任意角度旋转空间直角坐标转换模型的参数求解，采用最小二乘方法，富有约束条件的简介平差-Arbitrary rotation angle parameter space Cartesian coordinate conversion model to solve, using the least squares method, wealthy constraints Introduction Adjustment

小角度旋转空间直角坐标转换模型的参数求解，利用小角度近似简化旋转矩阵，采用最小二乘方法-Small-angle rotation model space rectangular coordinate conversion parameter solution, using small-angle approximation to simplify the rotation matrix, using the least squares method