利用VC实现GPS单点定位并进行了对流层改正，地球旋转改正和相位平滑伪距-Using VC to achieve GPS single point positioning and for the troposphere correction, Earth rotation and phase smoothed pseudorange correction

进行坐标系旋转,可言某一旋转轴的任意角度进行旋转，后求出旋转后坐标(transformation for matrix)