Package com.irurueta.navigation.frames.converters

Class NEDtoECEFFrameConverter

java.lang.Object

com.irurueta.navigation.frames.converters.NEDtoECEFFrameConverter

All Implemented Interfaces:

FrameConverter<NEDFrame,ECEFFrame>

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

Converts from NED frame to ECEF 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/NED_to_ECEF.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
NEDtoECEFFrameConverter()

Method Summary

Modifier and Type	Method	Description
void	convert(NEDFrame source, ECEFFrame destination)	Converts source NED frame to destination ECEF frame.
ECEFFrame	convertAndReturnNew(NEDFrame source)	Converts source NED frame to a new ECEF frame instance.
static void	convertNEDtoECEF(NEDFrame source, ECEFFrame destination)	Converts source NED frame to destination ECEF frame.
static ECEFFrame	convertNEDtoECEFAndReturnNew(NEDFrame source)	Converts source NED frame to a new ECEF 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

NEDtoECEFFrameConverter

public NEDtoECEFFrameConverter()

Method Details

convertAndReturnNew

public ECEFFrame convertAndReturnNew(NEDFrame source)

Converts source NED frame to a new ECEF frame instance.

Specified by:

convertAndReturnNew in interface FrameConverter<NEDFrame,ECEFFrame>

Parameters:

source - source frame to convert from.

Returns:

a new destination frame instance.

convert

public void convert(NEDFrame source,
 ECEFFrame destination)

Converts source NED frame to destination ECEF frame.

Specified by:

convert in interface FrameConverter<NEDFrame,ECEFFrame>

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<NEDFrame,ECEFFrame>

Returns:

source frame type.

getDestinationType

public FrameType getDestinationType()

Gets destination frame type.

Specified by:

getDestinationType in interface FrameConverter<NEDFrame,ECEFFrame>

Returns:

destination frame type.

convertNEDtoECEFAndReturnNew

public static ECEFFrame convertNEDtoECEFAndReturnNew(NEDFrame source)

Converts source NED frame to a new ECEF frame instance.

Parameters:

source - source frame to convert from.

Returns:

a new destination frame instance.

convertNEDtoECEF

public static void convertNEDtoECEF(NEDFrame source,
 ECEFFrame destination)

Converts source NED frame to destination ECEF frame.

Parameters:

source - source frame to convert from.

destination - destination frame instance to convert to.