aer2ecef convert azimuth, elevation, range to target from observer to ECEF coordinates Inputs ------ az, el, slantrange: look angles and distance to point under test (degrees, degrees, meters) az: azimuth clockwise from local north el: elevation angle above local horizon lat0, lon0, alt0: ellipsoid geodetic coordinates of observer/reference (degrees, degrees, meters) spheroid: referenceEllipsoid parameter struct angleUnit: string for angular units. Default 'd': degrees outputs ------- x,y,z: Earth Centered Earth Fixed (ECEF) coordinates of test point (meters)
0001 function [x,y,z] = aer2ecef(az, el, slantRange, lat0, lon0, alt0, spheroid, angleUnit) 0002 %aer2ecef convert azimuth, elevation, range to target from observer to ECEF coordinates 0003 % 0004 % Inputs 0005 % ------ 0006 % az, el, slantrange: look angles and distance to point under test (degrees, degrees, meters) 0007 % az: azimuth clockwise from local north 0008 % el: elevation angle above local horizon 0009 % lat0, lon0, alt0: ellipsoid geodetic coordinates of observer/reference (degrees, degrees, meters) 0010 % spheroid: referenceEllipsoid parameter struct 0011 % angleUnit: string for angular units. Default 'd': degrees 0012 % 0013 % outputs 0014 % ------- 0015 % x,y,z: Earth Centered Earth Fixed (ECEF) coordinates of test point (meters) 0016 0017 if nargin < 7 || isempty(spheroid), spheroid = wgs84Ellipsoid(); end 0018 if nargin < 8, angleUnit = 'd'; end 0019 0020 %% Origin of the local system in geocentric coordinates. 0021 [x0, y0, z0] = geodetic2ecef(spheroid, lat0, lon0, alt0, angleUnit); 0022 %% Convert Local Spherical AER to ENU 0023 [e, n, u] = aer2enu(az, el, slantRange, angleUnit); 0024 %% Rotating ENU to ECEF 0025 [dx, dy, dz] = enu2uvw(e, n, u, lat0, lon0, angleUnit); 0026 %% Origin + offset from origin equals position in ECEF 0027 x = x0 + dx; 0028 y = y0 + dy; 0029 z = z0 + dz; 0030 0031 end 0032 0033 % Copyright (c) 2014-2018 Michael Hirsch, Ph.D. 0034 % Copyright (c) 2013, Felipe Geremia Nievinski 0035 % 0036 % Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 0037 % 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 0038 % 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. 0039 % 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. 0040