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其中x，y与x',y'的数据如图所示,请问如何使用MATLAB求出未知参数？

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参考下1stOpt求解结果：
目标函数值(最小): 21.7167413923727
h: 120.281576070099
d: -121.362095278834
theta: -0.0400348698480082
theta是多解

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