基于左逆的三点法MATLAB程序

不一定能用，可以借鉴，在锚点数量极少的时候，右拟无法使用，可以使用这个左逆（当然，直接用pinv也行）

function [p_out] = triposition(R_calcu,baseP)
% p = [5,5;10,9;15,12;20,22;25,3]; %real location
baseX_ = baseP(:,1);
baseY_ = baseP(:,2);
baseZ_ = baseP(:,3);
H = [baseX_(2)-baseX_(1),baseY_(2)-baseY_(1),baseZ_(2)-baseZ_(1);baseX_(3)-baseX_(1),baseY_(3)-baseY_(1),baseZ_(3)-baseZ_(1)];for i=1% HX=aa = 0.5*[baseX_(2).^2+baseY_(2).^2+baseZ_(2).^2-R_calcu(i,2).^2-baseX_(1).^2-baseY_(1).^2-baseZ_(1).^2+R_calcu(i,1).^2;baseX_(3).^2+baseY_(3).^2+baseZ_(3).^2-R_calcu(i,3).^2-baseX_(1).^2-baseY_(1).^2-baseZ_(1).^2+R_calcu(i,1).^2];p_out(i,:) = (H'*H)^(-1)*H'*a; %左逆求法end
end