enu2ecef convert from ENU to ECEF coordinates Inputs ------ e,n,u: East, North, Up coordinates of point(s) (meters) lat0,lon0: geodetic coordinates of observer/reference point (degrees) angleUnit: string for angular units. Default 'd': degrees outputs ------- u,v,w: coordinates of test point(s) (meters)
0001 function [u, v, w] = enu2ecefv(e, n, u, lat0, lon0, angleUnit) 0002 %enu2ecef convert from ENU to ECEF coordinates 0003 % 0004 % Inputs 0005 % ------ 0006 % e,n,u: East, North, Up coordinates of point(s) (meters) 0007 % lat0,lon0: geodetic coordinates of observer/reference point (degrees) 0008 % angleUnit: string for angular units. Default 'd': degrees 0009 % 0010 % outputs 0011 % ------- 0012 % u,v,w: coordinates of test point(s) (meters) 0013 0014 if nargin < 6 || isempty(angleUnit) || strcmpi(angleUnit(1),'d') 0015 lat0 = deg2rad(lat0); 0016 lon0 = deg2rad(lon0); 0017 end 0018 0019 t = cos(lat0) .* u - sin(lat0) .* n; 0020 w = sin(lat0) .* u + cos(lat0) .* n; 0021 0022 u = cos(lon0) .* t - sin(lon0) .* e; 0023 v = sin(lon0) .* t + cos(lon0) .* e; 0024 0025 end 0026 0027 % Copyright (c) 2014-2018 Michael Hirsch, Ph.D. 0028 % Copyright (c) 2013, Felipe Geremia Nievinski 0029 % 0030 % Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 0031 % 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 0032 % 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 0033 % THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.