Package com.irurueta.navigation.frames.converters

Class ECEFtoNEDFrameConverter

java.lang.Object

com.irurueta.navigation.frames.converters.ECEFtoNEDFrameConverter

All Implemented Interfaces:

FrameConverter<ECEFFrame,NEDFrame>

public class ECEFtoNEDFrameConverter
extends Object
implements FrameConverter<ECEFFrame,NEDFrame>

Converts from ECEF frame to NED frame. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/ECEF_to_NED.m

Field Summary

Fields

Modifier and Type	Field	Description
static final double	EARTH_ECCENTRICITY	Earth eccentricity as defined on the WGS84 ellipsoid.
static final double	EARTH_EQUATORIAL_RADIUS_WGS84	The equatorial radius of WGS84 ellipsoid (6378137 m) defining Earth's shape.

Constructor Summary

Constructors

Constructor	Description
ECEFtoNEDFrameConverter()

Method Summary

Modifier and Type	Method	Description
void	convert(ECEFFrame source, NEDFrame destination)	Converts source ECEF frame to destination NED frame.
NEDFrame	convertAndReturnNew(ECEFFrame source)	Converts source ECEF frame to a new NED frame instance.
static void	convertECEFtoNED(ECEFFrame source, NEDFrame destination)	Converts source ECEF frame to destination NED frame.
static NEDFrame	convertECEFtoNEDAndReturnNew(ECEFFrame source)	Converts source ECEF frame to a new NED frame instance.
FrameType	getDestinationType()	Gets destination frame type.
FrameType	getSourceType()	Gets source frame type.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

EARTH_EQUATORIAL_RADIUS_WGS84

public static final double EARTH_EQUATORIAL_RADIUS_WGS84

The equatorial radius of WGS84 ellipsoid (6378137 m) defining Earth's shape.

See Also:

• Constant Field Values

EARTH_ECCENTRICITY

public static final double EARTH_ECCENTRICITY

Earth eccentricity as defined on the WGS84 ellipsoid.

See Also:

• Constant Field Values

Constructor Details

ECEFtoNEDFrameConverter

public ECEFtoNEDFrameConverter()

Method Details

convertAndReturnNew

public NEDFrame convertAndReturnNew(ECEFFrame source)

Converts source ECEF frame to a new NED frame instance.

Specified by:

convertAndReturnNew in interface FrameConverter<ECEFFrame,NEDFrame>

Parameters:

source - source frame to convert from.

Returns:

a new destination frame instance.

convert

public void convert(ECEFFrame source,
 NEDFrame destination)

Converts source ECEF frame to destination NED frame.

Specified by:

convert in interface FrameConverter<ECEFFrame,NEDFrame>

Parameters:

source - source frame to convert from.

destination - destination frame instance to convert to.

getSourceType

public FrameType getSourceType()

Gets source frame type.

Specified by:

getSourceType in interface FrameConverter<ECEFFrame,NEDFrame>

Returns:

source frame type.

getDestinationType

public FrameType getDestinationType()

Gets destination frame type.

Specified by:

getDestinationType in interface FrameConverter<ECEFFrame,NEDFrame>

Returns:

destination frame type.

convertECEFtoNEDAndReturnNew

public static NEDFrame convertECEFtoNEDAndReturnNew(ECEFFrame source)

Converts source ECEF frame to a new NED frame instance.

Parameters:

source - source frame to convert from.

Returns:

a new destination frame instance.

convertECEFtoNED

public static void convertECEFtoNED(ECEFFrame source,
 NEDFrame destination)

Converts source ECEF frame to destination NED frame.

Parameters:

source - source frame to convert from.

destination - destination frame instance to convert to.