinate y-axis under two coordinate systems；
Step 302, by formulaIt is transformed to the form of vector
AX=L, wherein, coefficient matrixConverting vectorConstant term(X1,Y1) it is that Gauss plane coordinate of the GPS reference station 1 in the first coordinate system is vectorial, (X2,Y2) it is GPS bases
Gauss plane coordinate vector of the quasi- station 1 in the second coordinate system, p=kcos α, q=ksin α；
In the present embodiment, constant term in step 302Middle X2By x21、x22、…、x2iComposition, Y2By y21、
y22、…、y2iComposition, x2iCoordinate in the x-axis in Gaussian plane under the second coordinate system obtained for i-th of GPS reference station 1, y2i
Coordinate in the y-axis in Gaussian plane under the second coordinate system obtained for i-th of GPS reference station 1；Constant term
For the dimensional vector of 2i × 1；Coefficient matrixFor the dimensional vector of 2i × 4.
Step 303, the optimal solution for seeking according to Least Square Theory converting vector X, obtain X=N-1ATL, N be normal equation andWherein, V=x11+...+x1i-ixc1, W=y11+...+y1i-iyc1, U=(x11-
xc1)2+...+(x1i-xc1)2+(y11-yc1)2+...+(y1i-yc1)2, i is the quantity of GPS reference station 1, x1iFor i-th of GPS reference station
Coordinate in the x-axis in Gaussian plane under 1 the first coordinate system obtained, y1iThe first coordinate obtained for i-th of GPS reference station 1
Coordinate in the y-axis in Gaussian plane under system.
Coefficient matrixMiddle X1By x11、x12、…、x1iComposition, Y1By y11、
y12、…、y1iForm, coordinate average value of multiple GPS reference stations 1 in the first coordinate system is as the first coordinate system in step 1
Benchmark pivot, i.e., Chinese earth coordinates CGCS2000 benchmark pivotAnd walk
Benchmark pivot of coordinate average value of multiple GPS reference stations 1 in the second coordinate system as the second coordinate system in rapid one, i.e.,
The benchmark pivot of Xi'an Geodetic Coordinate System 1980
Step 4: according to formula Cond (N)=| | A | | | | A-1| |, calculating normal equation N conditional number；
Step 5: the Gauss plane coordinate under the first coordinate system is disturbed, converting vector X under calculation perturbation state；
In the present embodiment, when being disturbed in step 5 to the Gauss plane coordinate under the first coordinate system, by for x1iIncrease
Add after perturbation distance ε that converting vector X, perturbation distance ε meet under calculation perturbation state：0 ＜ ε≤2cm.
In the present embodiment, GPS reference station 1 is obtained respectively using 20 GPS reference stations 1 in Chinese earth coordinates
The Gauss plane coordinate of Gauss plane coordinate and GPS reference station 1 in Xi'an Geodetic Coordinate System 1980 in CGCS2000, table 1 are GPS
Gauss plane coordinate data of the base station 1 in Chinese earth coordinates CGCS2000, table 2 are GPS reference station 1 in 1980 Xi'an
Gauss plane coordinate data in coordinate system, in Tables 1 and 2, * represents common portions several greatly.
Table 1
| GPS reference station number | x1i(m) | y1i(m) |
| 1 | **49533.8140 | **3795.0528 |
| 2 | **21864.3910 | **9865.7575 |
| 3 | **31042.4043 | **2658.9207 |
| 4 | **24072.1562 | **5795.0561 |
| 5 | **09204.9326 | **8937.9463 |
| 6 | **96036.8778 | **8078.1877 |
| 7 | **93149.4870 | **7668.7410 |
| 8 | **76520.2804 | **2549.5380 |
| 9 | **45945.0060 | **7894.4527 |
| 10 | **56718.6212 | **0300.2868 |
| 11 | **40435.2468 | **6485.4416 |
| 12 | **27067.2271 | **1494.8468 |
| 13 | **25609.0026 | **8905.8846 |
| 14 | **98689.6294 | **0909.7253 |
| 15 | **24451.5803 | **2406.9083 |
| 16 | **92420.7786 | **5949.1451 |
| 17 | **93228.8398 | **1605.2027 |
| 18 | **54168.6544 | **1000.1717 |
| 19 | **65232.2987 | **7883.5566 |
| 20 | **08086.7651 | **9401.3535 |
Table 2
It should be noted that as shown in figure 3, traditional Coordinate Conversion surrounds the intersection point of central meridian and the equatorial plane, i.e.,
What origin was carried out, i.e., according to formulaCoordinate Conversion is carried out, by formulaThe form A'X'=L' of vector is transformed to, wherein, coefficient matrixConverting vectorConstant termP=kcos α, q=ksin α；
Under MATLAB simulated environment, using being asked converting vector X' optimal solution as shown in table 3 according to Least Square Theory.
Table 3
In actual calculating, by taking 4 common points as an example, now 1 common point in 4 common points is disturbed, to x coordinate
During value increase 1cm or 2cm, result of calculation such as table 4, region III is effect after traditional Coordinate Conversion disturbance in Fig. 3.
Table 4
| Parameter | Directly calculate | 1cm disturbance | 2cm disturbance |
| Δx | -8.752 | -8.549 | -8.347 |
| Δy | 116.353 | 116.168 | 115.983 |
| α(″) | -0.022 | -0.005 | 0.012 |
| k | 1.000003 | 1.000003 | 1.000003 |
1 common point is disturbed, when increasing 1cm or 2cm to x coordinate value, the change of translation parameters reaches 20.3cm,
As shown in Table 4, even if increasing less fluctuation in coefficient matrix, the change of translation parameters also highly significant.
As shown in figure 4, coordinate of multiple GPS reference stations 1 in Chinese earth coordinates CGCS2000 in step 1 is put down
Average as Chinese earth coordinates CGCS2000 benchmark pivot and by multiple GPS reference stations 1 in step 1 1980
Benchmark pivot of the coordinate average value as Xi'an Geodetic Coordinate System 1980 in the coordinate system of Xi'an；In MATLAB simulated environment
Under, using being asked converting vector X optimal solution as shown in table 5 according to Least Square Theory.
Table 5
In actual calculating, by taking 4 common points as an example, now 1 common point in 4 common points is disturbed, to x coordinate
During value increase 1cm or 2cm, result of calculation such as table 6, region III' is the Coordinate Conversion disturbance for introducing benchmark pivot in Fig. 4
Effect afterwards.
Table 6
| Parameter | Directly calculate | 1cm disturbance | 2cm disturbance |
| Δx | -2.096 | -2.098 | -2.101 |
| Δy | 117.275 | 117.275 | 117.275 |
| α(″) | -0.022 | -0.005 | 0.0115 |
| k | 1.000003 | 1.000003 | 1.000003 |
1 common point is disturbed, when increasing 1cm or 2cm to x coordinate value, the changing value of translation parameters is up to
3mm, as shown in Table 6, even if increasing less fluctuation in coefficient matrix, the change of translation parameters is not also notable.
From table 3 and table 5 as can be seen that when pivot is the origin of coordinates, the translation parameters difference calculated reaches
8m is more, and conditional number reaches 1017, ill-conditioning problem is serious, and when considering rotation parameter, the translation parameters difference calculated substantially subtracts
It is few, and conditional number is up to 109, ill-conditioning problem is improved, even if arbitrarily choosing 4 GPS reference stations 1, the translation ginseng of calculating
The maximum difference 17.4cm of number, and the conversion parameter for either selecting 4 common points or 20 common points to calculate in a Ge Ce areas
It is worth more stable, computational accuracy raising, effect is good.
Step 6: Coordinate Conversion result synchronously storage and output：Computer 2 is right in real time by the display 4 to connect with it
Coordinate Conversion result, which synchronizes, in step 3 shows and is stored in the memory 3 to connect with computer 2.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (3)
1. a kind of coordinate transformation method for introducing benchmark pivot, it is characterised in that this method comprises the following steps：
Step 1: obtain the Gauss plane coordinate under two coordinate systems：The GPS reference station is obtained using GPS reference station (1) in real time
(1) coordinate in the first coordinate system and the second coordinate system, and to the coordinate and the second coordinate system in the first coordinate system of acquisition
In coordinate carry out resolving and project in Gaussian plane, obtain Gauss plane coordinate of the GPS reference station (1) under two coordinate systems
And by the data transfer of acquisition to computer (2), the quantity of GPS reference station (1) is multiple；
Step 2: determine the benchmark pivot of two coordinate systems：By a GPS reference station (1) in step 1 in the first coordinate
Coordinate in system as the first coordinate system benchmark pivot and by the coordinate of the GPS reference station (1) in the second coordinate system
As the benchmark pivot of the second coordinate system, or by seat of the multiple GPS reference stations (1) in the first coordinate system in step 1
Average value is marked as the benchmark pivot of the first coordinate system and by multiple GPS reference stations (1) in step 1 in the second coordinate system
In benchmark pivot of the coordinate average value as the second coordinate system；
Step 3: introducing benchmark pivot carries out Coordinate Conversion, process is as follows：
Step 301, according to formulaTo a GPS reference station (1)
Gauss plane coordinate under two coordinate systems obtained carries out Coordinate Conversion, wherein, (x1,y1) exist for a GPS reference station (1)
Gauss plane coordinate in first coordinate system, (x2,y2) it is that Gaussian plane of the GPS reference station (1) in the second coordinate system is sat
Mark, (xc1,yc1) be step 2 in the first coordinate system benchmark pivot, (xc2,yc2) be step 2 in the second coordinate system base
Quasi- pivot, α are the first coordinate system and the angle of the second coordinate system axial direction, and k is scale parameter, and Δ x is under two coordinate systems
Gauss plane coordinate x-axis on translation parameters, Δ y is translation parameters in Gauss plane coordinate y-axis under two coordinate systems；
Step 302, by formulaIt is transformed to the form AX=of vector
L, wherein, coefficient matrixConverting vectorConstant term(X1,Y1) it is that Gauss plane coordinate of the GPS reference station (1) in the first coordinate system is vectorial, (X2,Y2) it is GPS
Gauss plane coordinate vector of the base station (1) in the second coordinate system, p=kcos α, q=ksin α；
Step 303, the optimal solution for seeking according to Least Square Theory converting vector X, obtain X=N-1ATL, N be normal equation andWherein, V=x11+...+x1i-ixc1, W=y11+...+y1i-iyc1, U=(x11-
xc1)2+...+(x1i-xc1)2+(y11-yc1)2+...+(y1i-yc1)2, i is GPS reference station (1) quantity, x1iFor i-th of GPS benchmark
Coordinate in the x-axis in Gaussian plane stood under the first coordinate system of (1) acquisition, y1iThe obtained for i-th GPS reference station (1)
Coordinate in the y-axis in Gaussian plane under one coordinate system；
Step 4: according to formula Cond (N)=| | A | | | | A-1| |, calculating normal equation N conditional number；
Step 5: the Gauss plane coordinate under the first coordinate system is disturbed, converting vector X under calculation perturbation state；
Step 6: Coordinate Conversion result synchronously storage and output：Computer (2) is right in real time by the display (4) to connect with it
Coordinate Conversion result, which synchronizes, in step 3 shows and is stored in the memory (3) to connect with computer (2)；
Constant term in step 302Middle X2By x21、x22、…、x2iComposition, Y2By y21、y22、…、y2iComposition, x2i
Coordinate in the x-axis in Gaussian plane under the second coordinate system obtained for i-th of GPS reference station (1), y2iFor i-th of GPS benchmark
Coordinate in the y-axis in Gaussian plane stood under the second coordinate system of (1) acquisition；Constant termFor 2i × 1 tie up to
Amount；Coefficient matrixFor the dimensional vector of 2i × 4.
2. according to a kind of coordinate transformation method of introducing benchmark pivot described in claim 1, it is characterised in that：Step 1
Described in the first coordinate system and the second coordinate system be Beijing Geodetic Coordinate System 1954, Xi'an Geodetic Coordinate System 1980, Chinese earth coordinates
Any combination between CGCS2000 or world geodetic system WGS84.
3. according to a kind of coordinate transformation method of introducing benchmark pivot described in claim 1, it is characterised in that：Step 5
In when being disturbed to the Gauss plane coordinate under the first coordinate system, by for x1iCalculation perturbation state after increase perturbation distance ε
Lower converting vector X, perturbation distance ε meet：0<ε≤2cm.
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