这是因为预计坐标系统有一个Y轴是相反的像素坐标系。
This is because projected coordinate systems have a Y-axis which is the opposite of pixel coordinate systems.
详细推导了机器人平面手眼视觉系统变换关系，完成了从视觉平面坐标系到机器人参考坐标系的坐标变换。
The robot plane eye-in-hand visual system transformation is deduced in detail and the coordinate transformation is achieved from the visual plane to the robot reference coordinate system.
手持GPS使用的坐标系统是WGS - 84坐标，在普通测量中，可使用5参数法转换到54北京坐标系或80国家坐标系。
The coordinate system GPS handset used is WGS-84 coordinate system, in ordinary surveying, 5 parameters method can be used to converse it to 54 Beijing or 80 state coordinate systems.
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