From 002d78faa08e6aa3b7a2738dae005735b6135fc2 Mon Sep 17 00:00:00 2001 From: lumos Date: Wed, 15 Oct 2025 14:50:31 +0800 Subject: [PATCH] Init --- .gitignore | 2259 +++++++++++++++++++++++++++++++++++++++++ CordConvert20251005.m | 199 ++++ LTDMC.dll | Bin 0 -> 2294272 bytes LTDMC.h | 2248 ++++++++++++++++++++++++++++++++++++++++ LTDMC.lib | Bin 0 -> 815154 bytes PosCalibrate.pro | 60 ++ calPoint.h | 168 +++ camera.cpp | 130 +++ camera.h | 48 + imageview.cpp | 80 ++ imageview.h | 40 + main.cpp | 11 + mainwindow.cpp | 638 ++++++++++++ mainwindow.h | 107 ++ mainwindow.ui | 359 +++++++ posdevice.cpp | 47 + posdevice.h | 31 + rotationstage.cpp | 74 ++ rotationstage.h | 39 + 19 files changed, 6538 insertions(+) create mode 100644 .gitignore create mode 100644 CordConvert20251005.m create mode 100644 LTDMC.dll create mode 100644 LTDMC.h create mode 100644 LTDMC.lib create mode 100644 PosCalibrate.pro create mode 100644 calPoint.h create mode 100644 camera.cpp create mode 100644 camera.h create mode 100644 imageview.cpp create mode 100644 imageview.h create mode 100644 main.cpp create mode 100644 mainwindow.cpp create mode 100644 mainwindow.h create mode 100644 mainwindow.ui create mode 100644 posdevice.cpp create mode 100644 posdevice.h create mode 100644 rotationstage.cpp create mode 100644 rotationstage.h diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..20fc6db --- /dev/null +++ b/.gitignore @@ -0,0 +1,2259 @@ +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/.qmake.stash +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/Makefile +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/Makefile.Debug +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/Makefile.Release +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/ui_mainwindow.h +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/.qtc_clangd/compile_commands.json +build/Desktop_Qt_6_5_3_MSVC2019_64bit-Debug/.qtc_clangd/.cache/clangd/index/__msvc_bit_utils.hpp.913E311580B1329C.idx 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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% óڻȡAλϢBλϢABָ +% By ZXJ2025.10.02 + +clear all; +close all; +clc; + +Re=6378.14; %% 뾶km + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% ˫λãϵ +% Aλ +Lon_A=dms2degrees([86 4 51.16]); %% Aȣdeg +Lat_A=dms2degrees([41 45 20.24]); %% Aγȣdeg +Hei_A=4.5; %% A߶ȣkm +% Lon_A=120.2994; %% Aȣdeg +% Lat_A=30.250212; %% Aγȣdeg +% Hei_A=375.29/1000; %% A߶ȣkm + +% Bλ +Lon_B=dms2degrees([86 4 51.161]); %% Bȣdeg +Lat_B=dms2degrees([41 45 20.24]); %% Bγȣdeg +Hei_B=4.5; %% B߶ȣkm +% Lon_B=dms2degrees([76 12 51.16]); %% Bȣdeg +% Lat_B=dms2degrees([41 45 20.24]); %% Bγȣdeg +% Hei_B=5.1; %% B߶ȣkm +% Lon_B=120.29950478; %% Bȣdeg +% Lat_B=30.250028015; %% Bγȣdeg +% Hei_B=375.29/1000; %% B߶ȣkm + +% ǶɶתΪ +Lon_A_Rad=deg2rad(Lon_A); %% Aȣrad +Lat_A_Rad=deg2rad(Lat_A); %% Aγȣrad + +Lon_B_Rad=deg2rad(Lon_B); %% Bȣrad +Lat_B_Rad=deg2rad(Lat_B); %% Bγȣrad + +% ˫λãֱϵ˫룬km +X_A=(Re+Hei_A)*cos(Lat_A_Rad)*cos(Lon_A_Rad); +Y_A=(Re+Hei_A)*cos(Lat_A_Rad)*sin(Lon_A_Rad); +Z_A=(Re+Hei_A)*sin(Lat_A_Rad); + +X_B=(Re+Hei_B)*cos(Lat_B_Rad)*cos(Lon_B_Rad); +Y_B=(Re+Hei_B)*cos(Lat_B_Rad)*sin(Lon_B_Rad); +Z_B=(Re+Hei_B)*sin(Lat_B_Rad); + +% BAֱ꣬km +XYZ_BA=[X_B-X_A; Y_B-Y_A; Z_B-Z_A]; +% ˫룬km +D_BA=sqrt(sum(XYZ_BA.^2)); +% D_BA=sqrt((X_B-X_A)^2+(Y_B-Y_A)^2+(Z_B-Z_A)^2); + +% % תBAķλǡ +% % ת +% Matrix_UEN2XYZ=[cos(Lat_A_Rad)*cos(Lon_A_Rad) cos(Lat_A_Rad)*sin(Lon_A_Rad) sin(Lat_A_Rad); ... +% -sin(Lon_A_Rad) cos(Lon_A_Rad) 0;... +% -sin(Lat_A_Rad)*cos(Lon_A_Rad) -sin(Lat_A_Rad)*sin(Lon_A_Rad) cos(Lat_A_Rad)]; +% +% % BAֱתΪ춫 +% UEN_BA = Matrix_UEN2XYZ * XYZ_BA; +% U_BA=UEN_BA(1); +% E_BA=UEN_BA(2); +% N_BA=UEN_BA(3); +% +% % BAķλǺ͸ +% Az_BA=mod(rad2deg(atan2(E_BA,N_BA)),360); +% Alt_BA=rad2deg(atan2(U_BA,sqrt(E_BA^2+N_BA^2))); + +% תBAķλǡ +Lon_A_Rad1=Lon_A_Rad; +Lat_A_Rad1=-Lat_A_Rad; +MR_X=[1 0 0;... + 0 1 0;... + 0 0 1]; +MR_Y=[cos(Lat_A_Rad1) 0 -sin(Lat_A_Rad1);... + 0 1 0;... + sin(Lat_A_Rad1) 0 cos(Lat_A_Rad1)]; +MR_Z=[cos(Lon_A_Rad1) sin(Lon_A_Rad1) 0;... + -sin(Lon_A_Rad1) cos(Lon_A_Rad1) 0;... + 0 0 1]; + +% 춫 +UEN_BA0=MR_X*MR_Y*MR_Z*XYZ_BA; +U_BA0=UEN_BA0(1); +E_BA0=UEN_BA0(2); +N_BA0=UEN_BA0(3); + +% BAڴϵеķλǺ͸ +Az_BA0=mod(rad2deg(atan2(E_BA0,N_BA0)),360); +Alt_BA0=rad2deg(atan2(U_BA0,sqrt(E_BA0^2+N_BA0^2))); + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% POS豸ʵʱ̬ǽBAϵеλ +% POS豸ʵʱ̬ +% HeadingReal=63.802; +% PitchReal=-0.109; +% RollReal=-0.135; +HeadingReal=65.516; +PitchReal=-0.112; +RollReal=1.648; + +% ǶȻΪ +HeadingReal_Rad=deg2rad(HeadingReal); +PitchReal_Rad=deg2rad(PitchReal); +RollReal_Rad=deg2rad(RollReal); + +% ʵʱ̬λõת +MR_E_Real=[1 0 0;... + 0 cos(PitchReal_Rad) -sin(PitchReal_Rad);... + 0 sin(PitchReal_Rad) cos(PitchReal_Rad)]; +MR_N_Real=[cos(RollReal_Rad) 0 -sin(RollReal_Rad);... + 0 1 0;... + sin(RollReal_Rad) 0 cos(RollReal_Rad)]; +MR_U_Real=[cos(HeadingReal_Rad) -sin(HeadingReal_Rad) 0;... + sin(HeadingReal_Rad) cos(HeadingReal_Rad) 0;... + 0 0 1]; + +% BAϵеλ +ENU_BA_Real=MR_N_Real*MR_E_Real*MR_U_Real*[E_BA0;N_BA0;U_BA0]; +E_BA_Real=ENU_BA_Real(1); +N_BA_Real=ENU_BA_Real(2); +U_BA_Real=ENU_BA_Real(3); + +% BAϵеķλǺ͸ +Az_BA_Real=mod(rad2deg(atan2(E_BA_Real,N_BA_Real)),360); +Alt_BA_Real=rad2deg(atan2(U_BA_Real,sqrt(E_BA_Real^2+N_BA_Real^2))); + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% ֹ״̬POS豸װ̬Ǽָ +% ֹ״̬£POS豸װϲ⵽̬ +Heading_IMUBase=63.888; +Pitch_IMUBase=-0.121; +Roll_IMUBase=-0.082; + +% POS豸װ̬ǻΪ +Heading_IMUBase_Rad=-deg2rad(Heading_IMUBase); +Pitch_IMUBase_Rad=-deg2rad(Pitch_IMUBase); +Roll_IMUBase_Rad=-deg2rad(Roll_IMUBase); + +% ɾֹ̬λõת +MR_E_IMUBase=[1 0 0;... + 0 cos(-Pitch_IMUBase_Rad) -sin(-Pitch_IMUBase_Rad);... + 0 sin(-Pitch_IMUBase_Rad) cos(-Pitch_IMUBase_Rad)]; +MR_N_IMUBase=[cos(-Roll_IMUBase_Rad) 0 -sin(-Roll_IMUBase_Rad);... + 0 1 0;... + sin(-Roll_IMUBase_Rad) 0 cos(-Roll_IMUBase_Rad)]; +MR_U_IMUBase=[cos(Heading_IMUBase_Rad) -sin(Heading_IMUBase_Rad) 0;... + sin(Heading_IMUBase_Rad) cos(Heading_IMUBase_Rad) 0;... + 0 0 1]; + +% BAϵеλ +ENU_BA_IMUBase=MR_N_IMUBase*MR_E_IMUBase*MR_U_IMUBase*ENU_BA_Real; +E_BA_IMUBase=ENU_BA_IMUBase(1); +N_BA_IMUBase=ENU_BA_IMUBase(2); +U_BA_IMUBase=ENU_BA_IMUBase(3); + +% BAϵеķλǺ͸ +Az_BA_IMUBase=mod(rad2deg(atan2(E_BA_IMUBase,N_BA_IMUBase)),360); +Alt_BA_IMUBase=rad2deg(atan2(U_BA_IMUBase,sqrt(E_BA_IMUBase^2+N_BA_IMUBase^2))); + +%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% ֹ״̬װ̬Ǽָ +% POS豸װϲ⵽̬ +Heading_OPABase=64.062; +Pitch_OPABase=-0.332; +Roll_OPABase=89.812; + +% ֹ״̬£װ淨߷Ӧ̬ +Heading_OPABaseNormal=Heading_OPABase+90; %% װǰҲ90㣬װ90 +Pitch_OPABaseNormal=Pitch_OPABase-90; +Roll_OPABaseNormal=Roll_OPABase; + +% ߷Ӧ̬ǻΪ +Heading_OPABaseNormal_Rad=deg2rad(Heading_OPABaseNormal); +PitchRad_OPABaseNormal_Rad=deg2rad(Pitch_OPABaseNormal); +RollRad_OPABaseNormal_Rad=deg2rad(Roll_OPABaseNormal); + +% ɾֹ̬λõת +MR_E_OPABaseNormal=[1 0 0;... + 0 cos(PitchRad_OPABaseNormal_Rad) -sin(PitchRad_OPABaseNormal_Rad);... + 0 sin(PitchRad_OPABaseNormal_Rad) cos(PitchRad_OPABaseNormal_Rad)]; +MR_N_OPABaseNormal=[cos(RollRad_OPABaseNormal_Rad) 0 -sin(RollRad_OPABaseNormal_Rad);... + 0 1 0;... + sin(RollRad_OPABaseNormal_Rad) 0 cos(RollRad_OPABaseNormal_Rad)]; +MR_U_OPABaseNormal=[cos(Heading_OPABaseNormal_Rad) -sin(Heading_OPABaseNormal_Rad) 0;... + sin(Heading_OPABaseNormal_Rad) cos(Heading_OPABaseNormal_Rad) 0;... + 0 0 1]; + +% BAϵеλãɶת +ENU_BA_OPABaseNormal=MR_N_OPABaseNormal*MR_E_OPABaseNormal*MR_U_OPABaseNormal*ENU_BA_IMUBase; +E_BA_OPABaseNormal=ENU_BA_OPABaseNormal(1); +N_BA_OPABaseNormal=ENU_BA_OPABaseNormal(2); +U_BA_OPABaseNormal=ENU_BA_OPABaseNormal(3); + +% BAϵеķλǺ͸ +Az_BA_OPABaseNormal=mod(rad2deg(atan2(E_BA_OPABaseNormal,N_BA_OPABaseNormal)),360); +Alt_BA_OPABaseNormal=rad2deg(atan2(U_BA_OPABaseNormal,sqrt(E_BA_OPABaseNormal^2+N_BA_OPABaseNormal^2))); + diff --git a/LTDMC.dll b/LTDMC.dll 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