android gps 火星坐标,GPS真实坐标与火星地图坐标/百度地图坐标的转换
#include
#include
#include
static const uint32_t GPSBaud = 9600;
TinyGPSPlus gps;
HardwareSerial ss(2);
double pi = 3.14159265358979324; //圆周率
double ee = 0.00669342162296594323; //椭球的偏心率
double a = 6378245.0; //卫星椭球坐标投影到平面地图坐标系的投影因子
double x_pi = 3.14159265358979324 * 3000.0 / 180.0; //圆周率转换量
double Lat;
double Lon;
// 求弧度
double radian(double d)
{
return d * pi / 180.0; //角度1? = π / 180
}
double transformLat(double lat, double lon) //纬度转化
{
double ret = -100.0 + 2.0 * lat + 3.0 * lon + 0.2 * lon * lon + 0.1 * lat * lon + 0.2 * sqrt(abs(lat));
ret += (20.0 * sin(6.0 * lat * pi) + 20.0 * sin(2.0 * lat * pi)) * 2.0 / 3.0;
ret += (20.0 * sin(lon * pi) + 40.0 * sin(lon / 3.0 * pi)) * 2.0 / 3.0;
ret += (160.0 * sin(lon / 12.0 * pi) + 320 * sin(lon * pi / 30.0)) * 2.0 / 3.0;
return ret;
}
double transformLon(double lat,double lon) //经度转化
{
double ret = 300.0 + lat + 2.0 * lon + 0.1 * lat * lat + 0.1 * lat * lon + 0.1 * sqrt(abs(lat));
ret += (20.0 * sin(6.0 * lat * pi) + 20.0 * sin(2.0 * lat * pi)) * 2.0 / 3.0;
ret += (20.0 * sin(lat * pi) + 40.0 * sin(lat / 3.0 * pi)) * 2.0 / 3.0;
ret += (150.0 * sin(lat / 12.0 * pi) + 300.0 * sin(lat / 30.0 * pi)) * 2.0 / 3.0;
return ret;
}
/*****************************************************************************
* WGS84(GPS坐标系) to 火星坐标系(GCJ-02)
*
* @param lat
* @param lon
* @return
****************************************************************************/
void GPS84_To_GCJ02(double WGS84_Lat, double WGS84_Lon,double * GCJ02_Lat, double * GCJ02_Lon)
{
double dLat;
double dLon;
double radLat;
double magic;
double sqrtMagic;
dLat = transformLat(WGS84_Lon - 105.0, WGS84_Lat - 35.0);
dLon = transformLon(WGS84_Lon - 105.0, WGS84_Lat - 35.0);
radLat = WGS84_Lat / 180.0 * pi;
magic = sin(radLat);
magic = 1 - ee * magic * magic;
sqrtMagic = sqrt(magic);
dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi);
*GCJ02_Lat = WGS84_Lat + dLat; //GCJ02_Lat是百度纬度存储变量的地址 *GCJ02_Lat就是那个值
*GCJ02_Lon = WGS84_Lon + dLon; //GCJ02_Lon是百度经度存储变量的地址 *GCJ02_Lon
}
/*****************************************
* 火星坐标系 (GCJ-02) 与百度坐标系 (BD-09) 的转换算法 将 GCJ-02 坐标转换成 BD-09 坐标
*
* @param gg_lat
* @param gg_lon
*****************************************/
//传入的参数 GCJ02_To_BD09(*BD09_Lat,*BD09_Lon,BD09_Lat,BD09_Lon);
//(*BD09_Lat,*BD09_Lon)火星坐标,(BD09_Lat,BD09_Lon)是变量的地址
void GCJ02_To_BD09(double GCJ02_Lat,double GCJ02_Lon,double * BD_09_Lat,double * BD_09_Lon)
{
double x = GCJ02_Lon, y = GCJ02_Lat;
double z= sqrt(x * x + y * y) + 0.00002 * sin(y * x_pi);
double theta =atan2(y, x) + 0.000003 * cos(x * x_pi);
*BD_09_Lon = z * cos(theta) + 0.0065;
*BD_09_Lat = z * sin(theta) + 0.006;
}
/*************************************************************
函数名称：GPS_transformation(double WGS84_Lat, double WGS84_Lon,double * BD_09_Lat, double * BD_09_Lon)
函数功能：GPS坐标转百度地图坐标
输入参数：WGS84_Lat,WGS84_Lon GPS获取到真实经纬度 储存得到的百度经纬度变量的地址 BD_09_Lat,BD_09_Lon指向那个变量
输出参数：
*************************************************************/
void GPS_transformation(double WGS84_Lat,double WGS84_Lon,double * BD_09_Lat,double * BD_09_Lon)
{
GPS84_To_GCJ02(WGS84_Lat,WGS84_Lon,BD_09_Lat,BD_09_Lon); //GPS坐标转火星坐标
GCJ02_To_BD09(*BD_09_Lat,*BD_09_Lon,BD_09_Lat,BD_09_Lon); //火星坐标转百度坐标
}
/*************************************************************
函数名称：double GetDistance(double lat1, double lng1, double lat2, double lng2)
函数功能：返回两个点之间的距离
输入参数：两个点的经纬度(角度)
输出参数：距离(单位：km)
*************************************************************/
double Cal_Distance(double lat1, double lng1, double lat2, double lng2)
{
double EARTH_RADIUS = 6378.137; //地球近似半径
double radLat1 = radian(lat1);
double radLat2 = radian(lat2);
double a = radLat1 - radLat2;
double b = radian(lng1) - radian(lng2);
double dst = 2 * asin((sqrt(pow(sin(a / 2), 2) + cos(radLat1) * cos(radLat2) * pow(sin(b / 2), 2) ))); //asin()反正弦值函数
dst = dst * EARTH_RADIUS;
dst= (uint32_t)(dst * 10000.0) / 10000.0;//舍弃小数点后4位的数
return dst;
}
static void smartDelay(unsigned long ms)
{
unsigned long start = millis();
do
{
while (ss.available())
gps.encode(ss.read());
} while (millis() - start < ms);
}
void setup() {
M5.begin();
ss.begin(GPSBaud);
}
void loop() {
M5.Lcd.setCursor(0, 0, 2);
M5.Lcd.printf("%16.12f\n", gps.location.lat());
M5.Lcd.printf("%16.12f\n", gps.location.lng());
GPS_transformation(gps.location.lat(),gps.location.lng(), &Lat, &Lon);
M5.Lcd.printf("%16.12f\n",Lat);
M5.Lcd.printf("%16.12f\n",Lon);
smartDelay(2000);
//M5.Lcd.clear();
}