Package com.irurueta.navigation.frames

Enum Class FrameType

java.lang.Object
java.lang.Enum<FrameType>
com.irurueta.navigation.frames.FrameType
All Implemented Interfaces:
Serializable, Comparable<FrameType>, Constable
public enum FrameType extends Enum<FrameType>
Supported frames to describe position and orientation.

  • Enum Constant Details

    • EARTH_CENTERED_INERTIAL_FRAME

      public static final FrameType EARTH_CENTERED_INERTIAL_FRAME
      Earth Centered Inertial frame (aka ECI frame) is an almost inertial frame (which means it does not accelerate or rotate with respect to the rest of the universe). This frame is nominally centered at the Earth's center of mass and oriented with respect to Earth's spin axis and the stars. The z-axis always points along the Earth's axis of rotation from the frame's origin at the center of mass to the true north pole (not the magnetic pole). The x- and y-axes lie within the equatorial plane, but do not rotate with Earth. The y-axis points 90º ahead of the x-axis in the direction of the Earth's rotation. The x-axis is defined as the direction from the Earth to the Sun at the vernal equinox, which is the spring equinox in the northern hemisphere. Because of Earth rotation and orbit around the Sun, axes of this frame are continuously in movement respect to Earth's surface.

    • EARTH_CENTERED_EARTH_FIXED_FRAME

      public static final FrameType EARTH_CENTERED_EARTH_FIXED_FRAME
      Earth Centered Fixed frame (aka ECEF frame). This frame is similar to ECI frame except that all axes remain fixed with respect to the Earth's surface. ECEF is also centered at Earth's center of mass. The z-axis is the same as that of ECI's frame, pointing along Earth's axis of rotation from the center to the north pole (true not magnetic). The x-axis points from the center to the intersection of the equator with the IERS Reference Meridian (IRM) or Conventional Zero Meridian (CZM), which defines 0º longitude. The y-axis completes the right-handed orthogonal set, pointing from the center to the intersection of the equator with the 90º east meridian.

    • LOCAL_NAVIGATION_FRAME

      public static final FrameType LOCAL_NAVIGATION_FRAME
      Local Navigation frame. Its origin is the object described by the navigation solution. This could be part of the navigation system itself or the center of mass of the host vehicle or user. The axes are aligned with the topographic directions: north, east, and vertical. By convention the z-axis, also known as the down (D) axis, is defined as the normal to the surface of the reference ellipsoid in the direction pointing towards the Earth. Simple gravity models assume that the gravity vector is coincident with the z-axis of the corresponding local navigation frame. True gravity deviates from this slightly due to local anomalies. The x-axis, or north (N) axis, is the projection in the plane orthogonal to the z-axis of the line from the user to the North Pole. The y-axis completes the orthogonal set by pointing east and is known as the east (E) axis. North, east, down is the most common order of the axes in a local navigation coordinate system. This frame is also known as NED frame, standing for North, East and Down.

    • LOCAL_TANGENT_PLANE_FRAME

      public static final FrameType LOCAL_TANGENT_PLANE_FRAME
      Local Tangent-Plane frame. Has a fixed origin with respect to the Earth, usually a point on the surface. Like the local navigation frame, its z-axis is aligned with the vertical (pointing either up or down). Its x- and y-axes may also be aligned with the topographic directions (i.e., north and east), in which case it may be known as a local geodecit frame or topocentric frame. However, the x- and y-axes may be also aligned with an environmental feature, such as a road or building. As with the other frames, the axes form a right-handed orthogonal set. This frame is Earth-fixed, but not Earth-centered. This type of frame is used for navigation within a localized area. Examples include aircraft landing and urban and indoor positioning. A planar frame, can be used for two-dimensional positioning, where its third dimension is neglected. It may comprise the horizontal components of the local tangent-plane frame or may be used to express projected coordinates.

    • BODY_FRAME

      public static final FrameType BODY_FRAME
      Body frame. Sometimes known as a vehicle frame. Comprises the origin and orientation of the object described by the navigation solution. The origin is coincident with that of the corresponding local navigation frame. However, the axes remain fixed with respect to the body. The most common convention is to set x-axis as the forward axis, pointing in the usual direction of travel, z is the down axis, pointing in the usual direction of gravity, and y is the right axis, completing the orthogonal set. For angular motion, the body-frame axes are also known as roll, pitch, and yaw. Roll motion is about the x-axis, pitch motion is about the y-axis, and yaw motion is about the z-axis.

  • Constructor Details

    • FrameType

      private FrameType()

  • Method Details

    • values

      public static FrameType[] values()
      Returns an array containing the constants of this enum class, in the order they are declared.
      Returns:
      an array containing the constants of this enum class, in the order they are declared

    • valueOf

      public static FrameType valueOf(String name)
      Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)
      Parameters:
      name - the name of the enum constant to be returned.
      Returns:
      the enum constant with the specified name
      Throws:
      IllegalArgumentException - if this enum class has no constant with the specified name
      NullPointerException - if the argument is null