void ltp_def_from_lla_i(struct LtpDef_i* def, struct LlaCoor_i* lla) {
/* store the origin of the tangeant plane */
LLA_COPY(def->lla, *lla);
/* compute the ecef representation of the origin */
ecef_of_lla_i(&def->ecef, &def->lla);
/* store the rotation matrix */
#if 1
int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#endif
def->ltp_of_ecef.m[0] = -sin_lon;
def->ltp_of_ecef.m[1] = cos_lon;
def->ltp_of_ecef.m[2] = 0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
def->ltp_of_ecef.m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[5] = cos_lat;
def->ltp_of_ecef.m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[8] = sin_lat;
}
void ecef_of_lla_i(struct EcefCoor_i* out, struct LlaCoor_i* in) {
/* convert our input to floating point */
struct LlaCoor_d in_d;
in_d.lon = RAD_OF_EM7RAD((double)in->lon);
in_d.lat = RAD_OF_EM7RAD((double)in->lat);
in_d.alt = M_OF_MM((double)in->alt);
/* calls the floating point transformation */
struct EcefCoor_d out_d;
ecef_of_lla_d(&out_d, &in_d);
/* convert the output to fixed point */
out->x = (int32_t)CM_OF_M(out_d.x);
out->y = (int32_t)CM_OF_M(out_d.y);
out->z = (int32_t)CM_OF_M(out_d.z);
}
void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef) {
/* store the origin of the tangeant plane */
/* 保存原始的切平面数据*/
VECT3_COPY(def->ecef, *ecef);
/* compute the lla representation of the origin */
/* 计算LLA原始点的位置信息（lon:rad*1e7,lat:rad*1e7,alt：mm）*/
lla_of_ecef_i(&def->lla, &def->ecef);
/* store the rotation matrix */
/* 存储旋转矩阵值*/
#if 1
//计算经度和纬度的正弦和余弦的值（先转换成float型，再求sin和cos ,最后*<<20,求得整数值）
int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#endif
/* 以下几位ECEF到lla坐标系的转换矩阵*/
def->ltp_of_ecef.m[0] = -sin_lon;
def->ltp_of_ecef.m[1] = cos_lon;
def->ltp_of_ecef.m[2] = 0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
def->ltp_of_ecef.m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[5] = cos_lat;
def->ltp_of_ecef.m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[8] = sin_lat;
}
static void test_enu_of_ecef_int(void) {
printf("\n--- enu_of_ecef int ---\n");
struct EcefCoor_f ref_coor_f = { 4624497.0 , 116475.0, 4376563.0};
struct LtpDef_f ltp_def_f;
ltp_def_from_ecef_f(<p_def_f, &ref_coor_f);
struct EcefCoor_i ref_coor_i = { rint(CM_OF_M(ref_coor_f.x)),
rint(CM_OF_M(ref_coor_f.y)),
rint(CM_OF_M(ref_coor_f.z))};
printf("ecef0 : (%d,%d,%d)\n", ref_coor_i.x, ref_coor_i.y, ref_coor_i.z);
struct LtpDef_i ltp_def_i;
ltp_def_from_ecef_i(<p_def_i, &ref_coor_i);
printf("lla0 : (%d %d %d) (%f,%f,%f)\n", ltp_def_i.lla.lat, ltp_def_i.lla.lon, ltp_def_i.lla.alt,
DegOfRad(RAD_OF_EM7RAD((double)ltp_def_i.lla.lat)),
DegOfRad(RAD_OF_EM7RAD((double)ltp_def_i.lla.lon)),
M_OF_CM((double)ltp_def_i.lla.alt));
#define STEP 1000.
#define RANGE 100000.
double sum_err = 0;
struct FloatVect3 max_err;
FLOAT_VECT3_ZERO(max_err);
struct FloatVect3 offset;
for (offset.x=-RANGE; offset.x<=RANGE; offset.x+=STEP) {
for (offset.y=-RANGE; offset.y<=RANGE; offset.y+=STEP) {
for (offset.z=-RANGE; offset.z<=RANGE; offset.z+=STEP) {
struct EcefCoor_f my_ecef_point_f = ref_coor_f;
VECT3_ADD(my_ecef_point_f, offset);
struct EnuCoor_f my_enu_point_f;
enu_of_ecef_point_f(&my_enu_point_f, <p_def_f, &my_ecef_point_f);
#if DEBUG
printf("ecef to enu float : (%.02f,%.02f,%.02f) -> (%.02f,%.02f,%.02f)\n",
my_ecef_point_f.x, my_ecef_point_f.y, my_ecef_point_f.z,
my_enu_point_f.x, my_enu_point_f.y, my_enu_point_f.z );
#endif
struct EcefCoor_i my_ecef_point_i = { rint(CM_OF_M(my_ecef_point_f.x)),
rint(CM_OF_M(my_ecef_point_f.y)),
rint(CM_OF_M(my_ecef_point_f.z))};;
struct EnuCoor_i my_enu_point_i;
enu_of_ecef_point_i(&my_enu_point_i, <p_def_i, &my_ecef_point_i);
#if DEBUG
// printf("def->ecef (%d,%d,%d)\n", ltp_def_i.ecef.x, ltp_def_i.ecef.y, ltp_def_i.ecef.z);
printf("ecef to enu int : (%.2f,%.02f,%.02f) -> (%.02f,%.02f,%.02f)\n\n",
M_OF_CM((double)my_ecef_point_i.x),
M_OF_CM((double)my_ecef_point_i.y),
M_OF_CM((double)my_ecef_point_i.z),
M_OF_CM((double)my_enu_point_i.x),
M_OF_CM((double)my_enu_point_i.y),
M_OF_CM((double)my_enu_point_i.z));
#endif
float ex = my_enu_point_f.x - M_OF_CM((double)my_enu_point_i.x);
if (fabs(ex) > max_err.x) max_err.x = fabs(ex);
float ey = my_enu_point_f.y - M_OF_CM((double)my_enu_point_i.y);
if (fabs(ey) > max_err.y) max_err.y = fabs(ey);
float ez = my_enu_point_f.z - M_OF_CM((double)my_enu_point_i.z);
if (fabs(ez) > max_err.z) max_err.z = fabs(ez);
sum_err += ex*ex + ey*ey + ez*ez;
}
}
}
double nb_samples = (2*RANGE / STEP + 1) * (2*RANGE / STEP + 1) * (2*RANGE / STEP + 1);
printf("enu_of_ecef int/float comparison:\n");
printf("error max (%f,%f,%f) m\n", max_err.x, max_err.y, max_err.z );
printf("error avg (%f ) m \n", sqrt(sum_err) / nb_samples );
printf("\n");
}
