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/// Returns the tuple (x,y,z) of coordinates in the ECEF system /// /// ## Inputs: /// - lat = latitude [rad] /// - lon = longitude [rad] /// - alt = altitude [m] /// /// ## Outputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] pub fn geodetic2ecef(lat: f64, lon: f64, alt: f64) -> (f64,f64,f64){ let n = get_radius_normal(lat); let (major,minor,_,_) = wgs84(); let x = (n + alt) * lat.cos() * lon.cos(); let y = (n + alt) * lat.cos() * lon.sin(); let z = (n * (minor / major) * (minor / major) + alt) * lat.sin(); (x,y,z) } /// Returns the tuple (azimuth,elevation,slant range) of coordinates in the AER system /// /// ## Inputs: /// - lat = input latitude [rad] /// - lon = input longitude [rad] /// - alt = input altitude [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - az = azimuth angle [rad] of input geodetic location from reference geodetic location /// - el = elevation angle [rad] of input geodetic location from reference geodetic location /// - slant_range = slant range [m] of input geodetic location from reference geodetic location pub fn geodetic2aer(lat: f64, lon: f64, alt: f64,lat0: f64, lon0: f64, alt0: f64) -> (f64,f64,f64){ let (e,n,u) = geodetic2enu(lat,lon,alt,lat0,lon0,alt0); let (az,el,slant_range) = enu2aer(e, n, u); (az,el,slant_range) } /// Returns the tuple (east,north,up) of coordinates in the ENU system /// /// ## Inputs: /// - lat = input latitude [rad] /// - lon = input longitude [rad] /// - alt = input altitude [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - e = east coordinate [m] of input geodetic location from reference geodetic location /// - n = north coordinate [m] of input geodetic location from reference geodetic location /// - u = up coordinate [m] of input geodetic location from reference geodetic location pub fn geodetic2enu(lat: f64, lon: f64, alt: f64,lat0: f64, lon0: f64, alt0: f64) -> (f64,f64,f64){ let (x1,y1,z1) = geodetic2ecef(lat, lon, alt); let (x2,y2,z2) = geodetic2ecef(lat0, lon0, alt0); let (e,n,u) = uvw2enu(x1-x2, y1-y2, z1-z2, lat0, lon0); (e,n,u) } /// Returns the tuple (north,east,down) of coordinates in the NED system /// /// ## Inputs: /// - lat = input latitude [rad] /// - lon = input longitude [rad] /// - alt = input altitude [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - n = north coordinate [m] of input geodetic location from reference geodetic location /// - e = east coordinate [m] of input geodetic location from reference geodetic location /// - d = down coordinate [m] of input geodetic location from reference geodetic location pub fn geodetic2ned(lat: f64, lon: f64, alt: f64,lat0: f64, lon0: f64, alt0: f64) -> (f64,f64,f64){ let enu = geodetic2enu(lat, lon, alt, lat0, lon0, alt0); (enu.1,enu.0,-enu.2) } /// Returns the tuple (x,y,z) of coordinates in the ECEF system /// /// ## Inputs: /// - az = azimuth angle [rad] /// - el = elevation angle [rad] /// - slant_range = slant range [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] pub fn aer2ecef(az : f64, el: f64,slant_range :f64, lat0: f64, lon0: f64, alt0: f64)-> (f64,f64,f64){ let (x0,y0,z0) = geodetic2ecef(lat0, lon0, alt0); let (e,n,u) = aer2enu(az,el,slant_range); let (dx,dy,dz) = enu2uvw(e,n,u,lat0,lon0); (x0+dx,y0+dy,z0+dz) } /// Returns the tuple (east,north,up) of coordinates in the ENU system /// /// ## Inputs: /// - az = azimuth angle [rad] /// - el = elevation angle [rad] /// - slant_range = slant range [m] /// /// ## Outputs: /// - e = east coordinate [m] of input location from reference geodetic location /// - n = north coordinate [m] of input location from reference geodetic location /// - u = up coordinate [m] of input location from reference geodetic location pub fn aer2enu(az : f64, el: f64,slant_range :f64) -> (f64,f64,f64){ let r = slant_range*el.cos(); (r*az.sin(),r*az.cos(),slant_range*el.sin()) } /// Returns the tuple (x,y,z) of coordinates in the ECI system /// /// ## Inputs: /// - az = azimuth angle [rad] /// - el = elevation angle [rad] /// - slant_range = slant range [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - x = x ECI coordinate [m] /// - y = y ECI coordinate [m] /// - z = z ECI coordinate [m] pub fn aer2eci(gst :f64, az : f64, el: f64,slant_range :f64, lat0: f64, lon0: f64, alt0: f64) -> (f64,f64,f64){ let (x1,y1,z1) = aer2ecef(az, el, slant_range, lat0, lon0, alt0); ecef2eci(gst, x1, y1, z1) } /// Returns the tuple (north,east,down) of coordinates in the NED system /// /// ## Inputs: /// - az = azimuth angle [rad] /// - el = elevation angle [rad] /// - slant_range = slant range [m] /// /// ## Outputs: /// - n = north coordinate [m] of input location from reference geodetic location /// - e = east coordinate [m] of input location from reference geodetic location /// - d = down coordinate [m] of input location from reference geodetic location pub fn aer2ned(az : f64, el: f64,slant_range :f64) -> (f64,f64,f64){ let enu = aer2enu(az, el, slant_range); (enu.1,enu.0,-enu.2) } /// Returns the tuple (latitude,longitude,altitude) of coordinates in the Geodetic system /// /// ## Inputs: /// - az = azimuth angle [rad] /// - el = elevation angle [rad] /// - slant_range = slant range [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - lat = input latitude [rad] /// - lon = input longitude [rad] /// - alt = input altitude [m] pub fn aer2geodetic(az : f64, el: f64,slant_range :f64, lat0: f64, lon0: f64, alt0: f64)-> (f64,f64,f64) { let (x,y,z) = aer2ecef(az, el, slant_range, lat0, lon0, alt0); ecef2geodetic(x,y,z) } /// Returns the tuple (u,v,w) of coordinates in the local vector system /// /// ## Inputs: /// - e = east coordinate [m] from reference geodetic location /// - n = north coordinate [m] from reference geodetic location /// - u = up coordinate [m] from reference geodetic location /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// /// ## Outputs: /// - u = tangent vector component /// - v = tangent vector component /// - w = tangent vector component pub fn enu2uvw(et : f64, nt: f64,up :f64, lat0: f64, lon0: f64) -> (f64,f64,f64){ let t = lat0.cos()*up - lat0.sin()*nt; let u = lon0.cos()*t-lon0.sin()*et; let v = lon0.sin()*t+lon0.cos()*et; let w = lat0.sin()*up+lat0.cos()*nt; (u,v,w) } /// Returns the tuple (azimuth,elevation,slant range) of coordinates in the AER system /// /// ## Inputs: /// - e = east coordinate [m] from reference geodetic location /// - n = north coordinate [m] from reference geodetic location /// - u = up coordinate [m] from reference geodetic location /// /// ## Outputs: /// - az = azimuth angle [rad] of input location from reference geodetic location /// - el = elevation angle [rad] of input location from reference geodetic location /// - slant_range = slant range [m] of input location from reference geodetic location pub fn enu2aer(e : f64, n: f64,u :f64) -> (f64,f64,f64){ let r = (e*e+n*n).sqrt(); let slant_range = (r*r+u*u).sqrt(); let el = u.atan2(r); let az = e.atan2(n) % (2.0*std::f64::consts::PI); (az,el,slant_range) } /// Returns the tuple (x,y,z) of coordinates in the ECEF system /// /// ## Inputs: /// - e = east coordinate [m] from reference geodetic location /// - n = north coordinate [m] from reference geodetic location /// - u = up coordinate [m] from reference geodetic location /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] pub fn enu2ecef(e : f64, n: f64,u :f64, lat0: f64, lon0: f64, alt0 : f64) -> (f64,f64,f64){ let (x0,y0,z0) = geodetic2ecef(lat0, lon0, alt0); let (dx,dy,dz) = enu2uvw(e, n, u, lat0, lon0); (x0+dx,y0+dy,z0+dz) } /// Returns the tuple (latitude,longitude,altitude) of coordinates in the Geodetic system /// /// ## Inputs: /// - e = east coordinate [m] from reference geodetic location /// - n = north coordinate [m] from reference geodetic location /// - u = up coordinate [m] from reference geodetic location /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// ## Outputs: /// - lat = latitude [rad] /// - lon = longitude [rad] /// - alt = altitude [m] pub fn enu2geodetic(e : f64, n: f64,u :f64, lat0: f64, lon0: f64, alt0 : f64) -> (f64,f64,f64){ let (x,y,z) = enu2ecef(e, n, u, lat0, lon0, alt0); let (lat,lon,alt) = ecef2geodetic(x, y, z); (lat,lon,alt) } /// Returns the tuple (x,y,z) of coordinates in the ECI system /// /// ## Inputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] /// /// ## Outputs: /// - x = x ECI coordinate [m] /// - y = y ECI coordinate [m] /// - z = z ECI coordinate [m] pub fn ecef2eci(gst :f64,x: f64, y: f64, z: f64) -> (f64,f64,f64){ let arr = matmul3(transpose3(r3(gst)),[x,y,z]); (arr[0],arr[1],arr[2]) } /// Returns the tuple (latitude,longitude,altitude) of coordinates in the Geodetic system /// /// ## Inputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] /// /// ## Outputs: /// - lat = latitude [rad] /// - lon = longitude [rad] /// - alt = altitude [m] pub fn ecef2geodetic(x: f64, y: f64, z: f64) -> (f64,f64,f64){ let major = wgs84().0; let minor = wgs84().1; let r = (x*x+y*y+z*z).sqrt(); let e = (major*major-minor*minor).sqrt(); let var = r*r-e*e; let u = (0.5*var+0.5*(var*var+4.0*e*e*z*z).sqrt()).sqrt(); let q = (x*x+y*y).sqrt(); let hu_e = (u*u+e*e).sqrt(); let mut beta = (hu_e/u * z/q).atan(); let eps = ((minor * u - major * hu_e + e*e)*beta.sin())/ (major * hu_e/beta.cos() - e*e*beta.cos()); beta += eps; let lat = (major/minor*beta.tan()).atan(); let lon = y.atan2(x); let v1 = z - minor * beta.sin(); let v2 = q - major*beta.cos(); let alt; let inside = (x*x/major/major)+(y*y/major/major)+(z*z/minor/minor)<1.0; if inside { alt = -(v1*v1+v2*v2).sqrt(); }else { alt = (v1*v1+v2*v2).sqrt(); }; (lat,lon,alt) } /// Returns the tuple (east,north,up) of coordinates in the ENU system /// /// ## Inputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - e = east coordinate [m] of input ECEF location from reference geodetic location /// - n = north coordinate [m] of input ECEF location from reference geodetic location /// - u = up coordinate [m] of input ECEF location from reference geodetic location pub fn ecef2enu(x: f64, y: f64, z: f64, lat0: f64, lon0: f64, alt0: f64)-> (f64,f64,f64){ let (x0,y0,z0) = geodetic2ecef(lat0, lon0, alt0); let (e,n,u) = uvw2enu(x-x0,y-y0,z-z0,lat0,lon0); (e,n,u) } /// Returns the tuple (north,east,down) of coordinates in the NED system /// /// ## Inputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - n = north coordinate [m] of input location from reference geodetic location /// - e = east coordinate [m] of input location from reference geodetic location /// - d = down coordinate [m] of input location from reference geodetic location pub fn ecef2ned(x: f64, y: f64, z: f64, lat0: f64, lon0: f64, alt0: f64)-> (f64,f64,f64){ let enu = ecef2enu(x, y, z, lat0, lon0, alt0); (enu.1,enu.0,-enu.2) } /// Returns the tuple (east,north,up) of coordinates in the ENU system /// /// ## Inputs: /// - u = tangent vector component /// - v = tangent vector component /// - w = tangent vector component /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// /// ## Outputs: /// - e = east coordinate [m] of input location from reference geodetic location /// - n = north coordinate [m] of input location from reference geodetic location /// - u = up coordinate [m] of input location from reference geodetic location pub fn uvw2enu(u : f64, v: f64,w :f64, lat0: f64, lon0: f64) -> (f64,f64,f64){ let t = lon0.cos() * u + lon0.sin() * v; let e = -lon0.sin() * u + lon0.cos() * v; let n = -lat0.sin() * t + lat0.cos() * w; let u = lat0.cos() * t + lat0.sin() * w; (e,n,u) } /// Returns the tuple (azimuth,elevation,slant range) of coordinates in the AER system /// /// ## Inputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - az = azimuth angle [rad] of input location from reference geodetic location /// - el = elevation angle [rad] of input location from reference geodetic location /// - slant_range = slant range [m] of input location from reference geodetic location pub fn ecef2aer(x: f64, y: f64, z: f64, lat0: f64, lon0: f64, alt0: f64)-> (f64,f64,f64){ let (e,n,u) = ecef2enu(x, y, z, lat0, lon0, alt0); let (az,el,slant_range) = enu2aer(e,n,u); (az,el,slant_range) } /// Returns the tuple (azimuth,elevation,slant range) of coordinates in the AER system /// /// ## Inputs: /// - x = x ECI coordinate [m] /// - y = y ECI coordinate [m] /// - z = z ECI coordinate [m] /// - lat = reference latitude [rad] /// - lon = reference longitude [rad] /// - alt = reference altitude [m] /// /// ## Outputs: /// - az = azimuth angle [rad] of input location from reference geodetic location /// - el = elevation angle [rad] of input location from reference geodetic location /// - slant_range = slant range [m] of input location from reference geodetic location pub fn eci2aer(gst :f64,x: f64, y: f64, z: f64, lat :f64, lon :f64, alt :f64)-> (f64,f64,f64){ let (x,y,z) = eci2ecef(gst, x, y, z); let (az,el,slant_range) = ecef2aer(x, y, z, lat, lon, alt); (az,el,slant_range) } /// Returns the tuple (x,y,z) of coordinates in the ECEF system /// /// ## Inputs: /// - gst = greenwhich sidereal time /// - x = x ECI coordinate [m] /// - y = y ECI coordinate [m] /// - z = z ECI coordinate [m] /// /// ## Outputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] pub fn eci2ecef(gst :f64,x: f64, y: f64, z: f64)-> (f64,f64,f64){ let arr = matmul3(r3(gst),[x,y,z]); (arr[0],arr[1],arr[2]) } /// Returns the tuple (azimuth,elevation,slant range) of coordinates in the AER system /// /// ## Inputs: /// - n = north coordinate [m] of input location from reference geodetic location /// - e = east coordinate [m] of input location from reference geodetic location /// - d = down coordinate [m] of input location from reference geodetic location /// /// ## Outputs: /// - az = azimuth angle [rad] of input location from reference geodetic location /// - el = elevation angle [rad] of input location from reference geodetic location /// - slant_range = slant range [m] of input location from reference geodetic location pub fn ned2aer(n : f64, e: f64,d :f64) -> (f64,f64,f64){ let aer = enu2aer(e, n, -d); aer } /// Returns the tuple (latitude,longitude,altitude) of coordinates in the Geodetic system /// /// ## Inputs: /// - n = north coordinate [m] of input location from reference geodetic location /// - e = east coordinate [m] of input location from reference geodetic location /// - d = down coordinate [m] of input location from reference geodetic location /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - lat = latitude [rad] /// - lon = longitude [rad] /// - alt = altitude [m] pub fn ned2geodetic(n : f64, e: f64,d :f64, lat0: f64, lon0: f64, alt0: f64) -> (f64,f64,f64){ let geo = enu2geodetic(e, n, -d, lat0, lon0, alt0); geo } /// Returns the tuple (x,y,z) of coordinates in the ECEF system /// /// ## Inputs: /// - n = north coordinate [m] from reference geodetic location /// - e = east coordinate [m] from reference geodetic location /// - d = down coordinate [m] from reference geodetic location /// - lat0 = reference latitude [rad] /// - lon0 = reference longitude [rad] /// - alt0 = reference altitude [m] /// /// ## Outputs: /// - x = x ECEF coordinate [m] /// - y = y ECEF coordinate [m] /// - z = z ECEF coordinate [m] pub fn ned2ecef(n: f64,e : f64, d :f64, lat0: f64, lon0: f64, alt0 : f64) -> (f64,f64,f64){ let ecef = enu2ecef(e, n, -d, lat0, lon0, alt0); ecef } /// Returns the array result of 3-by-3-matrix that multiplies a 3-by-1 column array pub fn matmul3(matrix: [f64;9],col:[f64;3])->[f64;3]{ let out : [f64;3] = [ matrix[0]*col[0]+matrix[1]*col[1]+matrix[2]*col[2], matrix[3]*col[0]+matrix[4]*col[1]+matrix[5]*col[2], matrix[6]*col[0]+matrix[7]*col[1]+matrix[8]*col[2]]; out } /// Returns the array representing a 3-by-3 rotation matrix of the input pub fn r3(x : f64) -> [f64; 9] { [x.cos(),x.sin(),0.0,-x.sin(),x.cos(),0.0,0.0,0.0,1.0] } /// Returns the array representing the transpose of the input 3-by-3 matrix pub fn transpose3(x: [f64;9]) -> [f64;9] { [x[0],x[3],x[6],x[1],x[4],x[7],x[2],x[5],x[8]] } /// Returns the tuple representing the WGS84 data: /// /// ## Outputs: /// - tuple.0 = semi-major axis 6378137.0 [m] /// - tuple.1 = semi-minor axis [m] /// - tuple.2 = flattening 1.0/298.2572235630 [-] /// - tuple.3 = squared eccentricity [rad^2] pub fn wgs84() -> (f64,f64,f64,f64) { let major = 6378137.0; let flattening = 1.0/298.2572235630; let minor = major * (1.0 - flattening); let ecc_sq = ((major*major)-(minor*minor))/(major*major); (major,minor,flattening,ecc_sq) } /// Returns the normal radius based on input latitude pub fn get_radius_normal(lat: f64)->f64 { let (major,_,_,squared_eccentricity) = wgs84(); major/((1.0-squared_eccentricity*lat.sin()*lat.sin()).sqrt()) } /// Returns the radians [rad] value of the decimal degree [deg] input pub fn deg2rad(x: f64) -> f64 { x/180.0*std::f64::consts::PI } /// Returns the decimal degree [deg] value of the radians [rad] input pub fn rad2deg(x: f64) -> f64 { x*180.0/std::f64::consts::PI } /// Returns the GST time as f64 /// /// ## Input /// UTC time defined as: [year,month,day,hour,minute,second] /// /// ## Output /// Gst time as f64 pub fn utc2gst(utc: [i32;6]) -> f64 { let mut year = utc[0] as f64; let mut month = utc[1] as f64; let day = utc[2] as f64; let h = utc[3] as f64; let m = utc[4] as f64; let s = utc[5] as f64; if month<3.0 { year = year - 1.0; month = month + 12.0; } let a = fix(year/100.0); let b = 2.0 - a + fix(a/4.0); let c = ((s/60.0 + m)/60.0 + h)/24.0; let jd = fix(365.25 * (year + 4716.0)) + fix(30.6001*(month + 1.0)) + day + b - 1524.5 + c; let t_ut1 = (jd - 2451545.0)/36525.0; let gmst_sec = 67310.54841 + 3.164400184812866e+09 * t_ut1 + 0.093104 * t_ut1 * t_ut1 - 6.2e-6 * t_ut1 * t_ut1 * t_ut1; let gst = (gmst_sec * 2.0 * std::f64::consts::PI / 86400.0) % (2.0 * std::f64::consts::PI); gst } /// Return the round toward zero value of the input pub fn fix(x : f64) -> f64 { let mut out = x; if out<0.0 { out = x.ceil(); } else { out = x.floor(); } out } #[cfg(test)] mod tests { use super::*; #[test] fn test_utc2gst() { let datetime: [i32;6] = [2020,5,12,18,2,10]; let gst_ref = 2.469809475597415; let gst = utc2gst(datetime); assert!( (gst-gst_ref).abs()<1e-8); let datetime2: [i32;6] = [2020,1,12,18,2,10]; let gst_ref2 = 0.388271658105431; let gst2 = utc2gst(datetime2); assert!( (gst2-gst_ref2).abs()<1e-8); } #[test] fn test_fix() { let x1 = 3.7; let x2 = -4.67; assert_eq!(fix(x1),3.0); assert_eq!(fix(x2),-4.0); } #[test] fn test_deg2rad() { assert!((deg2rad(0.0)-0.0).abs()<1e-4); assert!((deg2rad(90.0)-std::f64::consts::PI/2.0).abs()<1e-4); assert!((deg2rad(-90.0)+std::f64::consts::PI/2.0).abs()<1e-4); assert!((deg2rad(45.0)-std::f64::consts::PI/4.0).abs()<1e-4); assert!((deg2rad(270.0)-std::f64::consts::PI*6.0/4.0).abs()<1e-4); assert!((deg2rad(360.0)-std::f64::consts::PI*2.0).abs()<1e-4); } #[test] fn test_rad2deg() { assert!((0.0-rad2deg(0.0)).abs()<1e-4); assert!((90.0-rad2deg(std::f64::consts::PI/2.0)).abs()<1e-4); assert!((-90.0+rad2deg(std::f64::consts::PI/2.0)).abs()<1e-4); assert!((45.0-rad2deg(std::f64::consts::PI/4.0)).abs()<1e-4); assert!((270.0-rad2deg(std::f64::consts::PI*6.0/4.0)).abs()<1e-4); assert!((360.0-rad2deg(std::f64::consts::PI*2.0)).abs()<1e-4); } #[test] fn test_geodetic2ecef() { let lat = deg2rad(30.14988205); let lon = deg2rad(91.38733072); let alt = 4031.0; let (x,y,z) = geodetic2ecef(lat,lon,alt); let xref = -1.337281037300386e+05; let yref = 5.521796910920261e+06; let zref = 3.186776473672415e+06; assert!((x-xref).abs()<1e-3); assert!((y-yref).abs()<1e-3); assert!((z-zref).abs()<1e-3); } #[test] fn test_geodetic2aer() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let lat = deg2rad(42.002581974253744); let lon = deg2rad(-81.997751960067460); let alt = 1.139701799575106e+03; let azref = deg2rad(32.999999999989740); let elref = deg2rad(69.999999999945540); let rangeref = 1000.0; let (a,e,r) = geodetic2aer(lat, lon, alt, lat0, lon0, alt0); assert!((a-azref).abs()<1e-3); assert!((e-elref).abs()<1e-3); assert!((r-rangeref).abs()<1e-3); } #[test] fn test_geodetic2enu() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let lat = deg2rad(42.002581974253744); let lon = deg2rad(-81.997751960067460); let alt = 1.139701799575106e+03; let eref = 1.862775208168244e+02; let nref = 2.868422278521820e+02; let uref = 9.396926207845534e+02; let (e,n,u) = geodetic2enu(lat, lon, alt, lat0, lon0, alt0); assert!((e-eref).abs()<1e-3); assert!((n-nref).abs()<1e-3); assert!((u-uref).abs()<1e-3); } #[test] fn test_aer2ecef() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let az = deg2rad(33.0); let el = deg2rad(70.0); let slant_range = 1000.0; let (x,y,z) = aer2ecef(az,el,slant_range,lat0,lon0,alt0); let xref = 6.609301927610816e+05; let yref = -4.701424222957011e+06; let zref = 4.246579604632881e+06; assert!((x-xref).abs()<1e-3); assert!((y-yref).abs()<1e-3); assert!((z-zref).abs()<1e-3); } #[test] fn test_aer2enu() { let az = deg2rad(33.0); let el = deg2rad(70.0); let slant_range = 1000.0; let eref = 1.862775208165935e+02; let nref = 2.868422278517140e+02; let uref = 9.396926207859083e+02; let (e,n,u)= aer2enu(az, el, slant_range); assert!((e-eref).abs()<1e-3); assert!((n-nref).abs()<1e-3); assert!((u-uref).abs()<1e-3); } #[test] fn test_aer2eci() { let az = deg2rad(162.55); let el = deg2rad(55.12); let slant_range = 384013940.9; let gst = 4.501012562811752; let lat0 = deg2rad(28.4); let lon0 = deg2rad(-80.5); let alt0 = 2.7; let xref = -3.849714979138141e+08; let yref = -4.836588977863766e+07; let zref = -3.143285462295778e+07; let (x,y,z) = aer2eci(gst, az, el, slant_range, lat0, lon0, alt0); assert!((x-xref).abs()<1e-3); assert!((y-yref).abs()<1e-3); assert!((z-zref).abs()<1e-3); } #[test] fn test_aer2geodetic() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let az = deg2rad(32.999999999989740); let el = deg2rad(69.999999999945540); let slant_range = 1000.0; let latref = deg2rad(42.002581974253744); let lonref = deg2rad(-81.997751960067460); let altref = 1.139701799575106e+03; let (lat,lon,alt) = aer2geodetic(az, el, slant_range, lat0, lon0, alt0); assert!((lat-latref).abs()<1e-8); assert!((lon-lonref).abs()<1e-8); assert!((alt-altref).abs()<1e-8); } #[test] fn test_enu2aer() { let e = 1.862775210000000e+02; let n = 2.868422200000000e+02; let u = 9.396926200000000e+02; let azref = deg2rad(33.0); let elref = deg2rad(70.0); let rangeref = 1000.0; let (az,el,range) = enu2aer(e, n, u); assert!((az-azref).abs()<1e-3); assert!((el-elref).abs()<1e-3); assert!((range-rangeref).abs()<1e-3); } #[test] fn test_enu2ecef() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let e = 1.862775210000000e+02; let n = 2.868422200000000e+02; let u = 9.396926200000000e+02; let xref = 6.609301927610815e+05; let yref = -4.701424222957011e+06; let zref = 4.246579604632881e+06; let (x,y,z) = enu2ecef(e, n, u, lat0, lon0, alt0); assert!((x-xref).abs()<1e-3); assert!((y-yref).abs()<1e-3); assert!((z-zref).abs()<1e-3); } #[test] fn test_enu2geodetic() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let e = 0.0; let n = 0.0; let u = -1.0; let latref = deg2rad(41.999999999999993); let lonref = deg2rad(-82.0); let altref = 1.990000000007368e+02; let (lat,lon,alt) = enu2geodetic(e, n, u, lat0, lon0, alt0); assert!((lat-latref).abs()<1e-8); assert!((lon-lonref).abs()<1e-8); assert!((alt-altref).abs()<1e-8); } #[test] fn test_ecef2geodetic() { let latref = deg2rad(30.14988205); let lonref = deg2rad(91.38733072); let altref = 4031.0; let (x,y,z) = geodetic2ecef(latref, lonref, altref); let (lat,lon,alt) = ecef2geodetic(x, y, z); assert!((lat-latref).abs()<1e-8); assert!((lon-lonref).abs()<1e-8); assert!((alt-altref).abs()<1e-8); let (x,y,z) = geodetic2ecef(latref, lonref, altref-5000.0); let (lat,lon,alt) = ecef2geodetic(x, y, z); assert!((lat-latref).abs()<1e-8); assert!((lon-lonref).abs()<1e-8); assert!((alt-(altref-5000.0)).abs()<1e-8); } #[test] fn test_ecef2enu() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let eref = 1.862775210000000e+02; let nref = 2.868422200000000e+02; let uref = 9.396926200000000e+02; let (x,y,z) = enu2ecef(eref, nref, uref, lat0, lon0, alt0); let (e,n,u)= ecef2enu(x, y, z, lat0, lon0, alt0); assert!((e-eref).abs()<1e-3); assert!((n-nref).abs()<1e-3); assert!((u-uref).abs()<1e-3); } #[test] fn test_ecef2aer() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let azref = deg2rad(33.0); let elref = deg2rad(70.0); let rangeref = 1000.0; let (x,y,z) = aer2ecef(azref, elref, rangeref, lat0, lon0, alt0); let (az,el,range) = ecef2aer(x, y, z, lat0, lon0, alt0); assert!((az-azref).abs()<1e-3); assert!((el-elref).abs()<1e-3); assert!((range-rangeref).abs()<1e-3); } #[test] fn test_eci2aer() { let azref = deg2rad(162.55); let elref = deg2rad(55.12); let rangeref = 384013940.9; let gst = 4.501012562811752; let lat0 = deg2rad(28.4); let lon0 = deg2rad(-80.5); let alt0 = 2.7; let (x,y,z) = aer2eci(gst, azref, elref, rangeref, lat0, lon0, alt0); let (az,el,range) = eci2aer(gst, x, y, z, lat0, lon0, alt0); assert!((az-azref).abs()<1e-3); assert!((el-elref).abs()<1e-3); assert!((range-rangeref).abs()<1e-3); } #[test] fn test_ned2geodetic() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let e = 0.0; let n = 0.0; let d = 1.0; let latref = deg2rad(41.999999999999993); let lonref = deg2rad(-82.0); let altref = 1.990000000007368e+02; let (lat,lon,alt) = ned2geodetic(n, e, d, lat0, lon0, alt0); assert!((lat-latref).abs()<1e-8); assert!((lon-lonref).abs()<1e-8); assert!((alt-altref).abs()<1e-8); } #[test] fn test_geodetic2ned() { let lat = deg2rad(41.999999999999993); let lon = deg2rad(-82.0); let alt = 1.990000000007368e+02; let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let eref = 0.0; let nref = 0.0; let dref = 1.0; let (n,e,d) = geodetic2ned(lat, lon, alt, lat0, lon0, alt0); assert!((e-eref).abs()<1e-3); assert!((n-nref).abs()<1e-3); assert!((d-dref).abs()<1e-3); } #[test] fn test_aer2ned() { let az = deg2rad(33.0); let el = deg2rad(70.0); let slant_range = 1000.0; let eref = 1.862775208165935e+02; let nref = 2.868422278517140e+02; let dref = -9.396926207859083e+02; let (n, e, d)= aer2ned(az, el, slant_range); assert!((e-eref).abs()<1e-3); assert!((n-nref).abs()<1e-3); assert!((d-dref).abs()<1e-3); } #[test] fn test_ned2aer() { let az_ref = deg2rad(33.0); let el_ref = deg2rad(70.0); let range_ref = 1000.0; let e = 1.862775208165935e+02; let n = 2.868422278517140e+02; let d = -9.396926207859083e+02; let (az, el, range) = ned2aer(n, e, d); assert!((az-az_ref).abs()<1e-6); assert!((el-el_ref).abs()<1e-6); assert!((range-range_ref).abs()<1e-3); } #[test] fn test_ned2ecef() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let e = 1.862775210000000e+02; let n = 2.868422200000000e+02; let d = -9.396926200000000e+02; let xref = 6.609301927610815e+05; let yref = -4.701424222957011e+06; let zref = 4.246579604632881e+06; let (x,y,z) = ned2ecef(n, e, d, lat0, lon0, alt0); assert!((x-xref).abs()<1e-3); assert!((y-yref).abs()<1e-3); assert!((z-zref).abs()<1e-3); } #[test] fn test_ecef2ned() { let lat0 = deg2rad(42.0); let lon0 = deg2rad(-82.0); let alt0 = 200.0; let eref = 1.862775210000000e+02; let nref = 2.868422200000000e+02; let dref = -9.396926200000000e+02; let (x,y,z) = ned2ecef(nref, eref, dref, lat0, lon0, alt0); let (n,e,d)= ecef2ned(x, y, z, lat0, lon0, alt0); assert!((e-eref).abs()<1e-3); assert!((n-nref).abs()<1e-3); assert!((d-dref).abs()<1e-3); } }