介绍4种坐标转换
https://wenku.baidu.com/view/4c8a8f5c2379168884868762caaedd3383c4b5c8.html
代码？
https://download.csdn.net/download/kandy8890111/1495439
https://download.csdn.net/download/liu690851999/8042123
有代码介绍
https://blog.csdn.net/xiaoxilang/article/details/80537513
Crazepony四轴介绍
http://www.crazepony.com/download.html