menullw.m

来自「GPS software toolbox for GPS receiver de」· M 代码 · 共 33 行

%                                menullw.m
%  Scope:   This MATLAB macro constructs the transformation matrix from ENU 
%           (East, North, Up) frame to LLWA (Local Level Wander Azimuth)
%           frame.
%  Usage:   moutput = menullw(waz)
%  Description of parameters:
%           waz      -  input, wander azimuth angle in radians
%           moutput  -  output, two-dimensional real array containing the 
%                       transformation matrix from ENU frame to LLWA frame
%  Remark : The coordinate axes for local level wander azimuth frame are 
%           defined as follows:
%           x - axis at wander azimuth angle counter-clockwise from East in
%               local level plane,
%           y - axis at wander azimuth angle counter-clockwise from North in
%               local level plane,
%           z - axis upward along local normal
%  Last update:  04/05/00
%  Copyright (C) 1996-00 by LL Consulting. All Rights Reserved.

function   moutput = menullw(waz)

swaz = sin(waz);
cwaz = cos(waz);

moutput(1,1) =   cwaz;
moutput(1,2) =   swaz;
moutput(1,3) =     0.;
moutput(2,1) = - swaz;
moutput(2,2) =   cwaz;
moutput(2,3) =     0.;
moutput(3,1) =     0.;
moutput(3,2) =     0.;
moutput(3,3) =     1.;