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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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