// convert a lat/lon/time to a Vec3d in local NED co-ords
void compute_sunvec(double lat, double lon, ros::Time t, cv::Point3d & sunvec)
{
struct posdata pdat;
long retval;
S_init(&pdat);
pdat.latitude = lat;
pdat.longitude = lon;
//convert ros time to ymd-hms
time_t utctime = t.toSec();
struct tm * ymdhms = gmtime(&utctime);
pdat.year = 1900+ymdhms->tm_year;
pdat.daynum = 1+ymdhms->tm_yday;
pdat.hour = ymdhms->tm_hour;
pdat.minute = ymdhms->tm_min;
pdat.second = ymdhms->tm_sec;
pdat.timezone = 0; //GMT/UTC
pdat.aspect = 0.0; //north up
pdat.tilt = 0.0;
pdat.function |= S_SOLAZM | S_REFRAC;
retval = S_solpos (&pdat); /* S_solpos function call */
S_decode(retval, &pdat); /* ALWAYS look at the return code! */
if (retval == 0) {
double zen = radians(pdat.zenref); /* 0 = up */
double azi = radians(pdat.azim); /* N=0 E=90 S=180 W=270 */
zen = M_PI - zen; //convert to NED */
sunvec.z = std::cos(zen);
sunvec.x = std::cos(azi)*std::sin(zen);
sunvec.y = std::sin(azi)*std::sin(zen);
}
}
int S_spectral2 (struct specdattype *specdat)
{
/* This array contains the extraterrestrial spectrum and atmospheric
absorption coefficients at 122 wavelengths. The first array range is
defined as follows:
0 = wavelength (microns)
1 = extraterrestrial spectrum (W/sq m/micron)
2 = water vapor absorption coefficient
3 = ozone absorption coefficient
4 = uniformly mixed gas "absorption coefficient" */
static float A[5][122] = { { 0.3, 0.305, 0.31, 0.315, 0.32, 0.325, 0.33, 0.335, 0.34,
0.345, 0.35, 0.36, 0.37, 0.38, 0.39, 0.4, 0.41, 0.42, 0.43, 0.44, 0.45, 0.46, 0.47,
0.48, 0.49, 0.5, 0.51, 0.52, 0.53, 0.54, 0.55, 0.57, 0.593, 0.61, 0.63, 0.656,
0.6676, 0.69, 0.71, 0.718, 0.7244, 0.74, 0.7525, 0.7575, 0.7625, 0.7675, 0.78, 0.8,
0.816, 0.8237, 0.8315, 0.84, 0.86, 0.88, 0.905, 0.915, 0.925, 0.93, 0.937, 0.948,
0.965, 0.98, 0.9935, 1.04, 1.07, 1.1, 1.12, 1.13, 1.145, 1.161, 1.17, 1.2, 1.24,
1.27, 1.29, 1.32, 1.35, 1.395, 1.4425, 1.4625, 1.477, 1.497, 1.52, 1.539, 1.558,
1.578, 1.592, 1.61, 1.63, 1.646, 1.678, 1.74, 1.8, 1.86, 1.92, 1.96, 1.985, 2.005,
2.035, 2.065, 2.1, 2.148, 2.198, 2.27, 2.36, 2.45, 2.5, 2.6, 2.7, 2.8, 2.9, 3.0,
3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.8, 3.9, 4.0 },
{ 535.9, 558.3, 622.0, 692.7, 715.1, 832.9, 961.9, 931.9, 900.6, 911.3, 975.5,
975.9, 1119.9, 1103.8, 1033.8, 1479.1, 1701.3, 1740.4, 1587.2, 1837.0, 2005.0,
2043.0, 1987.0, 2027.0, 1896.0, 1909.0, 1927.0, 1831.0, 1891.0, 1898.0, 1892.0,
1840.0, 1768.0, 1728.0, 1658.0, 1524.0, 1531.0, 1420.0, 1399.0, 1374.0, 1373.0,
1298.0, 1269.0, 1245.0, 1223.0, 1205.0, 1183.0, 1148.0, 1091.0, 1062.0, 1038.0,
1022.0, 998.7, 947.2, 893.2, 868.2, 829.7, 830.3, 814.0, 786.9, 768.3, 767.0, 757.6,
688.1, 640.7, 606.2, 585.9, 570.2, 564.1, 544.2, 533.4, 501.6, 477.5, 442.7, 440.0,
416.8, 391.4, 358.9, 327.5, 317.5, 307.3, 300.4, 292.8, 275.5, 272.1, 259.3, 246.9,
244.0, 243.5, 234.8, 220.5, 190.8, 171.1, 144.5, 135.7, 123.0, 123.8, 113.0, 108.5,
97.5, 92.4, 82.4, 74.6, 68.3, 63.8, 49.5, 48.5, 38.6, 36.6, 32.0, 28.1, 24.8, 22.1,
19.6, 17.5, 15.7, 14.1, 12.7, 11.5, 10.4, 9.5, 8.6 },
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.075, 0.0, 0.0, 0.0, 0.0, 0.016, 0.0125, 1.8, 2.5, 0.061, 0.0008, 0.0001, 0.00001,
0.00001, 0.0006, 0.036, 1.6, 2.5, 0.5, 0.155, 0.00001, 0.0026, 7.0, 5.0, 5.0, 27.0,
55.0, 45.0, 4.0, 1.48, 0.1, 0.00001, 0.001, 3.2, 115.0, 70.0, 75.0, 10.0, 5.0, 2.0,
0.002, 0.002, 0.1, 4.0, 200.0, 1000.0, 185.0, 80.0, 80.0, 12.0, 0.16, 0.002, 0.0005,
0.0001, 0.00001, 0.0001, 0.001, 0.01, 0.036, 1.1, 130.0, 1000.0, 500.0, 100.0, 4.0,
2.9, 1.0, 0.4, 0.22, 0.25, 0.33, 0.5, 4.0, 80.0, 310.0, 15000.0, 22000.0, 8000.0,
650.0, 240.0, 230.0, 100.0, 120.0, 19.5, 3.6, 3.1, 2.5, 1.4, 0.17, 0.0045 },
{ 10.0, 4.8, 2.7, 1.35, 0.8, 0.38, 0.16, 0.075, 0.04, 0.019, 0.007, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.003, 0.006, 0.009, 0.01400, 0.021, 0.03, 0.04,
0.048, 0.063, 0.075, 0.085, 0.12, 0.119, 0.12, 0.09, 0.065, 0.051, 0.028, 0.018,
0.015, 0.012, 0.01, 0.008, 0.007, 0.006, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0 },
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, 0.35, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.3, 0.02, 0.0002, 0.00011, 0.00001, 0.05,
0.011, 0.005, 0.0006, 0.0, 0.005, 0.13, 0.04, 0.06, 0.13, 0.001, 0.0014, 0.0001,
0.00001, 0.00001, 0.0001, 0.001, 4.3, 0.2, 21.0, 0.13, 1.0, 0.08, 0.001, 0.00038,
0.001, 0.0005, 0.00015, 0.00014, 0.00066, 100.0, 150.0, 0.13, 0.0095, 0.001, 0.8,
1.9, 1.3, 0.075, 0.01, 0.00195, 0.004, 0.29, 0.025 } };
static float wv[6]; /* Temporary wavelength array */
static float rf[6]; /* Temporary reflectivity array */
static float afs; /* Equation 3-12 */
static float alg; /* Equation 3-14 */
static float Am; /* Abbrev. for soldat->amass */
static float Amo; /* Abbrev. for ozone amount */
static float Amp; /* Abbrev. for soldat->ampress */
static float Ao; /* Abbrev. for ozone adjustment */
static float Au; /* Abbrev. for uniformly mixed gases */
static float Aw; /* Abbrev. for water vapor adjustment */
static float bfs; /* Equation 3-13 */
static float c = 2.9979244e14; /* Used to calculate photon flux */
static float c1, c2, c3, c4, c5, c6; /* general coefficients */
static float ci; /* cosine of incidence angle */
static float cons = 5.0340365e14; /* Used to calculate photon flux */
static float ct; /* cosine of specdat->tilt */
static float cz; /* cosine of the zenith angle */
static float daer; /* Equation 3-6, aerosol acattering component */
static float dir; /* temporary direct normal energy value */
static float dif; /* temporary diffuse energy value */
static float dray; /* Equation 3-5, Rayleigh scattering component */
static float drgd; /* Equation 3-7, multiple reflection, ground & air */
static float dtot; /* temporary total energy value */
static float e; /* energy in electron volts */
static float evolt = 1.6021891e-19; /* Joules per electron-volt */
static float fs; /* Equation 3-11 */
static float fsp; /* Fs[prime], Equation 3-15 */
static float h = 6.6261762e-34; /* Used to calculate photon flux */
static float H0; /* Abbrev. for horizontal extraterrestrial spectrum */
static float omeg = 0.945; /* Single scattering albedo, 0.4 microns */
static float omegl; /* Equation 3-16; omega-lamda; single-scattering albedo */
static float omegp = 0.095; /* Wavelength variation factor */
static float O3; /* Abbrev. for ozone */
static float ozone; /* ozone amount */
static float raddeg; /* radians-to-degrees conversion */
static float rho; /* interpolated specdat->spcrfl for specific wavelength */
static float rhoa; /* Equation 3-8; sky reflectivity */
static float s1, s2, s3; /* sine coefficients */
static float Ta, Taa, Taap, Tas, Tasp, To, Tr, Trp, Tu, Tup, Tw, Twp;
/* Transmissivities */
static float W; /* Abbrev. for soldat->S_watvap */
static float wvl; /* Abbrev. for wavelength number */
static int track; /* tracking/fixed tilt switch */
static int nr; /* indicates the wavelength range */
static int i; /* Loop counter */
static int false = 0; /* 0 is false */
static int true = 1; /* non-0 is true */
static int retval; /* solpos return code */
/* set up the solpos structure */
struct posdata sdat, *soldat;
/* point to the posdata structure and initialize it */
soldat = &sdat;
S_init(soldat);
/* set solpos for month, day, year (turns off day of year convention) */
soldat->function &= ~S_DOY;
soldat->year = specdat->year;
soldat->month = specdat->month;
soldat->day = specdat->day;
soldat->hour = specdat->hour;
soldat->minute = specdat->minute;
soldat->second = specdat->second;
soldat->latitude = specdat->latitude;
soldat->longitude = specdat->longitude;
soldat->timezone = specdat->timezone;
soldat->tilt = specdat->tilt;
soldat->aspect = specdat->aspect;
/* Check for silly inputs */
if ( specdat->units > 3 || specdat->units < 1 ) {
printf ( "*** S_spectral2 -> units should be 1 to 3, not %d\n", specdat->units );
return ( -1 );
}
if ( specdat->tau500 > 10.0 || specdat->tau500 < 0.0 ) {
printf ( "*** S_spectral2 -> tau500 should not be %f\n", specdat->tau500 );
return ( -1 );
}
if ( specdat->watvap > 100.0 || specdat->watvap < 0.0 ) {
printf ( "*** S_spectral2 -> atvap should not be %f\n", specdat->watvap );
return ( -1 );
}
if ( specdat->assym >= 1.0 || specdat->assym <= 0.0 ) {
printf ( "*** S_spectral2 -> assym should not be %f\n", specdat->assym );
return ( -1 );
}
/* Define constants. */
e = h * c / evolt;
raddeg = 180.0 / acos ( -1.0 );
/* Angles of incidence and tilt angles must be preset */
track = false;
if ( fabs ( soldat->tilt ) > 180.0 )
track = true;
/* Find the sun */
if ((retval = S_solpos (soldat )) != 0)
S_decode(retval, soldat);
ci = soldat->cosinc;
if ( track ) {
specdat->tilt = soldat->zenref;
ci = 1.0;
}
ct = cos ( soldat->tilt / raddeg );
cz = cos ( soldat->zenref / raddeg );
/* Initialize defaults */
if ( specdat->alpha < 0 )
specdat->alpha = 1.14;
if ( specdat->spcrfl[0] < 0.0 ) {
specdat->spcwvr[0] = 0.3;
specdat->spcwvr[1] = 0.7;
specdat->spcwvr[2] = 0.8;
specdat->spcwvr[3] = 1.3;
specdat->spcwvr[4] = 2.5;
specdat->spcwvr[5] = 4.0;
specdat->spcrfl[0] = 0.2;
specdat->spcrfl[1] = 0.2;
specdat->spcrfl[2] = 0.2;
specdat->spcrfl[3] = 0.2;
specdat->spcrfl[4] = 0.2;
specdat->spcrfl[5] = 0.2;
}
for ( i = 0; i < 6; ++i ) {
wv[i] = specdat->spcwvr[i];
rf[i] = specdat->spcrfl[i];
}
/* I cannot find the reference for this calculation of atmospheric ozone.
If this makes you nervous, please enter your own soldat->ozone value. */
if ( specdat->ozone < 0 ) {
if ( soldat->latitude >= 0 ) {
c1 = 150.0;
c2 = 1.28;
c3 = 40.0;
c4 = -30.0;
c5 = 3.0;
c6 = 0.0;
if ( soldat->longitude > 0. )
c6 = 20.0;
}
else {
c1 = 100.0;
c2 = 1.5;
c3 = 30.0;
c4 = 152.625;
c5 = 2.0;
c6 = -75.0;
}
s1 = sin ( 0.9865 * ( soldat->daynum + c4 ) / raddeg );
s2 = sin ( c5 * ( soldat->longitude + c6 ) / raddeg );
s3 = sin ( c2 * soldat->latitude / raddeg );
O3 = 0.235 + ( c1 + c3 * s1 + 20.0 * s2 ) * pow (s3,2) / 1000.0;
}
else
O3 = specdat->ozone;
/* Equation 3-14 */
alg = log ( 1.0 - specdat->assym );
/* Equation 3-12 */
afs = alg * ( 1.459 + alg * ( 0.1595 + alg * 0.4129 ) );
/* Equation 3-13 */
bfs = alg * ( 0.0783 + alg * ( -0.3824 - alg * 0.5874 ) );
/* Equation 3-15 */
fsp = 1.0 - 0.5 * exp ( ( afs + bfs / 1.8 ) / 1.8 );
/* Equation 3-11 */
fs = 1.0 - 0.5 * exp ( ( afs + bfs * cz ) * cz );
/* Ozone mass */
Amo = 1.003454 / sqrt ( pow(cz,2) + 0.006908 );
/* Abbreviations of common variables */
Am = soldat->amass;
Amp = soldat->ampress;
W = specdat->watvap;
/* Current wavelength range */
nr = 1;
/* MAIN LOOP: step through the wavelengths */
for ( i = 0; i < 122; ++i ) {
/* Input variables */
wvl = A[0][i];
H0 = A[1][i];
Aw = A[2][i];
Ao = A[3][i];
Au = A[4][i];
/* ETR spectrum */
H0 *= soldat->erv;
specdat->specetr[i] = H0;
/* Equation 3-16 */
omegl = omeg * exp ( -omegp * pow ( log (wvl/0.4), 2 ) );
/* Equation 2-7 */
c1 = specdat->tau500 * pow ( wvl*2.0, -specdat->alpha );
/* Advance to the next wavelength range? */
if ( wvl > wv[nr] )
++nr;
/* Equation 2-4 */
Tr = exp ( -Amp / ( pow (wvl,4) * ( 115.6406 - 1.3366 / pow (wvl,2) ) ) );
/* Equation 2-9 */
To = exp ( -Ao * O3 * Amo );
/* Equation 2-8 */
Tw = exp ( -0.2385*Aw*W*Am / pow ( (1.0 + 20.07*Aw*W*Am), 0.45 ) );
/* Equation 2-11 */
Tu = exp ( -1.41*Au*Amp / pow ( (1.0 + 118.3*Au*Amp), 0.45 ) );
/* Equation 3-9 */
Tas = exp ( -omegl * c1 * Am );
/* Equation 3-10 */
Taa = exp ( ( omegl - 1.0 ) * c1 * Am );
/* Equation 2-6, sort of */
Ta = exp ( -c1 * Am );
/* Equation 2-4; primed airmass M = 1.8 (Section 3.1) */
Trp = exp ( -1.8 / ( pow (wvl,4) * ( 115.6406 - 1.3366 / pow (wvl,2 ) ) ) );
/* Equation 2-8; primed airmass M = 1.8 (Section 3.1) affects coefficients */
Twp = exp ( -0.4293*Aw*W / pow ( (1.0 + 36.126*Aw*W), 0.45 ) );
/* Equation 2-11; primed airmass M = 1.8 (Section 3.1) affects coefficients */
Tup = exp ( -2.538*Au / pow ( (1.0 + 212.94*Au), 0.45 ) );
/* Equation 3-9; primed airmass M = 1.8 (Section 3.1) */
Tasp = exp ( -omegl * c1 * 1.8 );
/* Equation 3-10; primed airmass M = 1.8 (Section 3.1) */
Taap = exp ( ( omegl - 1.0 ) * c1 * 1.8 );
/*........... Direct energy .............*/
/* Temporary variable */
c2 = H0 * To * Tw * Tu;
/* Equation 2-1 */
dir = c2 * Tr * Ta;
/*........... Diffuse energy .............*/
/* Temporary variables */
c2 *= cz * Taa;
c3 = ( rf[nr] - rf[nr-1] ) / ( wv[nr] - wv[nr-1] );
/* Equation 3-17; c4 = Cs */
c4 = 1.0;
if ( wvl <= 0.45 )
c4 = pow ( (wvl + 0.55),1.8 );
/* Equation 3-8 */
rhoa = Tup*Twp*Taap*( 0.5*(1.0-Trp) + (1.0-fsp)*Trp*(1.0-Tasp) );
/* Interpolated ground reflectivity */
rho = c3 * ( wvl - wv[nr-1] ) + rf[nr-1];
/* Equation 3-5 */
dray = c2 * ( 1.0 - pow ( Tr, 0.95 ) ) / 2.0;
/* Equation 3-6 */
daer = c2 * pow (Tr,1.5) * ( 1.0 - Tas ) * fs;
/* Equation 3-7 */
drgd = (dir*cz + dray + daer)*rho*rhoa/(1.0 - rho*rhoa);
/* Equation 3-1 */
dif = ( dray + daer + drgd ) * c4;
/*........... Global (total) energy .............*/
dtot = dir * cz + dif;
/*........... Tilt energy, if applicable */
if ( specdat->tilt > 1.0e-4 ) {
/* Equation 3-18 without the first (direct-beam) term */
c1 = dtot * rho * ( 1.0 - ct ) / 2.0;
c2 = dir / H0;
c3 = dif * c2 * ci / cz;
c4 = dif * ( 1.0 - c2 ) * ( 1.0 + ct ) / 2.0;
dif = c1 + c3 + c4;
/* Equation 3-18, including first term */
dtot = dir * ci + dif;
}
/* Adjust the output according to the units requested */
if ( specdat->units == 1 ) {
specdat->specx[i] = wvl;
specdat->specglo[i] = dtot;
specdat->specdir[i] = dir;
specdat->specdif[i] = dif;
}
else {
c1 = wvl * cons;
if ( specdat->units == 3 ) {
specdat->specx[i] = e / wvl;
c1 *= wvl / specdat->specx[i];
}
else
specdat->specx[i] = wvl;
specdat->specglo[i] = dtot * c1;
specdat->specdir[i] = dir * c1;
specdat->specdif[i] = dif * c1;
}
}
return ( 0 );
}
int
main(int argc, char *argv[])
{
struct posdata pd;
long retval;
int c;
double lat, lon;
time_t ts;
struct tm tms;
int year, hour, min, sec;
int mon, mday;
solarpos_workspace *spw;
double zenith;
char *tz_str = "TZ=GMT";
lat = 45.0;
lon = -120.0;
year = 2013;
hour = 15;
min = 50;
sec = 0;
mon = 8;
mday = 1;
spw = solarpos_alloc();
while ((c = getopt(argc, argv, "y:h:m:s:a:o:n:d:")) != (-1))
{
switch (c)
{
case 'y':
year = atoi(optarg);
break;
case 'h':
hour = atoi(optarg);
break;
case 'm':
min = atoi(optarg);
break;
case 's':
sec = atoi(optarg);
break;
case 'a':
lat = atoi(optarg);
break;
case 'o':
lon = atoi(optarg);
break;
case 'n':
mon = atoi(optarg);
break;
case 'd':
mday = atoi(optarg);
break;
case '?':
default:
printf("usage: %s [-h hour] [-m min] [-s sec] [-n month (1-12)] [-d day of month] [-y year] [-a lat] [-o lon]\n", argv[0]);
}
}
tms.tm_sec = sec;
tms.tm_min = min;
tms.tm_hour = hour;
tms.tm_mday = mday;
tms.tm_mon = mon - 1;
tms.tm_year = year - 1900;
tms.tm_isdst = 0;
putenv(tz_str);
ts = mktime(&tms);
S_init(&pd);
pd.longitude = (float) lon;
pd.latitude = (float) lat;
pd.timezone = 0.0;
pd.year = year;
pd.daynum = tms.tm_yday + 1;
pd.hour = hour;
pd.minute = min;
pd.second = sec;
pd.temp = 10.0;
pd.press = 1013.0;
pd.aspect = 180.0;
retval = S_solpos(&pd);
S_decode(retval, &pd);
solarpos_calc_zenith(ts,
lat * M_PI / 180.0,
lon * M_PI / 180.0,
&zenith,
spw);
zenith *= 180.0 / M_PI;
printf("zenith = %f\n", pd.zenetr);
printf("zenith_me = %f\n", zenith);
printf("diff = %e\n", pd.zenetr - zenith);
solarpos_free(spw);
return 0;
} /* main() */
