def unpack_deltas_cm(
self, dx: Sequence[int], dy: Sequence[int], dz: Sequence[int], frame: GeoFrame
) -> np.ndarray:
"""
Get coords in world reference system (local ENU->ECEF->world).
See the protobuf annotations for additional information about how coordinates are stored
Args:
dx (Sequence[int]): X displacement in centimeters in local ENU
dy (Sequence[int]): Y displacement in centimeters in local ENU
dz (Sequence[int]): Z displacement in centimeters in local ENU
frame (GeoFrame): geo-location information for the local ENU. It contains lat and long origin of the frame
Returns:
np.ndarray: array of shape (Nx3) with XYZ coordinates in world ref system
"""
x = np.cumsum(np.asarray(dx) / 100)
y = np.cumsum(np.asarray(dy) / 100)
z = np.cumsum(np.asarray(dz) / 100)
frame_lat, frame_lng = self._undo_e7(frame.origin.lat_e7), self._undo_e7(
frame.origin.lng_e7
)
xyz = np.stack(pm.enu2ecef(x, y, z, frame_lat, frame_lng, 0), axis=-1)
xyz = transform_points(xyz, self.ecef_to_world)
return xyz
def test_aer_enu():
xyz = pm.aer2ecef(*aer0, *lla0)
enu = pm.aer2enu(*aer0)
assert enu == approx(enu0)
assert pm.aer2enu(*raer0, deg=False) == approx(enu0)
with pytest.raises(ValueError):
pm.aer2enu(aer0[0], aer0[1], -1)
assert pm.enu2ecef(*enu, *lla0) == approx(xyz)
assert pm.enu2ecef(*enu, *rlla0, deg=False) == approx(xyz)
assert pm.ecef2enu(*xyz, *lla0) == approx(enu)
assert pm.ecef2enu(*xyz, *rlla0, deg=False) == approx(enu)
def c(points):
x, y, z = p3d.enu2ecef(points[:, 0], points[:, 1],
points[:, 2], fromCrs.lat,
fromCrs.lon, fromCrs.alt)
x, y, z = p3d.ecef2enu(x, y, z, toCrs.lat, toCrs.lon,
toCrs.alt)
return np.column_stack((x, y, z))
def test_aer_enu():
xyz = pm.aer2ecef(*aer0, *lla0)
enu = pm.aer2enu(*aer0)
assert enu == approx(enu0)
assert pm.aer2enu(*raer0, deg=False) == approx(enu0)
with pytest.raises(ValueError):
pm.aer2enu(aer0[0], aer0[1], -1)
assert pm.enu2ecef(*enu, *lla0) == approx(xyz)
assert pm.enu2ecef(*enu, *rlla0, deg=False) == approx(xyz)
assert pm.ecef2enu(*xyz, *lla0) == approx(enu)
assert pm.ecef2enu(*xyz, *rlla0, deg=False) == approx(enu)
def test_scalar_aer_enu(xyz):
"""
verify we can handle the wide variety of input data type users might use
"""
enu = pm.ecef2enu(*xyz, 0, 90, -100)
assert pm.enu2ecef(*enu, 0, 90, -100) == approx([0, A, 50])
def test_enu_ecef(enu, lla, xyz):
x, y, z = pm.enu2ecef(*enu, *lla)
assert x == approx(xyz[0])
assert y == approx(xyz[1])
assert z == approx(xyz[2])
rlla = (radians(lla[0]), radians(lla[1]), lla[2])
assert pm.enu2ecef(*enu, *rlla, deg=False) == approx(xyz)
e, n, u = pm.ecef2enu(*xyz, *lla)
assert e == approx(enu[0])
assert n == approx(enu[1])
assert u == approx(enu[2])
e, n, u = pm.ecef2enu(*xyz, *rlla, deg=False)
assert e == approx(enu[0])
assert n == approx(enu[1])
assert u == approx(enu[2])
def test_scalar_enu(xyz):
"""
verify we can handle the wide variety of input data type users might use
"""
if isinstance(xyz[0], list):
pytest.importorskip("numpy")
enu = pm.ecef2enu(*xyz, 0, 90, -100)
assert pm.enu2ecef(*enu, 0, 90, -100) == approx([0, A, 50])
def unpack_deltas_cm(
dx: Sequence[int],
dy: Sequence[int],
dz: Sequence[int],
g: GeoFrame # type: ignore
) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
x = np.cumsum(np.asarray(dx) / 100)
y = np.cumsum(np.asarray(dy) / 100)
z = np.cumsum(np.asarray(dz) / 100)
x, y, z = pm.enu2ecef(x, y, z, g.origin.lat_e7 * 1e-7,
g.origin.lng_e7 * 1e-7, 0) # type: ignore
return pm.ecef2enu(x, y, z, lat, lon, 0) # type:ignore
def test_enu_ecef(enu, lla, xyz):
x, y, z = pm.enu2ecef(*enu, *lla)
assert x == approx(xyz[0])
assert y == approx(xyz[1])
assert z == approx(xyz[2])
assert isinstance(x, float)
assert isinstance(y, float)
assert isinstance(z, float)
rlla = (radians(lla[0]), radians(lla[1]), lla[2])
assert pm.enu2ecef(*enu, *rlla, deg=False) == approx(xyz)
e, n, u = pm.ecef2enu(*xyz, *lla)
assert e == approx(enu[0])
assert n == approx(enu[1])
assert u == approx(enu[2])
assert isinstance(e, float)
assert isinstance(n, float)
assert isinstance(u, float)
e, n, u = pm.ecef2enu(*xyz, *rlla, deg=False)
assert e == approx(enu[0])
assert n == approx(enu[1])
assert u == approx(enu[2])
def extend_flight_path_earth(self, launch_point_LLH):
lat, lon, h = pm.enu2geodetic(self.pos_ENU_log[:self.index_landing, 0],
self.pos_ENU_log[:self.index_landing, 1],
self.pos_ENU_log[:self.index_landing, 2],
launch_point_LLH[0], launch_point_LLH[1],
launch_point_LLH[2]) # lat, lon, h
self.pos_LLH_log = np.c_[lat, lon, h]
ecef_x, ecef_y, ecef_z = pm.enu2ecef(
self.pos_ENU_log[:self.index_landing,
0], self.pos_ENU_log[:self.index_landing, 1],
self.pos_ENU_log[:self.index_landing, 2], launch_point_LLH[0],
launch_point_LLH[1], launch_point_LLH[2])
self.pos_ECEF_log = np.c_[ecef_x, ecef_y, ecef_z]
plt.figure()
plt.plot(self.time_log[:self.index_landing],
self.pos_ECEF_log[:self.index_landing, 0] / 1e3,
label='X')
plt.plot(self.time_log[:self.index_landing],
self.pos_ECEF_log[:self.index_landing, 1] / 1e3,
label='Y')
plt.plot(self.time_log[:self.index_landing],
self.pos_ECEF_log[:self.index_landing, 2] / 1e3,
label='Z')
plt.xlabel('Time [s]')
plt.ylabel('Position ECEF [km]')
plt.grid()
plt.legend()
plt.savefig(self.result_name + '_Pos_ECEF.png')
kml = simplekml.Kml(open=1)
Log_LLH = []
for i in range(len(self.pos_LLH_log[:, 0])):
if 0 == i % 10:
Log_LLH.append([
self.pos_LLH_log[i, 1], self.pos_LLH_log[i, 0],
self.pos_LLH_log[i, 2]
])
line = kml.newlinestring()
line.style.linestyle.width = 4
line.style.linestyle.color = simplekml.Color.red
line.extrude = 1
line.altitudemode = simplekml.AltitudeMode.absolute
line.coords = Log_LLH
line.style.linestyle.colormode = simplekml.ColorMode.random
kml.save(self.result_name + '_trajectory.kml')
def test_ecefenu():
assert_allclose(pm.aer2ecef(taz, tel, tsrange, tlat, tlon, talt),
(a2x, a2y, a2z),
rtol=0.01,
err_msg='aer2ecef: {}'.format(
pm.aer2ecef(taz, tel, tsrange, tlat, tlon, talt)))
assert_allclose(pm.aer2enu(taz, tel, tsrange), (a2e, a2n, a2u),
rtol=0.01,
err_msg='aer2enu: ' + str(pm.aer2enu(taz, tel, tsrange)))
assert_allclose(pm.aer2ned(taz, tel, tsrange), (a2n, a2e, -a2u),
rtol=0.01,
err_msg='aer2ned: ' + str(pm.aer2ned(taz, tel, tsrange)))
assert_allclose(pm.ecef2enu(tx, ty, tz, tlat, tlon, talt), (e2e, e2n, e2u),
rtol=0.01,
err_msg='ecef2enu: {}'.format(
pm.ecef2enu(tx, ty, tz, tlat, tlon, talt)))
assert_allclose(pm.ecef2enuv(vx, vy, vz, tlat, tlon), (ve, vn, vu))
assert_allclose(pm.ecef2ned(tx, ty, tz, tlat, tlon, talt),
(e2n, e2e, -e2u),
rtol=0.01,
err_msg='ecef2ned: {}'.format(
pm.ecef2enu(tx, ty, tz, tlat, tlon, talt)))
assert_allclose(pm.ecef2nedv(vx, vy, vz, tlat, tlon), (vn, ve, -vu))
assert_allclose(pm.aer2geodetic(taz, tel, tsrange, tlat, tlon, talt),
(a2la, a2lo, a2a),
rtol=0.01,
err_msg='aer2geodetic {}'.format(
pm.aer2geodetic(taz, tel, tsrange, tlat, tlon, talt)))
assert_allclose(pm.ecef2aer(tx, ty, tz, tlat, tlon, talt),
(ec2az, ec2el, ec2rn),
rtol=0.01,
err_msg='ecef2aer {}'.format(
pm.ecef2aer(a2x, a2y, a2z, tlat, tlon, talt)))
#%%
assert_allclose(pm.enu2aer(te, tn, tu), (e2az, e2el, e2rn),
rtol=0.01,
err_msg='enu2aer: ' + str(pm.enu2aer(te, tn, tu)))
assert_allclose(pm.ned2aer(tn, te, -tu), (e2az, e2el, e2rn),
rtol=0.01,
err_msg='enu2aer: ' + str(pm.enu2aer(te, tn, tu)))
assert_allclose(pm.enu2geodetic(te, tn, tu, tlat, tlon,
talt), (lat2, lon2, alt2),
rtol=0.01,
err_msg='enu2geodetic: ' +
str(pm.enu2geodetic(te, tn, tu, tlat, tlon, talt)))
assert_allclose(pm.ned2geodetic(tn, te, -tu, tlat, tlon,
talt), (lat2, lon2, alt2),
rtol=0.01,
err_msg='enu2geodetic: ' +
str(pm.enu2geodetic(te, tn, tu, tlat, tlon, talt)))
assert_allclose(pm.enu2ecef(te, tn, tu, tlat, tlon, talt), (e2x, e2y, e2z),
rtol=0.01,
err_msg='enu2ecef: ' +
str(pm.enu2ecef(te, tn, tu, tlat, tlon, talt)))
assert_allclose(
pm.ned2ecef(tn, te, -tu, tlat, tlon, talt), (e2x, e2y, e2z),
rtol=0.01,
err_msg='ned2ecef: ' + str(pm.ned2ecef(tn, te, -tu, tlat, tlon, talt)))
def test_3d_enu():
np = pytest.importorskip("numpy")
xyz = (np.atleast_3d(0), np.atleast_3d(A), np.atleast_3d(50))
enu = pm.ecef2enu(*xyz, 0, 90, -100)
assert pm.enu2ecef(*enu, 0, 90, -100) == approx([0, A, 50])
def test_geodetic(self):
if pyproj:
ecef = pyproj.Proj(proj='geocent', ellps='WGS84', datum='WGS84')
lla = pyproj.Proj(proj='latlong', ellps='WGS84', datum='WGS84')
xyz1 = pm.geodetic2ecef(*lla0)
assert_allclose(pm.geodetic2ecef(*rlla0, deg=False),
xyz1,
err_msg='geodetic2ecef: rad')
assert_allclose(xyz1, xyz0, err_msg='geodetic2ecef: deg')
assert_allclose(pm.ecef2geodetic(*xyz1),
lla0,
err_msg='ecef2geodetic: deg')
assert_allclose(pm.ecef2geodetic(*xyz1, deg=False),
rlla0,
err_msg='ecef2geodetic: rad')
if pyproj:
assert_allclose(
pyproj.transform(lla, ecef, lla0[1], lla0[0], lla0[2]), xyz1)
assert_allclose(pyproj.transform(ecef, lla, *xyz1),
(lla0[1], lla0[0], lla0[2]))
lla2 = pm.aer2geodetic(*aer0, *lla0)
rlla2 = pm.aer2geodetic(*raer0, *rlla0, deg=False)
assert_allclose(lla2, lla1, err_msg='aer2geodetic: deg')
assert_allclose(rlla2, rlla1, err_msg='aer2geodetic:rad')
assert_allclose(pm.geodetic2aer(*lla2, *lla0),
aer0,
err_msg='geodetic2aer: deg')
assert_allclose(pm.geodetic2aer(*rlla2, *rlla0, deg=False),
raer0,
err_msg='geodetic2aer: rad')
# %% aer-ecef
xyz2 = pm.aer2ecef(*aer0, *lla0)
assert_allclose(pm.aer2ecef(*raer0, *rlla0, deg=False),
axyz0,
err_msg='aer2ecef:rad')
assert_allclose(xyz2, axyz0, err_msg='aer2ecef: deg')
assert_allclose(pm.ecef2aer(*xyz2, *lla0),
aer0,
err_msg='ecef2aer:deg')
assert_allclose(pm.ecef2aer(*xyz2, *rlla0, deg=False),
raer0,
err_msg='ecef2aer:rad')
# %% aer-enu
enu1 = pm.aer2enu(*aer0)
ned1 = (enu1[1], enu1[0], -enu1[2])
assert_allclose(enu1, enu0, err_msg='aer2enu: deg')
assert_allclose(pm.aer2enu(*raer0, deg=False),
enu0,
err_msg='aer2enu: rad')
assert_allclose(pm.aer2ned(*aer0), ned0, err_msg='aer2ned')
assert_allclose(pm.enu2aer(*enu1), aer0, err_msg='enu2aer: deg')
assert_allclose(pm.enu2aer(*enu1, deg=False),
raer0,
err_msg='enu2aer: rad')
assert_allclose(pm.ned2aer(*ned1), aer0, err_msg='ned2aer')
# %% enu-ecef
assert_allclose(pm.enu2ecef(*enu1, *lla0),
xyz2,
err_msg='enu2ecef: deg')
assert_allclose(pm.enu2ecef(*enu1, *rlla0, deg=False),
xyz2,
err_msg='enu2ecef: rad')
assert_allclose(pm.ecef2enu(*xyz2, *lla0),
enu1,
err_msg='ecef2enu:deg')
assert_allclose(pm.ecef2enu(*xyz2, *rlla0, deg=False),
enu1,
err_msg='ecef2enu:rad')
assert_allclose(pm.ecef2ned(*xyz2, *lla0), ned1, err_msg='ecef2ned')
assert_allclose(pm.ned2ecef(*ned1, *lla0), xyz2, err_msg='ned2ecef')
# %%
assert_allclose(pm.ecef2enuv(vx, vy, vz, *lla0[:2]), (ve, vn, vu))
assert_allclose(pm.ecef2nedv(vx, vy, vz, *lla0[:2]), (vn, ve, -vu))
# %%
enu3 = pm.geodetic2enu(*lla2, *lla0)
ned3 = (enu3[1], enu3[0], -enu3[2])
assert_allclose(pm.geodetic2ned(*lla2, *lla0),
ned3,
err_msg='geodetic2ned: deg')
assert_allclose(pm.enu2geodetic(*enu3, *lla0),
lla2,
err_msg='enu2geodetic')
assert_allclose(pm.ned2geodetic(*ned3, *lla0),
lla2,
err_msg='ned2geodetic')
def test_geodetic(self):
if pyproj:
ecef = pyproj.Proj(proj='geocent', ellps='WGS84', datum='WGS84')
lla = pyproj.Proj(proj='latlong', ellps='WGS84', datum='WGS84')
x1, y1, z1 = pm.geodetic2ecef(tlat, tlon, talt)
assert_allclose(
pm.geodetic2ecef(radians(tlat), radians(tlon), talt, deg=False),
(x1, y1, z1))
assert_allclose((x1, y1, z1), (x0, y0, z0), err_msg='geodetic2ecef')
assert_allclose(pm.ecef2geodetic(x1, y1, z1), (tlat, tlon, talt),
err_msg='ecef2geodetic')
if pyproj:
assert_allclose(pyproj.transform(lla, ecef, tlon, tlat, talt),
(x1, y1, z1))
assert_allclose(pyproj.transform(ecef, lla, x1, y1, z1),
(tlon, tlat, talt))
lat2, lon2, alt2 = pm.aer2geodetic(taz, tel, tsrange, tlat, tlon, talt)
assert_allclose((lat2, lon2, alt2), (lat1, lon1, alt1),
err_msg='aer2geodetic')
assert_allclose(pm.geodetic2aer(lat2, lon2, alt2, tlat, tlon, talt),
(taz, tel, tsrange),
err_msg='geodetic2aer')
x2, y2, z2 = pm.aer2ecef(taz, tel, tsrange, tlat, tlon, talt)
assert_allclose(
pm.aer2ecef(radians(taz),
radians(tel),
tsrange,
radians(tlat),
radians(tlon),
talt,
deg=False), (a2x, a2y, a2z))
assert_allclose((x2, y2, z2), (a2x, a2y, a2z), err_msg='aer2ecef')
assert_allclose(pm.ecef2aer(x2, y2, z2, tlat, tlon, talt),
(taz, tel, tsrange),
err_msg='ecef2aer')
e1, n1, u1 = pm.aer2enu(taz, tel, tsrange)
assert_allclose((e1, n1, u1), (e0, n0, u0), err_msg='aer2enu')
assert_allclose(pm.aer2ned(taz, tel, tsrange), (n0, e0, -u0),
err_msg='aer2ned')
assert_allclose(pm.enu2aer(e1, n1, u1), (taz, tel, tsrange),
err_msg='enu2aer')
assert_allclose(pm.ned2aer(n1, e1, -u1), (taz, tel, tsrange),
err_msg='ned2aer')
assert_allclose(pm.enu2ecef(e1, n1, u1, tlat, tlon, talt),
(x2, y2, z2),
err_msg='enu2ecef')
assert_allclose(pm.ecef2enu(x2, y2, z2, tlat, tlon, talt),
(e1, n1, u1),
err_msg='ecef2enu')
assert_allclose(pm.ecef2ned(x2, y2, z2, tlat, tlon, talt),
(n1, e1, -u1),
err_msg='ecef2ned')
assert_allclose(pm.ned2ecef(n1, e1, -u1, tlat, tlon, talt),
(x2, y2, z2),
err_msg='ned2ecef')
# %%
assert_allclose(pm.ecef2enuv(vx, vy, vz, tlat, tlon), (ve, vn, vu))
assert_allclose(pm.ecef2nedv(vx, vy, vz, tlat, tlon), (vn, ve, -vu))
#%%
e3, n3, u3 = pm.geodetic2enu(lat2, lon2, alt2, tlat, tlon, talt)
assert_allclose(pm.geodetic2ned(lat2, lon2, alt2, tlat, tlon, talt),
(n3, e3, -u3))
assert_allclose(pm.enu2geodetic(e3, n3, u3, tlat, tlon, talt),
(lat2, lon2, alt2),
err_msg='enu2geodetic')
assert_allclose(pm.ned2geodetic(n3, e3, -u3, tlat, tlon, talt),
(lat2, lon2, alt2),
err_msg='ned2geodetic')
-2 * np.cross(omega,dx) \
- B2_ref * (T_0 / T) ** alpha * (1 - a * (r - R_E) / T_0) ** alpha * dr * dx / m))
def terminate(t, X):
return pm.ecef2enu(*X[:3], phi0, lambda0, h0)[2] < 0.0
# ## Setup
# In[178]:
t = np.linspace(0, 200, 20000)
pos0 = np.asarray(pm.geodetic2ecef(phi0, lambda0, h0, deg=True))
local = pm.utils.sph2cart(A, E, v0)
dpos0 = np.asarray(pm.enu2ecef(*local, phi0, lambda0, h0, deg=True)) - pos0
state0 = np.concatenate((pos0, dpos0))
# ## Part A
# In[179]:
t_magnus, soln_magnus = dsolve(partial(rhs, T=T_0),
t,
state0,
terminate=terminate)
t, soln = dsolve(partial(rhs, T=T_0, omega=np.zeros_like(Omega)),
t,
state0,
terminate=terminate)
