Some helpers for converting GPS readings from the WGS84 geodetic system to a local North-East-Up cartesian axis. More...

#include <gpsUtils.h>

Public Member Functions
bool	AreClose (double x0, double x1)
	check whether two values are too close (less than 1e-2) More...

double	DegreesToRadians (double degrees)
	convert degrees to radians More...

void	EcefToEnu (double lat0, double lon0, double h0)
	Converts the Earth-Centered Earth-Fixed (ECEF) coordinates (x, y, z) to East-North-Up coordinates in a Local Tangent Plane that is centered at the (WGS-84) Geodetic point (lat0, lon0, h0). More...

void	GeodeticToEcef (double lat, double lon, double h)
	Converts WGS-84 Geodetic point (lat, lon, h) to the Earth-Centered Earth-Fixed (ECEF) coordinates (x, y, z). More...

void	GeodeticToEnu (double lat, double lon, double h, double lat0, double lon0, double h0)
	Converts the geodetic WGS-84 coordinated (lat, lon, h) to East-North-Up coordinates in a Local Tangent Plane that is centered at the (WGS-84) Geodetic point (lat0, lon0, h0). More...

	GpsUtils ()

double	RadiansToDegrees (double radians)
	convert radians to degrees More...

	~GpsUtils ()

Public Attributes
double	xEast
	East-North-Up coordinates x in a Local Tangent Plane. More...

double	yNorth
	East-North-Up coordinates y in a Local Tangent Plane. More...

double	zUp
	East-North-Up coordinates z in a Local Tangent Plane. More...

Private Attributes
double	a
	WGS-84 Earth semimajor axis (m) More...

double	b
	WGS-84 Earth semiminor axis (m) More...

double	e_sq
	Square of Eccentricity. More...

double	f
	Ellipsoid Flatness. More...

double	xEcef
	Earth-Centered Earth-Fixed (ECEF) coordinates x. More...

double	yEcef
	Earth-Centered Earth-Fixed (ECEF) coordinates y. More...

double	zEcef
	Earth-Centered Earth-Fixed (ECEF) coordinates z. More...

Detailed Description

Some helpers for converting GPS readings from the WGS84 geodetic system to a local North-East-Up cartesian axis.

The implementation here is according to the paper: "Conversion of Geodetic coordinates to the Local Tangent Plane" Version 2.01. "The basic reference for this paper is J.Farrell & M.Barth 'The Global Positioning System & Inertial Navigation'" Also helpful is Wikipedia: http://en.wikipedia.org/wiki/Geodetic_datum

Definition at line 16 of file gpsUtils.h.

Constructor & Destructor Documentation

◆ GpsUtils()

GpsUtils::GpsUtils ( )

inline

Definition at line 20 of file gpsUtils.h.

◆ ~GpsUtils()

GpsUtils::~GpsUtils ( )

inline

Definition at line 27 of file gpsUtils.h.

Member Function Documentation

◆ AreClose()

bool GpsUtils::AreClose	(	double	x0,
		double	x1
	)

inline

check whether two values are too close (less than 1e-2)

Definition at line 99 of file gpsUtils.h.

◆ DegreesToRadians()

double GpsUtils::DegreesToRadians ( double degrees )

inline

convert degrees to radians

Definition at line 107 of file gpsUtils.h.

◆ EcefToEnu()

void GpsUtils::EcefToEnu	(	double	lat0,
		double	lon0,
		double	h0
	)

inline

Converts the Earth-Centered Earth-Fixed (ECEF) coordinates (x, y, z) to East-North-Up coordinates in a Local Tangent Plane that is centered at the (WGS-84) Geodetic point (lat0, lon0, h0).

Definition at line 56 of file gpsUtils.h.

◆ GeodeticToEcef()

void GpsUtils::GeodeticToEcef	(	double	lat,
		double	lon,
		double	h
	)

inline

Converts WGS-84 Geodetic point (lat, lon, h) to the Earth-Centered Earth-Fixed (ECEF) coordinates (x, y, z).

Definition at line 33 of file gpsUtils.h.

◆ GeodeticToEnu()

void GpsUtils::GeodeticToEnu	(	double	lat,
		double	lon,
		double	h,
		double	lat0,
		double	lon0,
		double	h0
	)

inline

Converts the geodetic WGS-84 coordinated (lat, lon, h) to East-North-Up coordinates in a Local Tangent Plane that is centered at the (WGS-84) Geodetic point (lat0, lon0, h0).

Definition at line 90 of file gpsUtils.h.

◆ RadiansToDegrees()

double GpsUtils::RadiansToDegrees ( double radians )

inline

convert radians to degrees

Definition at line 111 of file gpsUtils.h.

Member Data Documentation

◆ a

double GpsUtils::a

private

WGS-84 Earth semimajor axis (m)

Definition at line 117 of file gpsUtils.h.

◆ b

double GpsUtils::b

private

WGS-84 Earth semiminor axis (m)

Definition at line 118 of file gpsUtils.h.

◆ e_sq

double GpsUtils::e_sq

private

Square of Eccentricity.

Definition at line 120 of file gpsUtils.h.

◆ f

double GpsUtils::f

private

Ellipsoid Flatness.

Definition at line 119 of file gpsUtils.h.

◆ xEast

double GpsUtils::xEast

East-North-Up coordinates x in a Local Tangent Plane.

Definition at line 112 of file gpsUtils.h.

◆ xEcef

double GpsUtils::xEcef

private

Earth-Centered Earth-Fixed (ECEF) coordinates x.

Definition at line 121 of file gpsUtils.h.

◆ yEcef

double GpsUtils::yEcef

private

Earth-Centered Earth-Fixed (ECEF) coordinates y.

Definition at line 122 of file gpsUtils.h.

◆ yNorth

double GpsUtils::yNorth

East-North-Up coordinates y in a Local Tangent Plane.

Definition at line 113 of file gpsUtils.h.

◆ zEcef

double GpsUtils::zEcef

private

Earth-Centered Earth-Fixed (ECEF) coordinates z.

Definition at line 123 of file gpsUtils.h.

◆ zUp

double GpsUtils::zUp

East-North-Up coordinates z in a Local Tangent Plane.

Definition at line 114 of file gpsUtils.h.

The documentation for this class was generated from the following file:

gpsUtils.h

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GpsUtils()

◆ ~GpsUtils()

Member Function Documentation

◆ AreClose()

◆ DegreesToRadians()

◆ EcefToEnu()

◆ GeodeticToEcef()

◆ GeodeticToEnu()

◆ RadiansToDegrees()

Member Data Documentation

◆ a

◆ b

◆ e_sq

◆ f

◆ xEast

◆ xEcef

◆ yEcef

◆ yNorth

◆ zEcef

◆ zUp