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function Re2n = RotEcef2Ned(latDeg, lonDeg) |
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% Re2n = RotEcef2Ned(latDeg, lonDeg) |
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% Rotation matrix to convert an ECEF vector to |
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% North, East, Down coordinates, and vice-versa |
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% |
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% inputs: latDeg, lonDeg (degrees) |
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% output: Re2n, 3x3 unitary rotation matrix = |
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% [-sin(lat)*cos(lon), -sin(lat)*sin(lon), cos(lat); |
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% -sin(lon), cos(lon), 0 ; |
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% -cos(lat)*cos(lon), -cos(lat)*sin(lon),-sin(lat)] |
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% |
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% Example: vNed = Re2n*vEcef, |
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% Re2n'*vNed = vEcef |
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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 any(size(latDeg)~=[1,1]) || any(size(lonDeg)~=[1,1]) |
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error('Inputs latDeg, lonDeg must be scalars') |
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end |
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D2R = pi/180; %degrees to radians scale factor |
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latRad=D2R*latDeg(:); lonRad=D2R*lonDeg(:); |
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clat = cos(latRad); |
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slat = sin(latRad); |
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clon = cos(lonRad); |
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slon = sin(lonRad); |
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Re2n = zeros(3,3); |
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Re2n(1,1) = -slat.*clon; |
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Re2n(1,2) = -slat.*slon; |
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Re2n(1,3) = clat; |
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Re2n(2,1) = -slon; |
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Re2n(2,2) = clon; |
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Re2n(2,3) = 0; |
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Re2n(3,1) = -clat.*clon; |
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Re2n(3,2) = -clat.*slon; |
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Re2n(3,3) = -slat; |
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end %end of function RotEcef2Ned |
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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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