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## Copyright (c) 2014-2022 Michael Hirsch, Ph.D.
## Copyright (c) 2013-2022 Felipe Geremia Nievinski
## Copyright (C) 2020-2022 Philip Nienhuis
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
## 1. Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2. Redistributions in binary form must reproduce the above copyright notice,
## this list of conditions and the following disclaimer in the documentation
## and/or other materials provided with the distribution.
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
## THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
## LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
## CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
## SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
## OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
## WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
## (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
## SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
## -*- texinfo -*-
## @deftypefn {Function File} {@var{n}, @var{e}, @var{d} =} geodetic2ned (@var{lat}, @var{lon}, @var{alt}, @var{lat0}, @var{lon0}, @var{alt0})
## @deftypefnx {Function File} {@var{n}, @var{e}, @var{d} =} geodetic2ned (@var{lat}, @var{lon}, @var{alt}, @var{lat0}, @var{lon0}, @var{alt0}, @var{spheroid})
## @deftypefnx {Function File} {@var{n}, @var{e}, @var{d} =} geodetic2ned (@var{lat}, @var{lon}, @var{alt}, @var{lat0}, @var{lon0}, @var{alt0}, @var{spheroid}, @var{angleUnit})
## Convert from geodetic coordinates to local North, East, Down (NED) coordinates.
##
## Inputs:
## @itemize
## @item
## @var{lat}, @var{lon}, @var{alt}: ellipsoid geodetic coordinates of target
## point(s) (angle, angle, length). Can be scalars but vectors and nD arrays
## values are accepted if they have equal dimensions.
##
## @item
## @var{lat0}, @var{lon0}, @var{alt0}: ellipsoid geodetic coordinates of
## observer location (angle, angle, length). In case of multiple observer
## locations their numbers and dimensions should match those of the target
## points (i.e., one observer location for each target point). The length
## units of target point(s) and observer location(s) should match.
##
## Note: @var{alt} (height) is relative to the reference ellipsoid, not the
## geoid. Use e.g., egm96geoid to compute the height difference between the
## geoid and the WGS84 reference ellipsoid.
##
## @item
## @var{spheroid} (optional): a user-specified spheroid (see referenceEllipsoid);
## it can be omitted or given as an empty string or empty numeric array('[]'),
## in which cases WGS84 will be selected as default spheroid.
##
## @item
## @var{angleUnit}: string for angular units ('degrees' or 'radians',
## case-insensitive, just the first character will do). Default is 'degrees'.
## @end itemize
##
## Outputs:
## @itemize
## @item
## @var{n}, @var{e}, @var{d}: North, East, Down Cartesian coordinates
## (length).
## @end itemize
##
## Lengh units are those of the invoked reference ellipsoid (see below).
##
## Example:
## @example
## lat = 42.002; lon = -81.998; alt = 1000;
## lat0 = 42; lon0 = -82; alt0 = 200;
## [n, e, d] = geodetic2ned(lat, lon, alt, lat0, lon0, alt0, "wgs84", "degrees")
## n = 222.18
## e = 165.72
## u = -799.99
## @end example
##
## @seealso{ned2geodetic, geodetic2aer, geodetic2ecef, geodetic2enu,
## egm96geoid, referenceEllipsoid}
## @end deftypefn
## Function adapted by anonymous contributor, see:
## https://savannah.gnu.org/patch/index.php?9923
function [n, e, d] = geodetic2ned (varargin)
spheroid = "";
angleUnit = "degrees";
if (nargin < 6 || nargin > 8)
print_usage();
elseif (nargin == 7)
if (isnumeric (varargin{7}))
## EPSG spheroid code
spheroid = varargin{7};
elseif (ischar (varargin{7}))
if (! isempty (varargin{7}) && ismember (varargin{7}(1), {"r", "d"}))
angleUnit = varargin{7};
else
spheroid = varargin{7};
endif
elseif (isstruct (varargin{7}))
spheroid = varargin{7};
else
error ("geodetic2ned: spheroid or angleUnit expected for arg. #7");
endif
elseif (nargin == 8)
spheroid = varargin{7};
angleUnit = varargin{8};
endif
lat = varargin{1};
lon = varargin{2};
alt = varargin{3};
lat0 = varargin{4};
lon0 = varargin{5};
alt0 = varargin{6};
if (! isnumeric (lat) || ! isreal (lat) || ...
! isnumeric (lon) || ! isreal (lon) || ...
! isnumeric (alt) || ! isreal (alt) || ...
! isnumeric (lat0) || ! isreal (lat0) || ...
! isnumeric (lon0) || ! isreal (lon0) || ...
! isnumeric (alt0) || ! isreal (alt0))
error ("geodetic2ned: numeric real input expected");
endif
if (! all (size (lat) == size (lon)) || ! all (size (lon) == size (alt)))
error ("geodetic2ned: non-matching dimensions of ECEF inputs.");
endif
if (isnumeric (spheroid))
spheroid = num2str (spheroid);
endif
E = sph_chk (spheroid);
if (! ischar (angleUnit) || ! ismember (lower (angleUnit(1)), {"d", "r"}))
error ("geodetic2ned: angleUnit should be one of 'degrees' or 'radians'")
endif
[x1, y1, z1] = geodetic2ecef (E, lat, lon, alt, angleUnit);
[x2, y2, z2] = geodetic2ecef (E, lat0, lon0, alt0, angleUnit);
dx = x1 - x2;
dy = y1 - y2;
dz = z1 - z2;
[n, e, d] = ecef2nedv (dx, dy, dz, lat0, lon0, angleUnit);
endfunction
%!test
%! lat = 42.002582; lon = -81.997752; alt = 1139.7;
%! lat0 = 42; lon0 = -82; alt0 = 200;
%! [n, e, d] = geodetic2ned (lat, lon, alt, lat0, lon0, alt0);
%! assert([n, e, d], [286.84, 186.28, -939.69], 10e-3);
%!test
%! Rad = deg2rad ([42.002582, -81.997752, 42, -82]);
%! alt = 1139.7; alt0 = 200;
%! [e, n, u] = geodetic2ned (Rad(1), Rad(2), alt, Rad(3), Rad(4), alt0, "rad");
%! assert([e, n, u], [286.84, 186.28, -939.69], 10e-3);
%!test
%! [a, b, c] = ned2geodetic (-7134.8, -4556.3, 2852.4, 46.017, 7.750, 1673, 'wgs84');
%! [d, e, f] = geodetic2ned (a, b, c, 46.017, 7.750, 1673);
%! assert ([d, e, f], [ -7134.8, -4556.3, 2852.4], 1e-6);
%!test
%! [n, e, d] = geodetic2ned (44.544, -72.814, 1340, 44.532, -72.782, 1699);
%! assert ([n, e, d], [1334.2518, -2543.5645, 359.6460], 1e-4);
%!error <angleUnit> geodetic2ned (45, 45, 100, 50, 50, 200, "", "km")
%!error <numeric real input expected> geodetic2ned ("A", 45, 100, 50, 50, 200)
%!error <numeric real input expected> geodetic2ned (45i, 45, 100, 50, 50, 200)
%!error <numeric real input expected> geodetic2ned (45, "A", 100, 50, 50, 200)
%!error <numeric real input expected> geodetic2ned (45, 45i, 100, 50, 50, 200)
%!error <numeric real input expected> geodetic2ned (45, 45, "A", 50, 50, 200)
%!error <numeric real input expected> geodetic2ned (45, 45, 100i, 50, 50, 200)
%!error <numeric real input expected> geodetic2ned (45, 45, 100, "A", 50, 200)
%!error <numeric real input expected> geodetic2ned (45, 45, 100, 50i, 50, 200)
%!error <numeric real input expected> geodetic2ned (45, 45, 100, 50, "A", 200)
%!error <numeric real input expected> geodetic2ned (45, 45, 100, 50, 50i, 200)
%!error <numeric real input expected> geodetic2ned (45, 45, 100, 50, 50, "A")
%!error <numeric real input expected> geodetic2ned (45, 45, 100, 50, 50, 200i)
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