GPS Project – Data and Functions/ECEF2ENU.m
function enu = ECEF2ENU(ece,orgece,orgllh)
%ENU = ECEF2ENU(ECEF,orgECEF,orgLLH)
%
% EC2ENU: Convert ECEF coordinates to East-North-Up with
% respect to orgECEF and orgLLH (orgECEF is the same
% location as orgLLH, orgLLH in radians).
%
% VARIABLES:
%
% OU-ECE-AEC Oct. 1988 FvG
% WJP2011: Vectorized. Now accepts ece as a 3×1, a 3xM, 3xMxN, etc matrix
% Rotate the difference vector into ENU coordinates
sla = sin(orgllh(1,1)); cla = cos(orgllh(1,1));
slo = sin(orgllh(2,1)); clo = cos(orgllh(2,1));
C = [ -slo clo 0 ; …
-sla*clo -sla*slo cla; …
cla*clo cla*slo sla];
if size(ece,2)==1 && ndims(ece)==2; %3×1 vector
% enu = [ -slo clo 0 ; …
% -sla*clo -sla*slo cla; …
% cla*clo cla*slo sla] * difece;
difece = ece – orgece; % difference between coordinate origins
enu= C * difece;
else %3xM or 3xMxN etc
%Vectorized ECEF2ENU function:
enu=NaN(size(ece));
%reshape ece to 3xN matrix
%ece=reshape(ece,3,size(ece,2)*size(ece,3)*size(ece,4));
ece=reshape(ece,3,[]);
difece=zeros(size(ece));
difece(1,:)=ece(1,:)-orgece(1);
difece(2,:)=ece(2,:)-orgece(2);
difece(3,:)=ece(3,:)-orgece(3);
for i=1:3
enu(i,:)=C(i,1)*difece(1,:)+C(i,2)*difece(2,:)+C(i,3)*difece(3,:);
end
end
__MACOSX/GPS Project – Data and Functions/._ECEF2ENU.m
GPS Project – Data and Functions/ECEF2LLH.m
function wgs = ECEF2LLH(xyz)
%wgs = ECEF2LLH(xyz)
%
% This function converts cartesian (x,y,z) coordinates of a reference
% point in ECEF to lat, lon, height coordinates in the WGS 84 system
%
% VARIABLES:
% wgs – 3 by 1 array containing position lat, lon, height
% (rad, rad, m)
% xyz – 3 by 1 array containing position as x,y,z
% (m, m, m)
%
% a – semi-major axis
% f – spheroidal flattening
% esq – eccentricity squared
% sp – sine of lattitude
% cp – cosine of latitude
% sl – sine of longitude
% cl – cosine of longitude
% gsq – intermediate temp variable
% x – cartesian coordinte in feet
% r – intermediate temp variable
%
% This function is based on one developed by the
% National Geodetic Survey, Rockville, Maryland.
%
% WJP2010: Vectorized. Now accepts xyz as a 3×1, a 3xM, 3xMxN, or a 3xMxNxO matrix
wgs=zeros(size(xyz));
f=1/298.257223563;
esq=f*(2-f);
a=6378137;
x = xyz(1,:,:,:);
y = xyz(2,:,:,:);
z = xyz(3,:,:,:);
rsq = (x.*x) + (y.*y);
h = esq.*z;
for i = 1:6;
zp = z + h;
r = sqrt(rsq + (zp.*zp));
sp = zp./r;
gsq = 1.0 – (esq.*sp.*sp);
en = a./sqrt(gsq);
p = en.*esq.*sp;
%if abs(h-p) < 0.0005,break,end
h = p;
end;
p = atan2(zp,sqrt(rsq));
h = r – en;
wgs(2,:,:,:) = atan2(y, x);%*180/pi;
wgs(1,:,:,:) = p;%*180/pi;
wgs(3,:,:,:) = h;
% wgs=zeros(3,1);
% f=1/298.257223563;
% esq=f*(2-f);
% a=6378137;
% x = xyz(1);
% y = xyz(2);
% z = xyz(3);
% rsq = (x*x) + (y*y);
% h = esq*z;
% for i = 1:6;
% zp = z + h;
% r = sqrt(rsq + (zp*zp));
% sp = zp/r;
% gsq = 1.0 – (esq*sp*sp);
% en = a/sqrt(gsq);
% p = en*esq*sp;
% if abs(h-p) < 0.0005,break,end
% h = p;
% end;
% p = atan2(zp,sqrt(rsq));
% h = r – en;
% wgs(2) = atan2(y, x);%*180/pi;
% wgs(1) = p;%*180/pi;
% wgs(3) = h;
GPS Project – Data and Functions/EE4853-5853_GPS_PR.mat
L1PSR:[9×1 double array]
L2PSR:[9×1 double array]
PRNs:[1×9 double array]
SatPPP:[1×1 struct array]
- [3×9 double array]
- [9×1 double array]
SatBC:[1×1 struct array]
- [3×9 double array]
- [9×1 double array]
TruthLLH:[3×1 double array]
GPS Project – Data and Functions/ENU2ECEF.m
function ecef = ENU2ECEF(enu,orgece,orgllh)
% ecef = ENU2ECEF(enu,orgece,orgllh)
%
% ENU2EC: Convert ENU coordinates to ECEF with respect to
% the origin (orgece is the same location as orgllh).
%
% OU-ECE-AEC Oct. 1988 FvG
sla = sin(orgllh(1)); cla = cos(orgllh(1));
slo = sin(orgllh(2)); clo = cos(orgllh(2));
ROT = [-slo clo 0; -sla*clo -sla*slo cla; cla*clo cla*slo sla];
difece = inv(ROT) * enu;
% add the difference between the enu and ecef origins
ecef = orgece + difece;
GPS Project – Data and Functions/LLH2ECEF.m
function ecef = LLH2ECEF(llh)
%
% LLH2EC: Convert lat/lon/height coordinates to Earth-Centered
% Earth-Fixed (ECEF) coordinates (WGS72).
%
% Input: llh = lat,long,height location (rad,rad,user units)
% Output: ecef = x,y,z (user units)
%
% OU-ECE-AEC Oct. 1988 FvG
% WJP2010: Vectorized. Now accepts llh as a 3×1, a 3xM, 3xMxN, or a 3xMxNxO matrix
%A = 6378135.0; % Earth’s radius (m), old number from 1997
A = 6378137.0; % Earth’s radius (m) per WGS84, CB
%E = 8.181881066e-02; % Eccentricity, old number from 1997
E = 8.18191908e-2; % Eccentricity per WGS84, CB
ESQ = E * E;
% ecef=zeros(3,1);
%
% SP = sin(llh(1));
% CP = cos(llh(1));
% SL = sin(llh(2));
% CL = cos(llh(2));
% GSQ = 1.0 – (ESQ*SP*SP);
% EN = A / sqrt(GSQ);
% Z = (EN + llh(3)) * CP;
% ecef(1) = Z * CL;
% ecef(2) = Z * SL;
% EN = EN – (ESQ * EN);
% ecef(3) = (EN + llh(3)) * SP;
ecef=zeros(size(llh));
SP = sin(llh(1,:,:,:));
CP = cos(llh(1,:,:,:));
SL = sin(llh(2,:,:,:));
CL = cos(llh(2,:,:,:));
GSQ = 1.0 – (ESQ.*SP.*SP);
EN = A ./ sqrt(GSQ);
Z = (EN + llh(3,:,:,:)) .* CP;
ecef(1,:,:,:) = Z .* CL;
ecef(2,:,:,:) = Z .* SL;
EN = EN – (ESQ .* EN);
ecef(3,:,:,:) = (EN + llh(3,:,:,:)) .* SP;
