In order to overcome the difficulties,such as deviation of the tool coordinate system(TCS) in OLP system,deflection between OLP path and expected path etc,off-line programming of arc-welding robot,firstly,a method using seven teach points to calibrate the TCS of real robot was proposed,then the tool coordinate system of OLP system was calibrated with the real TCS calibration result.

the local orientation, we employ a preprocessing algorithm based on double coordinates, not based on gray level distribution.

Choice of control survey coordinate system of highway;

Fast conversion method research on the coordinate system of map data in Hangzhou city;

Calibrating Coordinate System for Parallel Joint Robot;

From this ,some reference frames, usually used in electrical engineering, are derived.

Through analysing to surveying reference frame of Lianyungang,this paper introduces the method to set up a new surveying reference frame applying to city of Lianyungang in order to serve the task of cadastration.