{"id":103,"date":"2024-05-07T12:05:58","date_gmt":"2024-05-07T04:05:58","guid":{"rendered":"https:\/\/blog.superfyx.top\/?p=103"},"modified":"2024-05-07T12:05:58","modified_gmt":"2024-05-07T04:05:58","slug":"gps%e5%9d%90%e6%a0%87%e5%a4%b9%e8%a7%92%e8%ae%a1%e7%ae%97","status":"publish","type":"post","link":"https:\/\/blog.superfyx.top\/?p=103","title":{"rendered":"GPS\u5750\u6807\u5939\u89d2\u8ba1\u7b97"},"content":{"rendered":"\n

\u5e38\u98de\u65e0\u4eba\u673a\u7684\u9700\u6c42\u91cc\u6709\u65f6\u5019\u4f1a\u6709\u4e00\u4e2a\u9700\u6c42\uff0c\u77e5\u9053\u65e0\u4eba\u673a\u5f53\u524d\u5750\u6807\u70b9\uff0c\u77e5\u9053\u4e00\u4e2a\u5174\u8da3\u70b9\uff0c\u60f3\u8981\u98de\u673a\u5728\u98de\u884c\u8fc7\u7a0b\u4e2d\u59cb\u7ec8\u671d\u5411\u5174\u8da3\u70b9\uff0c\u5f53\u7136\u5927\u7586\u7684waypoint\u91cc\u81ea\u5e26\u6dfb\u52a0\u5174\u8da3\u70b9\uff0c\u4f46\u662f\u6211\u4eec\u6709\u65f6\u5019\u4e0d\u6267\u884c\u822a\u7ebf\uff0c\u53ea\u6267\u884c\u4e00\u4e2a\u65cb\u8f6c\uff0c\u90a3\u4e48\u8fd9\u4e2a\u65cb\u8f6c\u89d2\u5ea6\u5c31\u9700\u8981\u81ea\u5df1\u8ba1\u7b97\u4e86\u3002<\/p>\n\n\n\n

\u4e00\u3001\u8ba1\u7b97\u539f\u7406\uff1a\uff08\u60f3\u8981\u65b9\u6cd5\u76f4\u63a5\u770b\u7b2c\u4e8c\u4e2a\uff09<\/strong><\/p>\n\n\n\n

\u8981\u8ba1\u7b97\u65e0\u4eba\u673a\u4ece\u5f53\u524d\u4f4d\u7f6e\u8c03\u6574\u673a\u5934\u6307\u5411\u7279\u5b9a\u76ee\u6807\u70b9\u7684\u89d2\u5ea6\uff0c\u4f60\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u65b9\u6cd5\u6765\u8ba1\u7b97\u4e24\u70b9\u95f4\u7684\u65b9\u4f4d\u89d2\u3002\u8fd9\u91cc\u63d0\u4f9b\u4e86\u4e00\u4e2a\u57fa\u4e8e\u5730\u7403\u5750\u6807\u7cfb\uff08\u7ecf\u7eac\u5ea6\uff09\u7684\u7b80\u5355\u7b97\u6cd5\uff1a
1\u3001\u5b9a\u4e49\u5750\u6807\u70b9\uff1a\u5047\u8bbe\u4f60\u6709\u65e0\u4eba\u673a\u5f53\u524d\u7684GPS\u5750\u6807\uff08\u7eac\u5ea61, \u7ecf\u5ea61\uff09\u548c\u76ee\u6807\u70b9\u7684GPS \u5750\u6807\uff08\u7eac\u5ea62, \u7ecf\u5ea62\uff09\u3002
2\u3001\u8ba1\u7b97\u7ecf\u7eac\u5ea6\u5dee\u5f02\uff1a\u8ba1\u7b97\u4e24\u70b9\u95f4\u7684\u7ecf\u5ea6\u5dee\u548c\u7eac\u5ea6\u5dee\u3002
\u0394\u7ecf\u5ea6 = \u7ecf\u5ea62 – \u7ecf\u5ea61
\u0394\u7eac\u5ea6 = \u7eac\u5ea62 – \u7eac\u5ea61
3\u3001\u8ba1\u7b97\u65b9\u4f4d\u89d2\uff1a\u4f7f\u7528\u4ee5\u4e0b\u516c\u5f0f\u8ba1\u7b97\u65b9\u4f4d\u89d2\uff08\u4ee5\u5f27\u5ea6\u8868\u793a\uff09\uff1a
\u03b8=arctan2(\u0394\u7ecf\u5ea6,\u0394\u7eac\u5ea6)
\u8fd9\u91cc\u4f7f\u7528\u7684 arctan\u20612arctan2 \u51fd\u6570\u80fd\u591f\u6839\u636e\u7ecf\u5ea6\u5dee\u548c\u7eac\u5ea6\u5dee\u7684\u7b26\u53f7\u8fd4\u56de\u6b63\u786e\u7684\u89d2\u5ea6\uff08\u4ece\u5317\u65b9\u5411\u987a\u65f6\u9488\u6d4b\u91cf\uff09\uff0c\u5176\u503c\u57df\u4e3a [\u2212\u03c0,\u03c0]\u3002
4\u3001\u8f6c\u6362\u89d2\u5ea6\u4e3a\u5ea6\uff1a
\u89d2\u5ea6=\u03b8\u00d7(\u03c0180\u200b)
\u5982\u679c\u9700\u8981\u89d2\u5ea6\u503c\u5728 00 \u81f3 360360 \u5ea6\u4e4b\u95f4\uff0c\u53ef\u4ee5\u6309\u9700\u8c03\u6574\uff1a
\u89d2\u5ea6=(\u89d2\u5ea6+360)%360
5\u3001\u8c03\u6574\u65e0\u4eba\u673a\u673a\u5934\u671d\u5411\uff1a\u6839\u636e\u8ba1\u7b97\u51fa\u7684\u89d2\u5ea6\u8c03\u6574\u65e0\u4eba\u673a\u673a\u5934\u671d\u5411\u3002\u5982\u679c\u4f60\u6709\u65e0\u4eba\u673a\u7684\u5f53\u524d\u671d\u5411\uff0c\u4f60\u8fd8\u9700\u8981\u8ba1\u7b97\u4ece\u5f53\u524d\u671d\u5411\u8f6c\u5411\u76ee\u6807\u671d\u5411\u9700\u8981\u65cb\u8f6c\u7684\u89d2\u5ea6\u3002
\u8fd9\u662f\u4e00\u4e2a\u7406\u8bba\u4e0a\u7684\u8ba1\u7b97\uff0c\u5b9e\u9645\u5e94\u7528\u4e2d\u53ef\u80fd\u9700\u8981\u8003\u8651\u5176\u4ed6\u56e0\u7d20\uff0c\u4f8b\u5982\u5730\u5f62\u3001\u65e0\u4eba\u673a\u7684\u98de\u884c\u6027\u80fd\u7b49\u3002<\/p>\n\n\n\n

\u4e8c\u3001\u5b9e\u73b0\u65b9\u6cd5\uff08\u8fd9\u91cc\u4ee5\u98de\u673a\u5750\u6807\u70b9\u4e3a\u539f\u70b9\uff0c\u6b63\u5317\u4e3a0\u5ea6\uff09<\/strong><\/p>\n\n\n\n

public class DroneNavigation {\n\n    \/**\n     * \u8ba1\u7b97\u4ece\u65e0\u4eba\u673a\u5f53\u524d\u4f4d\u7f6e\u5230\u76ee\u6807\u4f4d\u7f6e\u7684\u671d\u5411\u89d2\u5ea6\u3002\n     *\n     * @param lat1 \u65e0\u4eba\u673a\u5f53\u524d\u4f4d\u7f6e\u7eac\u5ea6\n     * @param lon1 \u65e0\u4eba\u673a\u5f53\u524d\u4f4d\u7f6e\u7ecf\u5ea6\n     * @param lat2 \u76ee\u6807\u4f4d\u7f6e\u7eac\u5ea6\n     * @param lon2 \u76ee\u6807\u4f4d\u7f6e\u7ecf\u5ea6\n     * @return \u4ece\u6b63\u5317\u65b9\u5411\u987a\u65f6\u9488\u5230\u76ee\u6807\u65b9\u5411\u7684\u89d2\u5ea6\n     *\/\n    public static double calculateBearing(double lat1, double lon1, double lat2, double lon2) {\n        \/\/ \u5c06\u89d2\u5ea6\u8f6c\u6362\u4e3a\u5f27\u5ea6\n        double latitude1 = Math.toRadians(lat1);\n        double longitude1 = Math.toRadians(lon1);\n        double latitude2 = Math.toRadians(lat2);\n        double longitude2 = Math.toRadians(lon2);\n\n        \/\/ \u8ba1\u7b97\u7ecf\u5ea6\u5dee\n        double deltaLongitude = longitude2 - longitude1;\n\n        \/\/ \u8ba1\u7b97X, Y\u7ec4\u4ef6\n        double y = Math.sin(deltaLongitude) * Math.cos(latitude2);\n        double x = Math.cos(latitude1) * Math.sin(latitude2) - Math.sin(latitude1) * Math.cos(latitude2) * Math.cos(deltaLongitude);\n\n        \/\/ \u8ba1\u7b97\u521d\u59cb\u65b9\u4f4d\u89d2\n        double bearingRadians = Math.atan2(y, x);\n\n        \/\/ \u5c06\u5f27\u5ea6\u8f6c\u6362\u4e3a\u89d2\u5ea6\n        double bearingDegrees = Math.toDegrees(bearingRadians);\n\n        \/\/ \u786e\u4fdd\u89d2\u5ea6\u4e3a\u6b63\u6570\n        double bearing = (bearingDegrees + 360) % 360;\n\n        return bearing;\n    }\n\n    public static void main(String[] args) {\n        \/\/ \u793a\u4f8b\u5750\u6807\n        double lat1 = 39.90921; \/\/ \u65e0\u4eba\u673a\u5f53\u524d\u7eac\u5ea6\n        double lon1 = 116.397434; \/\/ \u65e0\u4eba\u673a\u5f53\u524d\u7ecf\u5ea6\n        double lat2 = 39.910247; \/\/ \u76ee\u6807\u7eac\u5ea6\n        double lon2 = 116.398094; \/\/ \u76ee\u6807\u7ecf\u5ea6\n\n        double bearing = calculateBearing(lat1, lon1, lat2, lon2);\n        System.out.println(\"\u65e0\u4eba\u673a\u9700\u8981\u65cb\u8f6c\u7684\u89d2\u5ea6: \" + bearing + \"\u5ea6\");\n    }\n}<\/code><\/pre>\n\n\n\n
\u4e0a\u9762\u7528\u5750\u6807\u62fe\u53d6\u5668\uff0c\u91c7\u96c6\u4e86\u51e0\u4e2a\u70b9\u6d4b\u8bd5\u540e\uff0c\u7cbe\u5ea6\u633a\u4e0d\u9519\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
\u5e38\u98de\u65e0\u4eba\u673a\u7684\u9700\u6c42\u91cc\u6709\u65f6\u5019\u4f1a\u6709\u4e00\u4e2a\u9700\u6c42\uff0c\u77e5\u9053\u65e0\u4eba\u673a\u5f53\u524d\u5750\u6807\u70b9\uff0c\u77e5\u9053\u4e00\u4e2a\u5174\u8da3\u70b9\uff0c\u60f3\u8981\u98de\u673a\u5728\u98de\u884c\u8fc7\u7a0b\u4e2d\u59cb\u7ec8\u671d\u5411\u5174\u8da3\u70b9 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=\/wp\/v2\/posts\/103"}],"collection":[{"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=103"}],"version-history":[{"count":1,"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=\/wp\/v2\/posts\/103\/revisions"}],"predecessor-version":[{"id":104,"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=\/wp\/v2\/posts\/103\/revisions\/104"}],"wp:attachment":[{"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=103"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=103"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.superfyx.top\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=103"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}