下面为将机器人的轨迹对应到谷歌地球上的demo，只需要将 <coordinates> 与 </coordinates>之间的经纬度坐标换成自己的经纬度坐标数据，然后将下面的内容保存的到文件中，将扩展名改为.kml，再打开google earth，将该文件拖进去，即可在上面显示对应的坐标轨迹。（有个小问题，如果大家要把下面的内容copy然后尝试一下用google earth加载，记得copy到文件之后把后面的作者，来源，版权，声明的那个去掉(⊙o⊙)）
<?xml version='1.0' encoding='UTF-8' standalone='yes' ?> <kml xmlns="http://earth.google.com/kml/2.2"> <Document> <name>X-GPS Explorer</name> <Style id="X-GPSExplorer"> <IconStyle> <Icon> <href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href> </Icon> <hotSpot x="32" y="1" xunits="pixels" yunits="pixels" /> </IconStyle> </Style> <Folder> <name>Place Mark</name> </Folder> <Placemark> <name>My Path</name> <Style> <LineStyle> <color>ff0000ff</color> <width>2</width> </LineStyle> </Style> <LineString> <coordinates> 114.3550997,30.53966355 114.3551003,30.53966349 114.3551008,30.53966342 114.3551014,30.53966335 114.3551019,30.53966328 114.3551025,30.53966317 114.3551031,30.53966305 114.3551037,30.53966294 114.3551043,30.53966283 114.3551049,30.53966272 114.3551055,30.5396626 114.3551061,30.53966249 114.3551067,30.53966237 114.3551073,30.53966225 114.3551079,30.53966215 114.3551085,30.53966202 114.3551091,30.53966189 114.3551096,30.53966176 114.3551102,30.53966165 114.3551107,30.53966154 114.3551113,30.53966145 114.3551119,30.53966137 114.3551124,30.53966129 114.355113,30.53966123 114.3551136,30.53966116 114.3551143,30.53966103 114.355115,30.53966089 114.3551157,30.53966076 114.3551164,30.53966063 114.355117,30.5396605 114.3551177,30.53966037 114.3551184,30.53966025 114.3551191,30.53966013 114.3551198,30.53966002 114.3551205,30.5396599 114.3551211,30.53965986 114.3551217,30.53965985 114.3551224,30.53965983 114.355123,30.53965981 114.3551236,30.53965978 114.3551242,30.53965974 114.3551248,30.53965971 114.3551255,30.53965965 114.3551261,30.53965959 114.3551267,30.53965952 114.3551273,30.5396595 114.3551278,30.53965947 114.3551284,30.53965944 114.3551289,30.53965941 114.3551294,30.53965938 114.35513,30.53965935 </coordinates> </LineString> </Placemark> </Document> </kml>再分享个将经纬度坐标与xy坐标相互转换的两个头文件，我忘记在哪儿找到的了，现贴在下面，免得自已有需要的时候又找不到了，就酱。然后下面两个代码我挂到llandxy.zip上面去卖积分了，大佬们如果觉得这两个代码对你很有帮助，而你的积分又有很多的话，帮忙去那里面下，赏我两个积分^_^。 “convert_coordinates.hpp”
// Author: Andreas Geiger <geiger@kit.edu> #if !defined(CONVERT_COORDINATES_HPP) #define CONVERT_COORDINATES_HPP #define M_PI 3.141593 #include <cmath> /*! * \file convert_coordinates.hpp * * \brief provides functions to convert global lat/long into local cartesian x/y coordinates * * the following functions map lat/long coordinates to the euclidean mercator coordinate system mx/my * lat/long are always specified in degrees (DEG) * mx is the distance from the central meridian towards EAST * my is the distance from the equator towards NORTH * mercator cordinates mx/my correspond to metric coordinates x/y ONLY at the equator (scale=1) * at other latitudes a scale factor can be used to get metric relations * for more details see GCDC/docs/coordinate_systems.pdf * \note that in GCDC x is towards NORTH, y towards WEST!!! */ namespace convert_coordinates { const double EARTH_RADIUS_EQUA = 6378137.0;// earth radius at equator [m] // inlined functions to avoid multiple definitions /*! \brief convert latitude to scale, which is needed by mercator transformations * \param lat latitude in degrees (DEG) * \return scale factor * \note when converting from lat/lon -> mercator and back again, * or vice versa, use the same scale in both transformations! */ inline double lat_to_scale (double lat) { return cos(lat * M_PI / 180.0); } /*! \brief converts lat/lon/scale to mx/my (mx/my in meters if correct scale is given) */ template<class float_type> inline void latlon_to_mercator (double lat, double lon, double scale, float_type &mx, float_type &my) { mx = scale * lon * M_PI * EARTH_RADIUS_EQUA / 180.0; my = scale * EARTH_RADIUS_EQUA * log( tan((90.0+lat) * M_PI / 360.0) ); } /*! \brief convenience function, uses lat0 to calculate appropriate scale */ inline void latlon_to_scaled_mercator (double lat, double lon, double lat0, double &mx, double &my) { double scale = lat_to_scale( lat0 ); mx = scale * lon * M_PI * EARTH_RADIUS_EQUA / 180.0; my = scale * EARTH_RADIUS_EQUA * log( tan((90.0+lat) * M_PI / 360.0) ); } /*! \brief converts mx/my/scale to lat/lon (mx/my in meters if correct scale is given) */ inline void mercator_to_latlon (double mx, double my, double scale, double &lat, double &lon) { lon = mx * 180.0 / (M_PI * EARTH_RADIUS_EQUA * scale); lat = 360.0 * atan( exp(my/(EARTH_RADIUS_EQUA * scale)) ) / M_PI - 90.0; } /*! \brief convenience function, uses lat0 to calculate appropriate scale */ inline void scaled_mercator_to_latlon (double mx, double my, double lat0, double &lat, double &lon) { double scale = lat_to_scale( lat0 ); lon = mx * 180.0 / (M_PI * EARTH_RADIUS_EQUA * scale); lat = 360.0 * atan( exp(my/(EARTH_RADIUS_EQUA * scale)) ) / M_PI - 90.0; } /*! \brief adds meters dx/dy to given lat/lon and returns new lat/lon */ inline void latlon_add_meters (double lat_start, double lon_start, double dx, double dy, double &lat_end, double &lon_end) { double scale = lat_to_scale (lat_start); double mx,my; latlon_to_mercator (lat_start, lon_start, scale, mx, my); mx += dx; my += dy; mercator_to_latlon (mx, my, scale, lat_end, lon_end); } /*! \brief given two lat/lon coordinates, returns their difference in meters dx/dy */ inline void latlon_diff_to_meters (double lat_start, double lon_start, double lat_end, double lon_end, double &dx, double &dy) { double scale = lat_to_scale (lat_start); double mx1,my1, mx2, my2; latlon_to_mercator (lat_start, lon_start, scale, mx1, my1); latlon_to_mercator (lat_end, lon_end, scale, mx2, my2); dx = mx2-mx1; dy = my2-my1; } }; #endif“LocalGeographicCS.hpp”
// File: LocalGeographicCS.hpp // Creation Date: Tuesday, March 6 2012 // Author: Julius Ziegler <ziegler@mrt.uka.de> #if !defined(LOCALGEOGRAPHICCS_HPP) #define LOCALGEOGRAPHICCS_HPP #include "convert_coordinates.hpp" #include <utility> struct LocalGeographicCS { LocalGeographicCS(); LocalGeographicCS( double lat0, double lon0 ); void set_origin( double lat0, double lon0 ); void ll2xy( double lat, double lon, double& x, double& y ) const; void xy2ll( double x, double y, double& lat, double& lon ) const; std::pair<double, double> ll2xy( double lat, double lon ) const; std::pair<double, double> xy2ll( double x, double y ) const; // operate on containers template<class ItIn, class ItOut> void ll2xy( const ItIn& lat_begin, const ItIn& lat_end, const ItIn& lon_begin, const ItOut& x_begin, const ItOut& y_begin ) const; template<class ItIn, class ItOut> void xy2ll( const ItIn& x_begin, const ItIn& x_end, const ItIn& y_begin, const ItOut& lat_begin, const ItOut& lon_begin ) const; //get coords double get_coordx(); double get_coordy(); private: double _scale; double _x0, _y0; }; inline double LocalGeographicCS::get_coordx() { return _x0; } inline double LocalGeographicCS::get_coordy() { return _y0; } inline LocalGeographicCS::LocalGeographicCS( double lat0, double lon0 ) { set_origin( lat0, lon0 ); } inline LocalGeographicCS::LocalGeographicCS() {} inline void LocalGeographicCS::set_origin( double lat0, double lon0 ) { _scale = convert_coordinates::lat_to_scale( lat0 ); convert_coordinates::latlon_to_mercator( lat0, lon0, _scale, _x0, _y0 ); } inline void LocalGeographicCS::ll2xy( double lat, double lon, double& x, double& y ) const { convert_coordinates::latlon_to_mercator( lat, lon, _scale, x, y ); // printf("&&&&&&&&&&&& %.6f %.6f\n", _x0, _y0); x -= _x0; y -= _y0; } inline std::pair<double, double> LocalGeographicCS::ll2xy( double lat, double lon ) const { double x, y; ll2xy( lat, lon, x, y ); return std::make_pair( x, y ); } inline void LocalGeographicCS::xy2ll( double x, double y, double& lat, double& lon ) const { x += _x0; y += _y0; convert_coordinates::mercator_to_latlon( x, y, _scale, lat, lon ); } inline std::pair<double, double> LocalGeographicCS::xy2ll( double x, double y ) const { double lat, lon; xy2ll( x, y, lat, lon ); return std::make_pair( lat, lon ); } // operate on containers template<class ItIn, class ItOut> void LocalGeographicCS::ll2xy( const ItIn& lat_begin, const ItIn& lat_end, const ItIn& lon_begin, const ItOut& x_begin, const ItOut& y_begin ) const { ItIn lat = lat_begin; ItIn lon = lon_begin; ItOut x = x_begin; ItOut y = y_begin; for( ; lat != lat_end; lat++, lon++, x++, y++ ) { ll2xy( *lat, *lon, *x, *y ); } } template<class ItIn, class ItOut> void LocalGeographicCS::xy2ll( const ItIn& x_begin, const ItIn& x_end, const ItIn& y_begin, const ItOut& lat_begin, const ItOut& lon_begin ) const { ItIn x = x_begin; ItIn y = y_begin; ItOut lat = lat_begin; ItOut lon = lon_begin; for( ; x != x_end; lat++, lon++, x++, y++ ) xy2ll( *x, *y, *lat, *lon ); } #endif