mecefins.m

来自「GPS software toolbox for GPS receiver de」· M 代码 · 共 31 行

%                                mecefins.m
%  Scope:   This MATLAB macro constructs the transformation matrix from ECEF 
%           frame to INS (Wander / North West Up) frame.
%  Usage:   moutput = mecefins(lat,lon,waz)
%  Description of parameters:
%           lat      -  input, reference latitude in radians
%           lon      -  input, reference longitude in radians
%           waz      -  input, wander azimuth angle in radians
%           moutput  -  output, two-dimensional real array containing the 
%                       transformation matrix from ECEF frame to INS frame
%  Last update:  04/05/00
%  Copyright (C) 1996-00 by LL Consulting. All Rights Reserved.

function   moutput = mecefins(lat,lon,waz)

slat = sin(lat);
clat = cos(lat);
slon = sin(lon);
clon = cos(lon);
swaz = sin(waz);
cwaz = cos(waz);

moutput(1,1) = - cwaz * clon * slat + swaz * slon; 
moutput(1,2) = - cwaz * slon * slat - swaz * clon;
moutput(1,3) =   cwaz * clat;
moutput(2,1) =   swaz * clon * slat + cwaz * slon;
moutput(2,2) =   swaz * slon * slat - cwaz * clon;
moutput(2,3) = - swaz * clat;
moutput(3,1) =   clon * clat;
moutput(3,2) =   slon * clat;
moutput(3,3) =   slat;