venullw.m

Matlab GPS Toolbox

%                                venullw.m
%  Scope:   This MATLAB macro performs the transformation from ENU (East, North,
%           Up) to wander azimuth local level coordinates for a given position
%           vector and a reference wander azimuth angle.
%  Usage:   pllw = venullw(penu,waz)
%  Description of parameters:
%           penu  -  input, ENU position vector (with components in meters)
%           waz   -  input, wander azimuth angle in radians
%           pllw  -  output, local level wander azimuth position vector, with 
%                    components in same units as the input ENU vector
%  Remark:  The coordinate axes for wander azimuth local level 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:  04/04/00
%  Copyright (C) 1996-00 by LL Consulting. All Rights Reserved.

function   pllw = venullw(penu,waz)

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

pllw = zeros(3,1);
pllw(1) =   cwaz * penu(1) + swaz * penu(2);
pllw(2) = - swaz * penu(1) + cwaz * penu(2);
pllw(3) = penu(3);