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12 lines
429 B
12 lines
429 B
function posNED = LLH2NED(LLH,refLLH) |
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radius = 6378137; |
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flattening = 1/298.257223563; |
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e = sqrt(flattening*(2-flattening)); |
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Rm = radius*(1-e^2)/(1-e^2*sin(refLLH(1)*pi/180)^2)^(3/2); |
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Rn = radius/(1-e^2*sin(refLLH(1)*pi/180)^2)^(1/2); |
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posN = (LLH(1,:)-refLLH(1))*pi/180.*(Rm+LLH(3,:)); |
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posE = (LLH(2,:)-refLLH(2))*pi/180.*(Rn+LLH(3,:))*cos(refLLH(1)*pi/180); |
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posD = -(LLH(3,:)-refLLH(3)); |
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posNED = [posN;posE;posD]; |
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end |