WGS84经纬度坐标转化成UTM坐标 1 利用geodesy功能包实现转化2 利用GeographicLib功能包实现转化
在无人驾驶或者机器人领域，经常会涉及到WGS 84 经纬度坐标与UTM坐标之间的转换，本文总结了两种方式来实现两者的转化。
1 利用geodesy功能包实现转化
头文件：
#ifndef WGS2UTM_H#define WGS2UTM_H#include <iostream>#include <fstream>#include <vector>#include <Eigen/Geometry>#include <GeographicLib/UTMUPS.hpp>#include <geographic_msgs/GeoPointStamped.h>#include <geodesy/utm.h>#include <ros/ros.h>using namespace std;class WGS2UTM{ public: /** * @brief 构造函数 */ WGS2UTM(); /** * @brief 获取选取原点的经纬度lla坐标 * @return 所选取原点的经纬度lla坐标 */ inline Eigen::Vector3d get_origin_lla() { return origin_LLA_; } /** * @brief 获取选取原点的经纬度utm坐标 * @return 所选取原点的经纬度utm坐标 */ inline Eigen::Vector3d get_origin_tum() { return origin_UTM_; } /***********************************************************/ /***********************************************************/ /*****利用geodesy功能包实现WGS84经纬度坐标转化成UTM坐标*****/ /***********************************************************/ /***********************************************************/ /** * @brief 把选取的原点的经纬度lla坐标转化为东北天utm坐标 * @param origin_LLA 输入--原点经纬度lla坐标 */ void set_origin_1(Eigen::Vector3d origin_LLA); /** * @brief 把经纬度lla坐标转化为东北天utm坐标 * @param LLA 输入--lla坐标 * @param UTM 输出--utm坐标 */ void LLA2UTM_1(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM); /** * @brief 把经纬度lla坐标转化为相对于所选取原点的东北天utm坐标 * @param LLA 输入--lla坐标 * @param UTM 输出--utm坐标 */ void LLA2UTM_origin_1(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM_origin);private: Eigen::Vector3d origin_LLA_; Eigen::Vector3d origin_UTM_; double torad = M_PI / 180;};#endif //WGS2UTM_H源文件：
#include "convert_wgs2utm/wgs2utm.h"WGS2UTM::WGS2UTM() {}void WGS2UTM::set_origin_1(Eigen::Vector3d origin_LLA) { origin_LLA_ = origin_LLA; LLA2UTM_1(origin_LLA_, origin_UTM_);}void WGS2UTM::LLA2UTM_1(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM){ geographic_msgs::GeoPointStampedPtr gps_msg(new geographic_msgs::GeoPointStamped()); gps_msg->position.latitude = LLA[0]; gps_msg->position.longitude = LLA[1]; gps_msg->position.altitude = LLA[2]; geodesy::UTMPoint utm_point; geodesy::fromMsg(gps_msg->position, utm_point); UTM[0] = utm_point.easting; UTM[1] = utm_point.northing; UTM[2] = utm_point.altitude;}void WGS2UTM::LLA2UTM_origin_1(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM_origin){ //经纬度转换为UTM投影 Eigen::Vector3d UTM; LLA2UTM_1(LLA, UTM); //UTM2ENU, UTM投影平移至东北天坐标系, 东北天坐标系原点为第一个采样点 UTM_origin = UTM - origin_UTM_;}测试案例：
#include <iostream>#include "convert_wgs2utm/wgs2utm.h"using namespace std;int main(){ WGS2UTM wgs2utm; Eigen::Vector3d origin_LLA; Eigen::Vector3d origin_UTM; origin_LLA[0] = 30.9543508; origin_LLA[1] = 121.4795984; origin_LLA[2] = 17.0970000; wgs2utm.set_origin_1(origin_LLA); origin_UTM = wgs2utm.get_origin_tum(); cout << "origin_UTM: (" << origin_UTM[0] << ", " << origin_UTM[1] << ", " << origin_UTM[2] << ")" << endl; cout << "******************************" << endl; Eigen::Vector3d P_LLA; // 任意一点的经纬度坐标 Eigen::Vector3d P_UTM; // 该点相对于所选取原点的utm坐标 P_LLA[0] = 30.9543508; P_LLA[1] = 121.4755984; P_LLA[2] = 17.0970000; wgs2utm.LLA2UTM_origin_1(P_LLA, P_UTM); cout << "P_UTM: (" << P_UTM[0] << ", " << P_UTM[1] << ", " << P_UTM[2] << ")" << endl; cout << "******************************" << endl;} 输出结果如下：
头文件：
#ifndef WGS2UTM_H#define WGS2UTM_H#include <iostream>#include <fstream>#include <vector>#include <Eigen/Geometry>#include <GeographicLib/UTMUPS.hpp>#include <geographic_msgs/GeoPointStamped.h>#include <geodesy/utm.h>#include <ros/ros.h>using namespace std;class WGS2UTM{ public: /** * @brief 构造函数 */ WGS2UTM(); /** * @brief 获取选取原点的经纬度lla坐标 * @return 所选取原点的经纬度lla坐标 */ inline Eigen::Vector3d get_origin_lla() { return origin_LLA_; } /** * @brief 获取选取原点的经纬度utm坐标 * @return 所选取原点的经纬度utm坐标 */ inline Eigen::Vector3d get_origin_tum() { return origin_UTM_; } /***********************************************************/ /***********************************************************/ /**利用GeographicLib功能包实现WGS84经纬度坐标转化成UTM坐标**/ /***********************************************************/ /***********************************************************/ /** * @brief 把选取的原点的经纬度lla坐标转化为东北天utm坐标 * @param origin_LLA 输入--原点经纬度lla坐标 */ void set_origin_2(Eigen::Vector3d origin_LLA); /** * @brief 把经纬度lla坐标转化为东北天utm坐标 * @param LLA 输入--lla坐标 * @param UTM 输出--utm坐标 */ void LLA2UTM_2(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM); /** * @brief 把经纬度lla坐标转化为相对于所选取原点的东北天utm坐标 * @param LLA 输入--lla坐标 * @param UTM 输出--utm坐标 */ void LLA2UTM_origin_2(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM_origin);private: Eigen::Vector3d origin_LLA_; Eigen::Vector3d origin_UTM_; double torad = M_PI / 180;};#endif //WGS2UTM_H源文件：
void WGS2UTM::set_origin_2(Eigen::Vector3d origin_LLA) { origin_LLA_ = origin_LLA; LLA2UTM_2(origin_LLA_, origin_UTM_);}void WGS2UTM::LLA2UTM_2(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM){ GeographicLib::Math::real lat = LLA[0]; GeographicLib::Math::real lon = LLA[1]; GeographicLib::Math::real alt = LLA[2]; int UTMZone; bool isNorth; GeographicLib::UTMUPS::Forward(lat, lon, UTMZone, isNorth, UTM[0], UTM[1]); UTM[2] = LLA[2];}void WGS2UTM::LLA2UTM_origin_2(const Eigen::Vector3d& LLA, Eigen::Vector3d& UTM_origin){ //经纬度转换为UTM投影 Eigen::Vector3d UTM; LLA2UTM_2(LLA, UTM); //UTM2ENU, UTM投影平移至东北天坐标系, 东北天坐标系原点为第一个采样点 UTM_origin = UTM - origin_UTM_;}测试案例：
#include <iostream>#include "convert_wgs2utm/wgs2utm.h"using namespace std;int main(){ WGS2UTM wgs2utm; Eigen::Vector3d origin_LLA; Eigen::Vector3d origin_UTM; origin_LLA[0] = 30.9543508; origin_LLA[1] = 121.4795984; origin_LLA[2] = 17.0970000; wgs2utm.set_origin_2(origin_LLA); origin_UTM = wgs2utm.get_origin_tum(); cout << "origin_UTM: (" << origin_UTM[0] << ", " << origin_UTM[1] << ", " << origin_UTM[2] << ")" << endl; cout << "******************************" << endl; Eigen::Vector3d P_LLA; // 任意一点的经纬度坐标 Eigen::Vector3d P_UTM; // 该点相对于所选取原点的utm坐标 P_LLA[0] = 30.9543508; P_LLA[1] = 121.4755984; P_LLA[2] = 17.0970000; wgs2utm.LLA2UTM_origin_2(P_LLA, P_UTM); cout << "P_UTM: (" << P_UTM[0] << ", " << P_UTM[1] << ", " << P_UTM[2] << ")" << endl; cout << "******************************" << endl;}