ax=b.asv

Matlab张氏标定法

x1=[]
Npts = length(x1);
    A = zeros(3*Npts,9);
    
    O = [0 0 0];
    for n = 1:Npts
	X = x1(:,n)';%定义 
	x = x2(1,n); y = x2(2,n); w = x2(3,n);
	A(3*n-2,:) = [  O  -w*X  y*X];
	A(3*n-1,:) = [ w*X   O  -x*X];
	A(3*n  ,:) = [-y*X  x*X   O ]
    end