?? vecefins.m
字號(hào):
% vecefins.m
% Scope: This MATLAB macro performs the transformation from ECEF to INS
% platform coordinates (Wander / North, West, Up) for a given position
% vector and reference latitude/longitude/wander azimuth angles.
% Usage: pins = vecefins(pecef,lat,long,waz)
% Description of parameters:
% pecef - input, ECEF position vector (with components in meters)
% lat - input, reference latitude in radians
% lon - input, reference longitude in radians
% waz - input, reference wander azimuth angle in radians
% pins - output, INS platform position vector, with components in
% same units as the input ECEF position vector
% Last update: 04/04/00
% Copyright (C) 1996-00 by LL Consulting. All Rights Reserved.
function pins = vecefins(pecef,lat,lon,waz)
slat = sin(lat);
clat = cos(lat);
slon = sin(lon);
clon = cos(lon);
swaz = sin(waz);
cwaz = cos(waz);
x1 = pecef(1) * clon + pecef(2) * slon;
y1 = - pecef(1) * slon + pecef(2) * clon;
z1 = pecef(3);
x2 = x1 * slat - z1 * clat;
y2 = y1;
z2 = x1 * clat + z1 * slat;
pins = zeros(3,1);
pins(1) = - x2 * cwaz - y2 * swaz;
pins(2) = x2 * swaz - y2 * cwaz;
pins(3) = z2;
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