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，查找到两个转换的代码，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);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 = Math.toRadians(lat);double phi = Math.toRadians(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 = Math.cos(lamb);double sin_phi = Math.sin(phi);double cos_phi = Math.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;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 = Math.toRadians(lat);double phi = Math.toRadians(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 = Math.cos(lamb);double sin_phi = Math.sin(phi);double cos_phi = Math.cos(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"121.94408167double[] 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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大地坐标系到站心坐标系（ENU）坐标转换（提供QT和JAVA源码）

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