任意旋转角坐标转换的简便模型

simple and convenient model of coordinate transformation can be used for any rotation angle is proposed in this paper. First the coordinates of each points in both coordinate systems is centralized to their barycenters. Then, the transformation matrix can be calculated using these centralized coordinates. In both a simulated example and an engineering one, the method proposed in this paper is used, and transformation results is analyzed and compared, for the purpose of illumination of application process and effectiveness of this method. Apply the method in attitude control of subway tunnel shield, satisfactory results can be obtained.