Based on a plain belief that the cosmic space should be a unified whole with universal connection, rather than a patchwork of unconnected domain blocks, we reassess Hubble law as a short-range characterization of electromagnetic interaction and Hubble constant as velocity equivalent of position. If so, it is necessary to develop a matching transformation to work for relativity, which can ensure that the causal chain is not broken and the physical description is complete. To this end, we unify space and motion into a full-velocity concept and reshape Minkowski space into a pseudo-Minkowski one confined by an unreachable physical horizon. In the reshaped, all parts are physically allowed for unobstructed communication with each other, and the transformation that keeps physical laws including Hubble law invariant, is full-velocity Lorentz transformation, under which length contraction, time dilation and historization effect are discussed. Meanwhile, as a static solution of Einstein equation, the pseudo-Minkowski universe not only can reproduce the effective results of expansion model, but also derive the background radiation temperature and Hubble constant, etc.. Especially, it provides an analytic solution of gravitational field around mass without the singularity of event horizon.
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