mrtk_coords.h File Reference

MRTKLIB Coordinates Module — Coordinate transformations and geometry. More...

#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_time.h"

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Functions
void	deg2dms (double deg, double *dms, int ndec)
	Convert degree to degree-minute-second.
double	dms2deg (const double *dms)
	Convert degree-minute-second to degree.
void	ecef2pos (const double *r, double *pos)
	Transform ECEF position to geodetic position.
void	pos2ecef (const double *pos, double *r)
	Transform geodetic position to ECEF position.
void	xyz2enu (const double *pos, double *E)
	Compute ECEF to local coordinate transformation matrix.
void	ecef2enu (const double *pos, const double *r, double *e)
	Transform ECEF vector to local tangential coordinate.
void	enu2ecef (const double *pos, const double *e, double *r)
	Transform local tangential coordinate vector to ECEF.
void	covenu (const double *pos, const double *P, double *Q)
	Transform ECEF covariance to local tangential coordinate.
void	covecef (const double *pos, const double *Q, double *P)
	Transform local ENU covariance to ECEF coordinate.
void	eci2ecef (gtime_t tutc, const double *erpv, double *U, double *gmst)
	Compute ECI to ECEF transformation matrix.
double	geodist (const double *rs, const double *rr, double *e)
	Compute geometric distance and receiver-to-satellite unit vector.
double	satazel (const double *pos, const double *e, double *azel)
	Compute satellite azimuth/elevation angle.
void	dops (int ns, const double *azel, double elmin, double *dop)
	Compute DOP (dilution of precision).

Detailed Description

MRTKLIB Coordinates Module — Coordinate transformations and geometry.

This header provides coordinate transformation functions (ECEF, geodetic, ENU), rotation matrices, degree/DMS conversions, ECI-to-ECEF transformation, and positioning geometry functions (geometric distance, satellite azimuth/ elevation, DOP computation).

Note

All functions in this module are pure cut-and-paste extractions from rtkcmn.c with zero algorithmic changes.

Definition in file mrtk_coords.h.

Function Documentation

covecef()

void covecef	(	const double *	pos,
		const double *	Q,
		double *	P )

Transform local ENU covariance to ECEF coordinate.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	Q	Covariance in local ENU coordinate
[out]	P	Covariance in ECEF coordinate

Definition at line 202 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by udpos(), udpos(), and udpos_ppp().

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covenu()

void covenu	(	const double *	pos,
		const double *	P,
		double *	Q )

Transform ECEF covariance to local tangential coordinate.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	P	Covariance in ECEF coordinate
[out]	Q	Covariance in local tangential coordinate

Definition at line 188 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by outenu(), and outpos().

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deg2dms()

void deg2dms	(	double	deg,
		double *	dms,
		int	ndec )

Convert degree to degree-minute-second.

Parameters

[in]	deg	Degree
[out]	dms	Degree-minute-second {deg, min, sec}
[in]	ndec	Number of decimals of second

Definition at line 63 of file mrtk_coords.c.

Referenced by outrpos().

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dms2deg()

double dms2deg

(

const double *

dms

)

Convert degree-minute-second to degree.

Parameters

[in]

dms

Degree-minute-second {deg, min, sec}

Returns

Degree

Definition at line 86 of file mrtk_coords.c.

dops()

void dops	(	int	ns,
		const double *	azel,
		double	elmin,
		double *	dop )

Compute DOP (dilution of precision).

Parameters

[in]	ns	Number of satellites
[in]	azel	Satellite azimuth/elevation angle (rad)
[in]	elmin	Elevation cutoff angle (rad)
[out]	dop	DOPs {GDOP, PDOP, HDOP, VDOP}

Note

dop[0]-[3] return 0 in case of DOP computation error.

Definition at line 545 of file mrtk_coords.c.

References matinv(), matmul(), MAXSAT, and SQRT.

Referenced by outnmea_gsa(), valsol(), zddop(), and zddop().

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ecef2enu()

void ecef2enu	(	const double *	pos,
		const double *	r,
		double *	e )

Transform ECEF vector to local tangential coordinate.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	r	Vector in ECEF coordinate {x, y, z}
[out]	e	Vector in local tangential coordinate {e, n, u}

Definition at line 162 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by outenu(), outnmea_rmc(), outpos(), outrnxevent(), ppprtk_outstat(), rtkoutstat(), satazel(), setopt_sta(), and setpcv().

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ecef2pos()

void ecef2pos	(	const double *	r,
		double *	pos )

Transform ECEF position to geodetic position.

Parameters

[in]	r	ECEF position {x, y, z} (m)
[out]	pos	Geodetic position {lat, lon, h} (rad, m)

Note

WGS84, ellipsoidal height.

Definition at line 102 of file mrtk_coords.c.

References dot(), FE_WGS84, PI, and RE_WGS84.

Referenced by antpos(), clas_osr_zdres(), clas_ssr2osr(), corr_iono_plane(), corr_trop_plane(), ddres(), ddres(), ddres(), decode_type1005(), decode_type1006(), dump_stas(), get_site(), gettriangledd(), outenu(), outnmea_gga(), outnmea_rmc(), outpos(), outrnxevent(), outrpos(), ppp_rtk_pos(), ppprtk_outstat(), rescode(), resdop(), rtkoutstat(), rtksvrmark(), selpersta(), setopt_sta(), setpcv(), sta_sel_iono(), sta_sel_trop(), sysopts2buff(), udpos(), udpos(), udpos_ppp(), update_antpos(), windupcorr(), zdres(), and zdres().

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eci2ecef()

void eci2ecef	(	gtime_t	tutc,
		const double *	erpv,
		double *	U,
		double *	gmst )

Compute ECI to ECEF transformation matrix.

Parameters

[in]	tutc	Time in UTC
[in]	erpv	ERP values {xp, yp, ut1_utc, lod} (rad, rad, s, s/d)
[out]	U	ECI to ECEF transformation matrix (3x3)
[in,out]	gmst	Greenwich mean sidereal time (rad) (NULL: no output)

Note

Not thread-safe (uses static cache).

Definition at line 399 of file mrtk_coords.c.

References AS2R, ast_args(), epoch2time(), matmul(), NP, nut_iau1980(), Rx, Ry, Rz, time_str(), timediff(), trace(), tracemat(), utc2gmst(), and utc2gpst().

Referenced by sunmoonpos().

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enu2ecef()

void enu2ecef	(	const double *	pos,
		const double *	e,
		double *	r )

Transform local tangential coordinate vector to ECEF.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[in]	e	Vector in local tangential coordinate {e, n, u}
[out]	r	Vector in ECEF coordinate {x, y, z}

Definition at line 175 of file mrtk_coords.c.

References matmul(), and xyz2enu().

Referenced by antpos(), and update_antpos().

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geodist()

double geodist	(	const double *	rs,
		const double *	rr,
		double *	e )

Compute geometric distance and receiver-to-satellite unit vector.

Parameters

[in]	rs	Satellite position (ECEF at transmission) (m)
[in]	rr	Receiver position (ECEF at reception) (m)
[out]	e	Line-of-sight vector (ECEF)

Returns

Geometric distance (m) (<0: error/no satellite position)

Note

Distance includes Sagnac effect correction.

Definition at line 493 of file mrtk_coords.c.

References CLIGHT, norm(), OMGE, and RE_WGS84.

Referenced by clas_osr_adjust_r_dts(), clas_osr_zdres(), rescode(), zdres(), and zdres().

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pos2ecef()

void pos2ecef	(	const double *	pos,
		double *	r )

Transform geodetic position to ECEF position.

Parameters

[in]	pos	Geodetic position {lat, lon, h} (rad, m)
[out]	r	ECEF position {x, y, z} (m)

Note

WGS84, ellipsoidal height.

Definition at line 122 of file mrtk_coords.c.

References FE_WGS84, and RE_WGS84.

Referenced by buff2sysopts(), decode_bnx_00(), decode_lcliono(), decode_lcltrop(), decode_nmeagga(), decode_nmearmc(), decode_pvtgeodetic(), decode_refpos(), decode_solllh(), get_site(), getstapos(), miono_sel_area(), and selpersta().

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satazel()

double satazel	(	const double *	pos,
		const double *	e,
		double *	azel )

Compute satellite azimuth/elevation angle.

Parameters

[in]	pos	Geodetic position {lat, lon, h} (rad, m)
[in]	e	Receiver-to-satellite unit vector (ECEF)
[in,out]	azel	Azimuth/elevation {az, el} (rad) (NULL: no output) (0.0<=azel[0]<2*pi, -pi/2<=azel[1]<=pi/2)

Returns

Elevation angle (rad)

Definition at line 517 of file mrtk_coords.c.

References dot(), ecef2enu(), PI, and RE_WGS84.

Referenced by clas_osr_zdres(), rescode(), zdres(), and zdres().

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xyz2enu()

void xyz2enu	(	const double *	pos,
		double *	E )

Compute ECEF to local coordinate transformation matrix.

Parameters

[in]	pos	Geodetic position {lat, lon} (rad)
[out]	E	ECEF to local coord transformation matrix (3x3)

Note

Matrix stored by column-major order (Fortran convention).

Definition at line 142 of file mrtk_coords.c.

Referenced by clas_osr_zdres(), covecef(), covenu(), ecef2enu(), enu2ecef(), resdop(), tidedisp(), and windupcorr().

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