matlab - Azimuth and Elevation from one moving object to another, relative to first object's orientation -



matlab - Azimuth and Elevation from one moving object to another, relative to first object's orientation -

i have 2 moving objects position , orientation info (euler angles, quaternions) relative eci coordinate frame. calculate az/el i'm guessing "body frame" of first object. have attempted convert both objects body frame through rotation matrices (x-y-z , z-y-x rotation sequence) , calculate target vector az/el way have not had success. i've tried body frame positions , calculate body axis/angles , convert eulers (relative body frame). i'm never sure how coordinate scheme axes i'm supposedly creating aligned along object.

i have found couple other questions answered quaternion solutions may best path take, quaternion background weak @ best , fail see how computations given result in target vector.

any advice much appreciated , i'm happy share progress/experiences going forward.

get current neh transform matrix moving object

you must know position , @ to the lowest degree 2 directions north,east,height(up or altitude) of moving object otherwise problem unsolvable no matter what this matrix/frame called neh (x=north,y=east,z=height) or enu (x=east,y=north,z=up) look here: transform matrix anatomy and here: earth's neh construction , alter position , radius match moving object

convert point p0 gcs (global coordinate system) neh

simply: p1=inverse(neh)*p0 p1 in neh lcs (local coordinate system) both p0,p1 in homogenous coordinates { x,y,z,w=1 } allow multiplications 4x4 matrix so can compute azimut , elevation straight it so: azimut=atanxy(p1.x,p1.y); atanxy mine atan2 (4 quadrant atan) first dx dy think atan2 in matlab reverse elevation=atan(p1.z/sqrt((p1.x*p1.x)+(p1.y*p1.y)));

[notes]

always visually check frames (especially neh) just draw 3 axises lines of length validate if result correct it should on image, different color each axis you can move next point if neh ok !!! check atan2/atanxy operands order check goniometric functions units (rad,deg) avoid confusions

matlab math 3d quaternions coordinate-transformation

Comments

Post a Comment

Popular posts from this blog

java Multi query from Mysql using netbeans -

java Multi query from Mysql using netbeans - i have java code retrieve info mysql appropriate code in netbeans.the code below. want multi query such illustration finding total number of products , on.could help me please. in advance import java.sql.*; public class javamysqlselectexample { public static void main(string[] args) { seek { string mydriver = "com.mysql.jdbc.driver"; string myurl = "jdbc:mysql://localhost/sample"; class.forname(mydriver); connection conn = drivermanager.getconnection(myurl, "root", "mypasscode1"); string query = "select * products"; statement st = conn.createstatement(); resultset rs = st.executequery(query); while (rs.next()==true) { int code = rs.getint("code"); string productname = rs.getstring("product_name"); string producttype = rs.getstring("product_type"); system.out.format(" %d, %s, %s\n", code, pr
Read more

c# - DotNetZip fails with "stream does not support seek operations" -

c# - DotNetZip fails with "stream does not support seek operations" - i using dotnetzip in c# unzip stream follows: public static void unzipfromstream(stream stream, string outdir) { //omit seek grab block using (zipfile zip = zipfile.read(stream)){ foreach (zipentry e in zip){ e.extract(outdir, extractexistingfileaction.overwritesilently); } } } stream obtained using webclient client = new webclient(); stream fs = client.openread(url); however, got next exception exception during extracting zip stream system.notsupportedexception: stream not back upwards seek operations. @ system.net.connectstream.get_position() @ ionic.zip.zipfile.read(stream zipstream, textwriter statusmessagewriter, encoding encoding, eventhandler`1 readprogress) on server side(asp.net mvc 4), returning filepathresult or filestreamresult both caused exception. should obtain stream differently on client side? or how create server homec
Read more

c++ - StartServiceCtrlDispatcher don't can access 1063 error -

c++ - StartServiceCtrlDispatcher don't can access 1063 error - i write on c++ service , have error, , don't can fixed it. my service main function int main (int argc, tchar *argv[]) {dword f; for(int i=0;i<113;i++) f = getlasterror(); servicepath = lptstr(argv[0]); outputdebugstring(_t("my sample service: main: entry")); //installservice(); service_table_entry servicetable[] = { {service_name, (lpservice_main_function) servicemain}, {null, null} }; // startservice(); if(!startservicectrldispatcher(servicetable)) { f = getlasterror(); //addlogmessage("error: startservicectrldispatcher"); } else if( memcmp(argv[argc-1],"install",7)) { installservice(); } else if( memcmp(argv[argc-1],"remove",6)) { removeservice(); } else if( memcmp(argv[argc-1],"start",5)) { startservice(); } else if( memcmp(argv[argc-1],"stop",4))
Read more