coord_system.c

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/*
 * Copyright (c) 2010 Swift Navigation Inc.
 * Contact: Fergus Noble <fergus@swift-nav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

#include <math.h>

#include "constants.h"
#include "linear_algebra.h"
#include "coord_system.h"

void llhrad2deg(const double llh_rad[3], double llh_deg[3]) {
  llh_deg[0] = llh_rad[0]*R2D;
  llh_deg[1] = llh_rad[1]*R2D;
  llh_deg[2] = llh_rad[2];
}


void llhdeg2rad(const double llg_deg[3], double llh_rad[3]) {
  llh_rad[0] = llg_deg[0]*D2R;
  llh_rad[1] = llg_deg[1]*D2R;
  llh_rad[2] = llg_deg[2];
}

void wgsllh2ecef(const double llh[3], double ecef[3]) {
  double d = WGS84_E * sin(llh[0]);
  double N = WGS84_A / sqrt(1. - d*d);

  ecef[0] = (N + llh[2]) * cos(llh[0]) * cos(llh[1]);
  ecef[1] = (N + llh[2]) * cos(llh[0]) * sin(llh[1]);
  ecef[2] = ((1 - WGS84_E*WGS84_E)*N + llh[2]) * sin(llh[0]);
}

void wgsecef2llh(const double ecef[3], double llh[3]) {
  /* Distance from polar axis. */
  const double p = sqrt(ecef[0]*ecef[0] + ecef[1]*ecef[1]);

  /* Compute longitude first, this can be done exactly. */
  if (p != 0)
    llh[1] = atan2(ecef[1], ecef[0]);
  else
    llh[1] = 0;

  /* If we are close to the pole then convergence is very slow, treat this is a
   * special case. */
  if (p < WGS84_A*1e-16) {
    llh[0] = copysign(M_PI_2, ecef[2]);
    llh[2] = fabs(ecef[2]) - WGS84_B;
    return;
  }

  /* Caluclate some other constants as defined in the Fukushima paper. */
  const double P = p / WGS84_A;
  const double e_c = sqrt(1. - WGS84_E*WGS84_E);
  const double Z = fabs(ecef[2]) * e_c / WGS84_A;

  /* Initial values for S and C correspond to a zero height solution. */
  double S = Z;
  double C = e_c * P;

  /* Neither S nor C can be negative on the first iteration so
   * starting prev = -1 will not cause and early exit. */
  double prev_C = -1;
  double prev_S = -1;

  double A_n, B_n, D_n, F_n;

  /* Iterate a maximum of 10 times. This should be way more than enough for all
   * sane inputs */
  for (int i=0; i<10; i++)
  {
    /* Calculate some intermmediate variables used in the update step based on
     * the current state. */
    A_n = sqrt(S*S + C*C);
    D_n = Z*A_n*A_n*A_n + WGS84_E*WGS84_E*S*S*S;
    F_n = P*A_n*A_n*A_n - WGS84_E*WGS84_E*C*C*C;
    B_n = 1.5*WGS84_E*S*C*C*(A_n*(P*S - Z*C) - WGS84_E*S*C);

    /* Update step. */
    S = D_n*F_n - B_n*S;
    C = F_n*F_n - B_n*C;

    /* The original algorithm as presented in the paper by Fukushima has a
     * problem with numerical stability. S and C can grow very large or small
     * and over or underflow a double. In the paper this is acknowledged and
     * the proposed resolution is to non-dimensionalise the equations for S and
     * C. However, this does not completely solve the problem. The author caps
     * the solution to only a couple of iterations and in this period over or
     * underflow is unlikely but as we require a bit more precision and hence
     * more iterations so this is still a concern for us.
     *
     * As the only thing that is important is the ratio T = S/C, my solution is
     * to divide both S and C by either S or C. The scaling is chosen such that
     * one of S or C is scaled to unity whilst the other is scaled to a value
     * less than one. By dividing by the larger of S or C we ensure that we do
     * not divide by zero as only one of S or C should ever be zero.
     *
     * This incurs an extra division each iteration which the author was
     * explicityl trying to avoid and it may be that this solution is just
     * reverting back to the method of iterating on T directly, perhaps this
     * bears more thought?
     */

    if (S > C) {
      C = C / S;
      S = 1;
    } else {
      S = S / C;
      C = 1;
    }

    /* Check for convergence and exit early if we have converged. */
    if (fabs(S - prev_S) < 1e-16 && fabs(C - prev_C) < 1e-16) {
      break;
    } else {
      prev_S = S;
      prev_C = C;
    }
  }

  A_n = sqrt(S*S + C*C);
  llh[0] = copysign(1.0, ecef[2]) * atan(S / (e_c*C));
  llh[2] = (p*e_c*C + fabs(ecef[2])*S - WGS84_A*e_c*A_n) / sqrt(e_c*e_c*C*C + S*S);
}

static void ecef2ned_matrix(const double ref_ecef[3], double M[3][3]) {
  double hyp_az, hyp_el;
  double sin_el, cos_el, sin_az, cos_az;

  /* Convert reference point to spherical earth centered coordinates. */
  hyp_az = sqrt(ref_ecef[0]*ref_ecef[0] + ref_ecef[1]*ref_ecef[1]);
  hyp_el = sqrt(hyp_az*hyp_az + ref_ecef[2]*ref_ecef[2]);
  sin_el = ref_ecef[2] / hyp_el;
  cos_el = hyp_az / hyp_el;
  sin_az = ref_ecef[1] / hyp_az;
  cos_az = ref_ecef[0] / hyp_az;

  M[0][0] = -sin_el * cos_az;
  M[0][1] = -sin_el * sin_az;
  M[0][2] = cos_el;
  M[1][0] = -sin_az;
  M[1][1] = cos_az;
  M[1][2] = 0.0;
  M[2][0] = -cos_el * cos_az;
  M[2][1] = -cos_el * sin_az;
  M[2][2] = -sin_el;
}


void wgsecef2ned(const double ecef[3], const double ref_ecef[3],
                 double ned[3]) {
  double M[3][3];

  ecef2ned_matrix(ref_ecef, M);
  matrix_multiply(3, 3, 1, (double *)M, ecef, ned);
}

void wgsecef2ned_d(const double ecef[3], const double ref_ecef[3],
                   double ned[3]) {
  double tempv[3];
  vector_subtract(3, ecef, ref_ecef, tempv);
  wgsecef2ned(tempv, ref_ecef, ned);
}


void wgsned2ecef(const double ned[3], const double ref_ecef[3],
                 double ecef[3]) {
  double M[3][3], M_transpose[3][3];
  ecef2ned_matrix(ref_ecef, M);
  matrix_transpose(3, 3, (double *)M, (double *)M_transpose);
  matrix_multiply(3, 3, 1, (double *)M_transpose, ned, ecef);
}

void wgsned2ecef_d(const double ned[3], const double ref_ecef[3],
                   double ecef[3]) {
  double tempv[3];
  wgsned2ecef(ned, ref_ecef, tempv);
  vector_add(3, tempv, ref_ecef, ecef);
}


void wgsecef2azel(const double ecef[3], const double ref_ecef[3],
                  double* azimuth, double* elevation) {
  double ned[3];

  /* Calculate the vector from the reference point in the local North, East,
   * Down frame of the reference point. */
  wgsecef2ned_d(ecef, ref_ecef, ned);

  *azimuth = atan2(ned[1], ned[0]);
  /* atan2 returns angle in range [-pi, pi], usually azimuth is defined in the
   * range [0, 2pi]. */
  if (*azimuth < 0)
    *azimuth += 2*M_PI;

  *elevation = asin(-ned[2]/vector_norm(3, ned));
}