根据坐标转换关系，可以获得飞艇在地面坐标系下的位置和姿态非线性方程组。

According to coordinate transforming relations the nonlinear equations containing the attitude and position of the airship in geographic coordinate system can be acquired.

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根据正投影的机理，建立了点线面屏幕坐标与空间关系的转换关系。

According to mechanism of orthographic projection, this paper has set up the converted relation between screen coordinate and space coordinate.

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同时，对实际成像过程中各种坐标及转换关系，进行了详细的分析和数学描述。

At the same time, the real-imaging procession and all relations about transforming coordinates are introduced.

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