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tool_func.py
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import glv
from math import *
import numpy as np
#返回nums中第一个>=target的值位置，如果nums中都比target小，则返回len(nums)
def lower_bound(nums, target):
low, high = 0, len(nums)-1
pos = len(nums)-1
while low<high:
mid = int((low+high)/2)
if nums[mid] < target:
low = mid+1
else:#>=
high = mid
#pos = high
if nums[low]>=target:
pos = low
return pos
def blh2xyz(B,L,H):
sB = sin(B)
cB = cos(B)
sL = sin(L)
cL = cos(L)
N = glv.a/sqrt(1-glv.e2*sB**2)
X = (N+H)*cB*cL
Y = (N+H)*cB*sL
Z = (N*(1-glv.e2)+H)*sB
return np.array([X,Y,Z])
def xyz2blh(X,Y,Z):
bell = glv.a*(1.0-1.0/glv.f)
ss = sqrt(X*X+Y*Y)
zps = Z/ss
theta = atan( (Z*glv.a) / (ss*glv.b) )
sin3 = sin(theta) * sin(theta) * sin(theta)
cos3 = cos(theta) * cos(theta) * cos(theta)
#Closed formula
B = atan((Z + glv.ep2 * glv.b * sin3) / (ss - glv.e2 * glv.a * cos3))
L = atan2(Y,X)
nn = glv.a/sqrt(1.0-glv.e2*sin(B)*sin(L))
H = ss/cos(B) - nn
i=0
while i<=100:
nn = glv.a/sqrt(1.0-glv.e2*sin(B)*sin(B))
hOld = H
phiOld = B
H = ss/cos(B)-nn
B = atan(zps/(1.0-glv.e2*nn/(nn+H)))
if abs(phiOld-B) <= 1.0e-11 and abs(hOld-H) <= 1.0e-5:
# always convert longitude to 0-360
if L < 0.0 :
L += 2 * pi
break
i+=1
return np.array([B,L,H])
def xyz2blh_batch(XX,YY,ZZ):
BB,LL,HH=[],[],[]
for i in range(len(XX)):
X,Y,Z=XX[i],YY[i],ZZ[i]
bell = glv.a*(1.0-1.0/glv.f)
ss = sqrt(X*X+Y*Y)
zps = Z/ss
theta = atan( (Z*glv.a) / (ss*glv.b) )
sin3 = sin(theta) * sin(theta) * sin(theta)
cos3 = cos(theta) * cos(theta) * cos(theta)
#Closed formula
B = atan((Z + glv.ep2 * glv.b * sin3) / (ss - glv.e2 * glv.a * cos3))
L = atan2(Y,X)
nn = glv.a/sqrt(1.0-glv.e2*sin(B)*sin(L))
H = ss/cos(B) - nn
i=0
while i<=100:
nn = glv.a/sqrt(1.0-glv.e2*sin(B)*sin(B))
hOld = H
phiOld = B
H = ss/cos(B)-nn
B = atan(zps/(1.0-glv.e2*nn/(nn+H)))
if abs(phiOld-B) <= 1.0e-11 and abs(hOld-H) <= 1.0e-5:
# always convert longitude to 0-360
if L < 0.0 :
L += 2 * pi
break
i+=1
BB.append(B)
LL.append(L)
HH.append(H)
return np.array([BB,LL,HH]).T
def xyz2enu(XYZ=[],XYZ_Ref=[]):
[b,l,h]=xyz2blh(XYZ_Ref[0],XYZ_Ref[1],XYZ_Ref[2])
r=[XYZ[0]-XYZ_Ref[0], XYZ[1]-XYZ_Ref[1], XYZ[2]-XYZ_Ref[2]]
sinPhi = sin(b)
cosPhi = cos(b)
sinLam = sin(l)
cosLam = cos(l)
N = -sinPhi * cosLam * r[0] - sinPhi * sinLam * r[1] + cosPhi * r[2]
E = -sinLam * r[0] + cosLam * r[1]
U = +cosPhi * cosLam * r[0] + cosPhi * sinLam * r[1] + sinPhi * r[2]
return np.array([E,N,U])
def vxyz2enu(VXYZ=[],VXYZ_Ref=[],XYZ_Ref=[]):
[b,l,h]=xyz2blh(XYZ_Ref[0],XYZ_Ref[1],XYZ_Ref[2])
v=[VXYZ[0]-VXYZ_Ref[0], VXYZ[1]-VXYZ_Ref[1], VXYZ[2]-VXYZ_Ref[2]]
sinPhi = sin(b)
cosPhi = cos(b)
sinLam = sin(l)
cosLam = cos(l)
N = -sinPhi * cosLam * v[0] - sinPhi * sinLam * v[1] + cosPhi * v[2]
E = -sinLam * v[0] + cosLam * v[1]
U = +cosPhi * cosLam * v[0] + cosPhi * sinLam * v[1] + sinPhi * v[2]
return np.array([E,N,U])
def Cne(B,L):
res=np.mat(np.zeros((3,3)))
slat = np.sin(B)
clat = np.cos(B)
slon = np.sin(L)
clon = np.cos(L)
res = np.matrix([[ -slon,clon,0 ],
[ -slat*clon, -slat*slon, clat],
[ clat*clon, clat*slon, slat]])
return res
def Cnb(pitch,roll,yaw):
sp = np.sin(pitch)
cp = np.cos(pitch)
sr = np.sin(roll)
cr = np.cos(roll)
sy = np.sin(yaw)
cy = np.cos(yaw)
res=np.matrix([[cy*cr - sy*sp*sr, -sy*cp, cy*sr + sy*sp*cr],
[sy*cr + cy*sp*sr, cy*cp, sy*sr - cy*sp*cr],
[-cp*sr, sp, cp*cr]])
return res
def diff_enu(t1=[],xyz=[],t2=[],xyz_ref=[]):
t,E,N,U=[],[],[],[]
for i in range(len(t1)):
index=lower_bound(t2,t1[i])
if abs(t1[i]-t2[index])>1e-2:
continue
t.append(t1[i])
[e,n,u]=xyz2enu(xyz[i],xyz_ref[index])
E.append(e)
N.append(n)
U.append(u)
# time=np.array(t).T
diff=np.array([t,E,N,U]).T
return diff
def diff_vel(t1=[],vel=[],t2=[],vel_ref=[],xyz_ref=[]):
t,E,N,U=[],[],[],[]
for i in range(len(t1)):
index=lower_bound(t2,t1[i])
if abs(t1[i]-t2[index])>1e-6:
continue
t.append(t1[i])
[e,n,u]=vxyz2enu(vel[i],vel_ref[index],xyz_ref[index])
# [e,n,u]=vel[i]-vel_ref[index]
E.append(e)
N.append(n)
U.append(u)
# time=np.array(t).T
diff=np.array([t,E,N,U]).T
return diff
def diff_att(t1=[],att=[],t2=[],att_ref=[]):
t,p,r,y=[],[],[],[]
for i in range(len(t1)):
index=lower_bound(t2,t1[i])
if abs(t1[i]-t2[index])>1e-6:
continue
t.append(t1[i])
[pp,rr,yy]=att[i]-att_ref[index]
if abs(yy) > 100:
yy=0
p.append(pp)
r.append(rr)
y.append(yy)
# time=np.array(t).T
diff=np.array([t,p,r,y]).T
return diff