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function [xyzM] = Lla2Xyz(llaDegDegM)
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% [xyzM] = Lla2Xyz(llaDegDegM)
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% Transform latitude, longitude, altitude to ECEF coordinates.
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%
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% input: llaDegDegM = [mx3] matrix = [latDeg,lonDeg,altM]
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% latitude, longitude are in degrees, altitude in meters
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% output: xyzM = [mx3] matrix of ECEF coordinates in meters
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%
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% See also Xyz2Lla
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%Author: Frank van Diggelen
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%Open Source code for processing Android GNSS Measurements
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% check inputs
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if size(llaDegDegM,2)~=3
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error('Input llaDegDegM must have three columns');
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end
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latDeg = llaDegDegM(:,1); lonDeg = llaDegDegM(:,2); altM = llaDegDegM(:,3);
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%No rotation of longitude, by definition of ECEF
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% Compute sines and cosines.
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D2R = pi/180;
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clat = cos(latDeg*D2R);
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clon = cos(lonDeg*D2R);
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slat = sin(latDeg*D2R);
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slon = sin(lonDeg*D2R);
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% Compute position vector in ECEF coordinates.
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r0 = GpsConstants.EARTHSEMIMAJOR * ...
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(sqrt(1.0 - GpsConstants.EARTHECCEN2 .* slat .* slat)).^(-1);
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xM = (altM + r0) .* clat .* clon; % x coordinate
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yM = (altM + r0) .* clat .* slon; % y coordinate
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zM = (altM + r0 .* (1.0 - GpsConstants.EARTHECCEN2)).* slat;% z coordinate
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[xyzM] = [xM,yM,zM];
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end %end of function Lla2Xyz
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Copyright 2016 Google Inc.
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%
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% Licensed under the Apache License, Version 2.0 (the "License");
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% you may not use this file except in compliance with the License.
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% You may obtain a copy of the License at
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%
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% http://www.apache.org/licenses/LICENSE-2.0
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%
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% Unless required by applicable law or agreed to in writing, software
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% distributed under the License is distributed on an "AS IS" BASIS,
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% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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% See the License for the specific language governing permissions and
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% limitations under the License.
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