Package com.irurueta.navigation.frames.converters

Class NEDtoECEFPositionVelocityConverter

java.lang.Object

com.irurueta.navigation.frames.converters.NEDtoECEFPositionVelocityConverter

public class NEDtoECEFPositionVelocityConverter
extends Object

Converts curvilinear to cartesian position and velocity resolving axes from NED to ECEF. 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_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
NEDtoECEFPositionVelocityConverter()

Method Summary

Modifier and Type	Method	Description
void	convert(double latitude, double longitude, double height, double vn, double ve, double vd, ECEFPosition destinationPosition, ECEFVelocity destinationVelocity)	Converts curvilinear to cartesian position and velocity resolving axes from NED to ECEF.
void	convert(NEDPosition sourcePosition, NEDVelocity sourceVelocity, ECEFPosition destinationPosition, ECEFVelocity destinationVelocity)	Converts curvilinear to cartesian position and velocity resolving axes from NED to ECEF.
static void	convertNEDtoECEF(double latitude, double longitude, double height, double vn, double ve, double vd, ECEFPosition destinationPosition, ECEFVelocity destinationVelocity)	Converts curvilinear to cartesian position and velocity resolving axes from NED to ECEF.
static void	convertNEDtoECEF(NEDPosition sourcePosition, NEDVelocity sourceVelocity, ECEFPosition destinationPosition, ECEFVelocity destinationVelocity)	Converts curvilinear to cartesian 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

NEDtoECEFPositionVelocityConverter

public NEDtoECEFPositionVelocityConverter()

Method Details

convert

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

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

Parameters:

sourcePosition - source position resolved on NED frame.

sourceVelocity - source velocity resolved on NED frame.

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

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

convert

public void convert(double latitude,
 double longitude,
 double height,
 double vn,
 double ve,
 double vd,
 ECEFPosition destinationPosition,
 ECEFVelocity destinationVelocity)

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

Parameters:

latitude - latitude expressed in radians (rad).

longitude - longitude expressed in radians (rad).

height - height expressed in meters (m).

vn - north coordinate of velocity of body frame expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame expressed in meters per second (m/s).

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

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

convertNEDtoECEF

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

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

Parameters:

sourcePosition - source position resolved on NED frame.

sourceVelocity - source velocity resolved on NED frame.

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

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

convertNEDtoECEF

public static void convertNEDtoECEF(double latitude,
 double longitude,
 double height,
 double vn,
 double ve,
 double vd,
 ECEFPosition destinationPosition,
 ECEFVelocity destinationVelocity)

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

Parameters:

latitude - latitude expressed in radians (rad).

longitude - longitude expressed in radians (rad).

height - height expressed in meters (m).

vn - north coordinate of velocity of body frame expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame expressed in meters per second (m/s).

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

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