def test_enu_to_ecef_back_to_enu(self):
vx = 0.9
vy = 0.1
vz = np.sqrt(1. - vx**2 + vy**2)
for lat, lon, alt in zip(omni['p_lat'], omni['p_long'], omni['p_alt']):
vxx, vyy, vzz = pymv.enu_to_ecef_vector(vx, vy, vz, lat, lon)
vxx, vyy, vzz = pymv.ecef_to_enu_vector(vxx, vyy, vzz, lat, lon)
asseq(vx, vxx, 6)
asseq(vy, vyy, 6)
asseq(vz, vzz, 6)
def test_enu_to_ecef_back_to_enu(self):
"""Test ENU-ECEF-ENU"""
vx = 0.9
vy = 0.1
vz = np.sqrt(1. - vx ** 2 + vy ** 2)
lats, longs, alts = gen_data_fixed_alt(550.)
for lat, lon, alt in zip(lats, longs, alts):
vxx, vyy, vzz = OMMBV.enu_to_ecef_vector(vx, vy, vz, lat, lon)
vxx, vyy, vzz = OMMBV.ecef_to_enu_vector(vxx, vyy, vzz, lat, lon)
asseq(vx, vxx, 9)
asseq(vy, vyy, 9)
asseq(vz, vzz, 9)
def test_igrf_ecef_to_geographic_with_colatitude(self):
"""Test IGRF_ECEF - Geographic"""
lats, longs, alts = gen_data_fixed_alt(550.)
ecf_x, ecf_y, ecf_z = OMMBV.geodetic_to_ecef(lats,
longs,
alts)
for ecef_x, ecef_y, ecef_z, geo_lat, geo_lon, geo_alt in zip(ecf_x, ecf_y,
ecf_z, lats, longs, alts):
pos = np.array([ecef_x, ecef_y, ecef_z])
colat, lon, r = igrf.ecef_to_colat_long_r(pos)
# results are returned in radians
lat = 90. - np.rad2deg(colat)
lon = np.rad2deg(lon)
lat2, lon2, h2 = OMMBV.ecef_to_geocentric(*pos, ref_height=0)
# print(lat, lon, r, lat2, lon2, h2)
asseq(r, h2, 9)
asseq(lat, lat2, 9)
asseq(lon, lon2, 9)
def test_basic_enu_to_ecef_rotations(self):
# test basic transformations first
# vector pointing east at 0, 0 is along y
vx, vy, vz = pymv.enu_to_ecef_vector(1., 0., 0., 0., 0.)
# print ('{:9f}, {:9f}, {:9f}'.format(vx, vy, vz))
asseq(vx, 0.0, 6)
asseq(vy, 1.0, 6)
asseq(vz, 0.0, 6)
# vector pointing up at 0, 0 is along x
vx, vy, vz = pymv.enu_to_ecef_vector(0., 0., 1., 0., 0.)
asseq(vx, 1.0, 6)
asseq(vy, 0.0, 6)
asseq(vz, 0.0, 6)
# vector pointing north at 0, 0 is along z
vx, vy, vz = pymv.enu_to_ecef_vector(0., 1., 0., 0., 0.)
asseq(vx, 0.0, 6)
asseq(vy, 0.0, 6)
asseq(vz, 1.0, 6)
# east vector at 0, 90 long points along -x
vx, vy, vz = pymv.enu_to_ecef_vector(1., 0., 0., 0., 90.)
# print ('{:9f}, {:9f}, {:9f}'.format(vx, vy, vz))
asseq(vx, -1.0, 6)
asseq(vy, 0.0, 6)
asseq(vz, 0.0, 6)
# vector pointing up at 0, 90 is along y
vx, vy, vz = pymv.enu_to_ecef_vector(0., 0., 1., 0., 90.)
asseq(vx, 0.0, 6)
asseq(vy, 1.0, 6)
asseq(vz, 0.0, 6)
# vector pointing north at 0, 90 is along z
vx, vy, vz = pymv.enu_to_ecef_vector(0., 1., 0., 0., 90.)
asseq(vx, 0.0, 6)
asseq(vy, 0.0, 6)
asseq(vz, 1.0, 6)
# vector pointing east at 0, 0 is along y
vx, vy, vz = pymv.enu_to_ecef_vector(1., 0., 0., 0., 180.)
# print ('{:9f}, {:9f}, {:9f}'.format(vx, vy, vz))
asseq(vx, 0.0, 6)
asseq(vy, -1.0, 6)
asseq(vz, 0.0, 6)
# vector pointing up at 0, 180 is along -x
vx, vy, vz = pymv.enu_to_ecef_vector(0., 0., 1., 0., 180.)
asseq(vx, -1.0, 6)
asseq(vy, 0.0, 6)
asseq(vz, 0.0, 6)
# vector pointing north at 0, 180 is along z
vx, vy, vz = pymv.enu_to_ecef_vector(0., 1., 0., 0., 180.)
asseq(vx, 0.0, 6)
asseq(vy, 0.0, 6)
asseq(vz, 1.0, 6)
def test_basic_ecef_to_enu_rotations(self):
# test basic transformations first
# vector pointing along ecef y at 0, 0 is east
ve, vn, vu = pymv.ecef_to_enu_vector(0., 1., 0., 0., 0.)
# print ('{:9f}, {:9f}, {:9f}'.format(ve, vn, vu))
asseq(ve, 1.0, 6)
asseq(vn, 0, 6)
asseq(vu, 0, 6)
# vector pointing along ecef x at 0, 0 is up
ve, vn, vu = pymv.ecef_to_enu_vector(1., 0., 0., 0., 0.)
asseq(ve, 0.0, 6)
asseq(vn, 0.0, 6)
asseq(vu, 1.0, 6)
# vector pointing along ecef z at 0, 0 is north
ve, vn, vu = pymv.ecef_to_enu_vector(0., 0., 1., 0., 0.)
asseq(ve, 0.0, 6)
asseq(vn, 1.0, 6)
asseq(vu, 0.0, 6)
# vector pointing along ecef x at 0, 90 long is west
ve, vn, vu = pymv.ecef_to_enu_vector(1., 0., 0., 0., 90.)
# print ('{:9f}, {:9f}, {:9f}'.format(ve, vn, vu))
asseq(ve, -1.0, 6)
asseq(vn, 0.0, 6)
asseq(vu, 0.0, 6)
# vector pointing along ecef y at 0, 90 long is up
ve, vn, vu = pymv.ecef_to_enu_vector(0., 1., 0., 0., 90.)
asseq(ve, 0.0, 6)
asseq(vn, 0.0, 6)
asseq(vu, 1.0, 6)
# vector pointing along ecef z at 0, 90 long is north
ve, vn, vu = pymv.ecef_to_enu_vector(0., 0., 1., 0., 90.)
asseq(ve, 0.0, 6)
asseq(vn, 1.0, 6)
asseq(vu, 0.0, 6)
# vector pointing along ecef y at 0, 180 is west
ve, vn, vu = pymv.ecef_to_enu_vector(0., 1., 0., 0., 180.)
asseq(ve, -1.0, 6)
asseq(vn, 0.0, 6)
asseq(vu, 0.0, 6)
# vector pointing along ecef x at 0, 180 is down
ve, vn, vu = pymv.ecef_to_enu_vector(1., 0., 0., 0., 180.)
asseq(ve, 0.0, 6)
asseq(vn, 0.0, 6)
asseq(vu, -1.0, 6)
# vector pointing along ecef z at 0, 0 is north
ve, vn, vu = pymv.ecef_to_enu_vector(0., 0., 1., 0., 180.)
asseq(ve, 0.0, 6)
asseq(vn, 1.0, 6)
asseq(vu, 0.0, 6)
ve, vn, vu = pymv.ecef_to_enu_vector(0., 1., 0., 45., 0.)
# print ('{:9f}, {:9f}, {:9f}'.format(ve, vn, vu))
asseq(ve, 1.0, 6)
asseq(vn, 0, 6)
asseq(vu, 0, 6)
# vector pointing along ecef x at 0, 0 is south/up
ve, vn, vu = pymv.ecef_to_enu_vector(1., 0., 0., 45., 0.)
asseq(ve, 0.0, 6)
asseq(vn, -np.cos(np.pi / 4), 6)
asseq(vu, np.cos(np.pi / 4), 6)
# vector pointing along ecef z at 45, 0 is north/up
ve, vn, vu = pymv.ecef_to_enu_vector(0., 0., 1., 45., 0.)
asseq(ve, 0.0, 6)
asseq(vn, np.cos(np.pi / 4), 6)
asseq(vu, np.cos(np.pi / 4), 6)
def test_igrf_end_to_ecef_back_to_end(self):
"""Check consistency ENU-ECEF and IGRF implementation"""
# import pdb
vx = 0.9
vy = 0.1
vz = np.sqrt(1. - vx ** 2 + vy ** 2)
vz = -vz
lats, longs, alts = gen_data_fixed_alt(550.)
for lat, lon, alt in zip(lats, longs, alts):
# print(vx, vy, vz, lat, lon)
# pdb.set_trace()
# input here is co-latitude, not latitude
# inputs to fortran are in radians
vxx, vyy, vzz = igrf.end_vector_to_ecef(vx, vy, vz, np.deg2rad(90. - lat), np.deg2rad(lon))
vx2, vy2, vz2 = OMMBV.enu_to_ecef_vector(vx, vy, -vz, lat, lon)
# print ('end check ', vxx, vyy, vzz, vx2, vy2, vz2)
asseq(vxx, vx2, 9)
asseq(vyy, vy2, 9)
asseq(vzz, vz2, 9)
vxx, vyy, vzz = OMMBV.ecef_to_enu_vector(vxx, vyy, vzz, lat, lon)
# convert upward component back to down
vzz = -vzz
# compare original inputs to outputs
asseq(vx, vxx, 9)
asseq(vy, vyy, 9)
asseq(vz, vzz, 9)