function [Xb,Yb,Zb] = nastepnezad(X,Y,Z,fi,l,S,Al,z)
load matlab.mat
Xa=[X;Y;Z]
dx=[S*sin(z)*cos(Al); S*sin(z)*sin(Al); S*cos(z)]
sin(fi)*cos(l) -sin(l) cos(fi)*cos(l);-sin(fi)*sin(l) cos(l) cos(fi)*sin(l); cos(fi) 0 sin(fi)]
R1=inv(R)
Rt=R1'R=[-
dX=Rt*dx
Xk=Xa+dX
Xb=Xk(1,1)
Yb=Xk(2,1)
Zb=Xk(3,1)
end