大转角空间坐标转换模型的对比研究

In order to realize the spatial coordinate transformation of large angle,we must to improve the Bursa model which applies to the transformation of small angle to the seven parameters model which use Taylor series to linearize,or we can use the coordinate transformation model based on Lodrigues matrix.As an iterative model,the algorithm of the former is rigorous，but it must to be linearized when it applies to large angle,and the robustness is weak.As a non-iterative model,the latter is simplified,applies to arbitrary angle and benefits programming,but the parameters should be worked out step by step which causes the propagation of error.The paper studies the theory of two coordinate transformation model,uses experiment and engineering project of tunnel boring machine automatic guidance to compare the accuracy and robustness of two coordinate transformation model of large angle,indicates the application conditions and characteristics of them.