Package com.irurueta.navigation.frames.converters

Class ECEFtoNEDPositionVelocityConverter

java.lang.Object

com.irurueta.navigation.frames.converters.ECEFtoNEDPositionVelocityConverter

public class ECEFtoNEDPositionVelocityConverter
extends Object

Converts cartesian to curvilinear position and velocity resolving axes from ECEF to NED. 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/pv_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
ECEFtoNEDPositionVelocityConverter()

Method Summary

Modifier and Type	Method	Description
void	convert(double x, double y, double z, double vx, double vy, double vz, NEDPosition destinationPosition, NEDVelocity destinationVelocity)	Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.
void	convert(ECEFPosition sourcePosition, ECEFVelocity sourceVelocity, NEDPosition destinationPosition, NEDVelocity destinationVelocity)	Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.
static void	convertECEFtoNED(double x, double y, double z, double vx, double vy, double vz, NEDPosition destinationPosition, NEDVelocity destinationVelocity)	Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.
static void	convertECEFtoNED(ECEFPosition sourcePosition, ECEFVelocity sourceVelocity, NEDPosition destinationPosition, NEDVelocity destinationVelocity)	Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.

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

ECEFtoNEDPositionVelocityConverter

public ECEFtoNEDPositionVelocityConverter()

Method Details

convert

public void convert(ECEFPosition sourcePosition,
 ECEFVelocity sourceVelocity,
 NEDPosition destinationPosition,
 NEDVelocity destinationVelocity)

Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.

Parameters:

sourcePosition - source position resolved on ECEF frame.

sourceVelocity - source velocity resolved on ECEF frame.

destinationPosition - instance where position resolved on NED frame will be stored.

destinationVelocity - instance where velocity resolved on NED frame will be stored.

convert

public void convert(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 NEDPosition destinationPosition,
 NEDVelocity destinationVelocity)

Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.

Parameters:

x - x cartesian coordinate of body frame expressed in meters (m).

y - y cartesian coordinate of body frame expressed in meters (m).

z - z cartesian coordinate of body frame expressed in meters (m).

vx - x coordinate of body velocity expressed in meters per second (m/s).

vy - y coordinate of body velocity expressed in meters per second (m/s).

vz - z coordinate of body velocity expressed in meters per second (m/s).

destinationPosition - instance where position resolved on NED frame will be stored.

destinationVelocity - instance where velocity resolved on NED frame will be stored.

convertECEFtoNED

public static void convertECEFtoNED(ECEFPosition sourcePosition,
 ECEFVelocity sourceVelocity,
 NEDPosition destinationPosition,
 NEDVelocity destinationVelocity)

Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.

Parameters:

sourcePosition - source position resolved on ECEF frame.

sourceVelocity - source velocity resolved on ECEF frame.

destinationPosition - instance where position resolved on NED frame will be stored.

destinationVelocity - instance where velocity resolved on NED frame will be stored.

convertECEFtoNED

public static void convertECEFtoNED(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 NEDPosition destinationPosition,
 NEDVelocity destinationVelocity)

Converts cartesian to curvilinear position and velocity resolving axes from NED to ECEF.

Parameters:

x - x cartesian coordinate of body frame expressed in meters (m).

y - y cartesian coordinate of body frame expressed in meters (m).

z - z cartesian coordinate of body frame expressed in meters (m).

vx - x coordinate of body velocity expressed in meters per second (m/s).

vy - y coordinate of body velocity expressed in meters per second (m/s).

vz - z coordinate of body velocity expressed in meters per second (m/s).

destinationPosition - instance where position resolved on NED frame will be stored.

destinationVelocity - instance where velocity resolved on NED frame will be stored.