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LibrePilot/flight/libraries/CoordinateConversions.c

511 lines
15 KiB
C

/**
******************************************************************************
*
* @file CoordinateConversions.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief General conversions with different coordinate systems.
* - all angles in deg
* - distances in meters
* - altitude above WGS-84 elipsoid
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <stdint.h>
#include <pios_math.h>
#include "inc/CoordinateConversions.h"
#define MIN_ALLOWABLE_MAGNITUDE 1e-30f
// Equatorial Radius
#define equatorial_radius 6378137.0d
// Eccentricity
#define eccentricity 8.1819190842622e-2d
#define equatorial_radius_sq (equatorial_radius * equatorial_radius)
#define eccentricity_sq (eccentricity * eccentricity)
// ****** convert Lat,Lon,Alt to ECEF ************
void LLA2ECEF(const int32_t LLAi[3], float ECEF[3])
{
double sinLat, sinLon, cosLat, cosLon;
double N;
double LLA[3] = {
((double)LLAi[0]) * 1e-7d,
((double)LLAi[1]) * 1e-7d,
((double)LLAi[2]) * 1e-4d
};
sinLat = sin(DEG2RAD_D(LLA[0]));
sinLon = sin(DEG2RAD_D(LLA[1]));
cosLat = cos(DEG2RAD_D(LLA[0]));
cosLon = cos(DEG2RAD_D(LLA[1]));
N = equatorial_radius / sqrt(1.0d - eccentricity_sq * sinLat * sinLat); // prime vertical radius of curvature
ECEF[0] = (float)((N + LLA[2]) * cosLat * cosLon);
ECEF[1] = (float)((N + LLA[2]) * cosLat * sinLon);
ECEF[2] = (float)(((1.0d - eccentricity_sq) * N + LLA[2]) * sinLat);
}
// ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
void ECEF2LLA(const float ECEF[3], int32_t LLA[3])
{
/* b = math.sqrt( asq * (1-esq) )
bsq = b*b
ep = math.sqrt((asq - bsq)/bsq)
p = math.sqrt( math.pow(x,2) + math.pow(y,2) )
th = math.atan2(a*z, b*p)
lon = math.atan2(y,x)
lat = math.atan2( (z + ep*ep *b * math.pow(math.sin(th),3) ), (p - esq*a*math.pow(math.cos(th),3)) )
N = a/( math.sqrt(1-esq*math.pow(math.sin(lat),2)) )
alt = p / math.cos(lat) - N*/
const double x = ECEF[0], y = ECEF[1], z = ECEF[2];
const double b = sqrt(equatorial_radius_sq * (1 - eccentricity_sq));
const double bsq = b * b;
const double ep = sqrt((equatorial_radius_sq - bsq) / bsq);
const double p = sqrt(x * x + y * y);
const double th = atan2(equatorial_radius * z, b * p);
double lon = atan2(y, x);
const double lat = atan2(
(z + ep * ep * b * pow(sin(th), 3)),
(p - eccentricity_sq * equatorial_radius * pow(cos(th), 3))
);
const double N = equatorial_radius / (sqrt(1 - eccentricity_sq * pow(sin(lat), 2)));
const double alt = p / cos(lat) - N;
LLA[0] = (int32_t)(RAD2DEG_D(lat) * 1e7d);
LLA[1] = (int32_t)(RAD2DEG_D(lon) * 1e7d) % ((int32_t)(180 * 1e7d));
LLA[2] = (int32_t)(alt * 1e4d);
}
// ****** find ECEF to NED rotation matrix ********
void RneFromLLA(const int32_t LLAi[3], float Rne[3][3])
{
float sinLat, sinLon, cosLat, cosLon;
sinLat = sinf(DEG2RAD((float)LLAi[0] * 1e-7f));
sinLon = sinf(DEG2RAD((float)LLAi[1] * 1e-7f));
cosLat = cosf(DEG2RAD((float)LLAi[0] * 1e-7f));
cosLon = cosf(DEG2RAD((float)LLAi[1] * 1e-7f));
Rne[0][0] = -sinLat * cosLon;
Rne[0][1] = -sinLat * sinLon;
Rne[0][2] = cosLat;
Rne[1][0] = -sinLon;
Rne[1][1] = cosLon;
Rne[1][2] = 0;
Rne[2][0] = -cosLat * cosLon;
Rne[2][1] = -cosLat * sinLon;
Rne[2][2] = -sinLat;
}
// ****** find roll, pitch, yaw from quaternion ********
void Quaternion2RPY(const float q[4], float rpy[3])
{
float R13, R11, R12, R23, R33;
float q0s = q[0] * q[0];
float q1s = q[1] * q[1];
float q2s = q[2] * q[2];
float q3s = q[3] * q[3];
R13 = 2.0f * (q[1] * q[3] - q[0] * q[2]);
R11 = q0s + q1s - q2s - q3s;
R12 = 2.0f * (q[1] * q[2] + q[0] * q[3]);
R23 = 2.0f * (q[2] * q[3] + q[0] * q[1]);
R33 = q0s - q1s - q2s + q3s;
rpy[1] = RAD2DEG(asinf(-R13)); // pitch always between -pi/2 to pi/2
rpy[2] = RAD2DEG(atan2f(R12, R11));
rpy[0] = RAD2DEG(atan2f(R23, R33));
// TODO: consider the cases where |R13| ~= 1, |pitch| ~= pi/2
}
// ****** find quaternion from roll, pitch, yaw ********
void RPY2Quaternion(const float rpy[3], float q[4])
{
float phi, theta, psi;
float cphi, sphi, ctheta, stheta, cpsi, spsi;
phi = DEG2RAD(rpy[0] / 2);
theta = DEG2RAD(rpy[1] / 2);
psi = DEG2RAD(rpy[2] / 2);
cphi = cosf(phi);
sphi = sinf(phi);
ctheta = cosf(theta);
stheta = sinf(theta);
cpsi = cosf(psi);
spsi = sinf(psi);
q[0] = cphi * ctheta * cpsi + sphi * stheta * spsi;
q[1] = sphi * ctheta * cpsi - cphi * stheta * spsi;
q[2] = cphi * stheta * cpsi + sphi * ctheta * spsi;
q[3] = cphi * ctheta * spsi - sphi * stheta * cpsi;
if (q[0] < 0) { // q0 always positive for uniqueness
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
}
// ** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
void Quaternion2R(float q[4], float Rbe[3][3])
{
const float q0s = q[0] * q[0], q1s = q[1] * q[1], q2s = q[2] * q[2], q3s = q[3] * q[3];
Rbe[0][0] = q0s + q1s - q2s - q3s;
Rbe[0][1] = 2 * (q[1] * q[2] + q[0] * q[3]);
Rbe[0][2] = 2 * (q[1] * q[3] - q[0] * q[2]);
Rbe[1][0] = 2 * (q[1] * q[2] - q[0] * q[3]);
Rbe[1][1] = q0s - q1s + q2s - q3s;
Rbe[1][2] = 2 * (q[2] * q[3] + q[0] * q[1]);
Rbe[2][0] = 2 * (q[1] * q[3] + q[0] * q[2]);
Rbe[2][1] = 2 * (q[2] * q[3] - q[0] * q[1]);
Rbe[2][2] = q0s - q1s - q2s + q3s;
}
// ** Find first row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
// ** This vector corresponds to the fuselage/roll vector xB **
void QuaternionC2xB(const float q0, const float q1, const float q2, const float q3, float x[3])
{
const float q0s = q0 * q0, q1s = q1 * q1, q2s = q2 * q2, q3s = q3 * q3;
x[0] = q0s + q1s - q2s - q3s;
x[1] = 2 * (q1 * q2 + q0 * q3);
x[2] = 2 * (q1 * q3 - q0 * q2);
}
void Quaternion2xB(const float q[4], float x[3])
{
QuaternionC2xB(q[0], q[1], q[2], q[3], x);
}
// ** Find second row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
// ** This vector corresponds to the spanwise/pitch vector yB **
void QuaternionC2yB(const float q0, const float q1, const float q2, const float q3, float y[3])
{
const float q0s = q0 * q0, q1s = q1 * q1, q2s = q2 * q2, q3s = q3 * q3;
y[0] = 2 * (q1 * q2 - q0 * q3);
y[1] = q0s - q1s + q2s - q3s;
y[2] = 2 * (q2 * q3 + q0 * q1);
}
void Quaternion2yB(const float q[4], float y[3])
{
QuaternionC2yB(q[0], q[1], q[2], q[3], y);
}
// ** Find third row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
// ** This vector corresponds to the vertical/yaw vector zB **
void QuaternionC2zB(const float q0, const float q1, const float q2, const float q3, float z[3])
{
const float q0s = q0 * q0, q1s = q1 * q1, q2s = q2 * q2, q3s = q3 * q3;
z[0] = 2 * (q1 * q3 + q0 * q2);
z[1] = 2 * (q2 * q3 - q0 * q1);
z[2] = q0s - q1s - q2s + q3s;
}
void Quaternion2zB(const float q[4], float z[3])
{
QuaternionC2zB(q[0], q[1], q[2], q[3], z);
}
// ****** Express LLA in a local NED Base Frame ********
void LLA2Base(const int32_t LLAi[3], const float BaseECEF[3], float Rne[3][3], float NED[3])
{
float ECEF[3];
LLA2ECEF(LLAi, ECEF);
ECEF2Base(ECEF, BaseECEF, Rne, NED);
}
// ****** Express LLA in a local NED Base Frame ********
void Base2LLA(const float NED[3], const float BaseECEF[3], float Rne[3][3], int32_t LLAi[3])
{
float ECEF[3];
Base2ECEF(NED, BaseECEF, Rne, ECEF);
ECEF2LLA(ECEF, LLAi);
}
// ****** Express ECEF in a local NED Base Frame ********
void ECEF2Base(const float ECEF[3], const float BaseECEF[3], float Rne[3][3], float NED[3])
{
float diff[3];
diff[0] = (ECEF[0] - BaseECEF[0]);
diff[1] = (ECEF[1] - BaseECEF[1]);
diff[2] = (ECEF[2] - BaseECEF[2]);
NED[0] = Rne[0][0] * diff[0] + Rne[0][1] * diff[1] + Rne[0][2] * diff[2];
NED[1] = Rne[1][0] * diff[0] + Rne[1][1] * diff[1] + Rne[1][2] * diff[2];
NED[2] = Rne[2][0] * diff[0] + Rne[2][1] * diff[1] + Rne[2][2] * diff[2];
}
// ****** Express ECEF in a local NED Base Frame ********
void Base2ECEF(const float NED[3], const float BaseECEF[3], float Rne[3][3], float ECEF[3])
{
float diff[3];
diff[0] = Rne[0][0] * NED[0] + Rne[1][0] * NED[1] + Rne[2][0] * NED[2];
diff[1] = Rne[0][1] * NED[0] + Rne[1][1] * NED[1] + Rne[2][1] * NED[2];
diff[2] = Rne[0][2] * NED[0] + Rne[1][2] * NED[1] + Rne[2][2] * NED[2];
ECEF[0] = diff[0] + BaseECEF[0];
ECEF[1] = diff[1] + BaseECEF[1];
ECEF[2] = diff[2] + BaseECEF[2];
}
// ****** convert Rotation Matrix to Quaternion ********
// ****** if R converts from e to b, q is rotation from e to b ****
void R2Quaternion(float R[3][3], float q[4])
{
float m[4], mag;
uint8_t index, i;
m[0] = 1 + R[0][0] + R[1][1] + R[2][2];
m[1] = 1 + R[0][0] - R[1][1] - R[2][2];
m[2] = 1 - R[0][0] + R[1][1] - R[2][2];
m[3] = 1 - R[0][0] - R[1][1] + R[2][2];
// find maximum divisor
index = 0;
mag = m[0];
for (i = 1; i < 4; i++) {
if (m[i] > mag) {
mag = m[i];
index = i;
}
}
mag = 2 * sqrtf(mag);
if (index == 0) {
q[0] = mag / 4;
q[1] = (R[1][2] - R[2][1]) / mag;
q[2] = (R[2][0] - R[0][2]) / mag;
q[3] = (R[0][1] - R[1][0]) / mag;
} else if (index == 1) {
q[1] = mag / 4;
q[0] = (R[1][2] - R[2][1]) / mag;
q[2] = (R[0][1] + R[1][0]) / mag;
q[3] = (R[0][2] + R[2][0]) / mag;
} else if (index == 2) {
q[2] = mag / 4;
q[0] = (R[2][0] - R[0][2]) / mag;
q[1] = (R[0][1] + R[1][0]) / mag;
q[3] = (R[1][2] + R[2][1]) / mag;
} else {
q[3] = mag / 4;
q[0] = (R[0][1] - R[1][0]) / mag;
q[1] = (R[0][2] + R[2][0]) / mag;
q[2] = (R[1][2] + R[2][1]) / mag;
}
// q0 positive, i.e. angle between pi and -pi
if (q[0] < 0) {
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
}
// ****** Rotation Matrix from Two Vector Directions ********
// ****** given two vector directions (v1 and v2) known in two frames (b and e) find Rbe ***
// ****** solution is approximate if can't be exact ***
uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[3], const float v2e[3], float Rbe[3][3])
{
float Rib[3][3], Rie[3][3];
float mag;
uint8_t i, j, k;
// identity rotation in case of error
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
Rbe[i][j] = 0;
}
Rbe[i][i] = 1;
}
// The first rows of rot matrices chosen in direction of v1
mag = VectorMagnitude(v1b);
if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE) {
return -1;
}
for (i = 0; i < 3; i++) {
Rib[0][i] = v1b[i] / mag;
}
mag = VectorMagnitude(v1e);
if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE) {
return -1;
}
for (i = 0; i < 3; i++) {
Rie[0][i] = v1e[i] / mag;
}
// The second rows of rot matrices chosen in direction of v1xv2
CrossProduct(v1b, v2b, &Rib[1][0]);
mag = VectorMagnitude(&Rib[1][0]);
if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE) {
return -1;
}
for (i = 0; i < 3; i++) {
Rib[1][i] = Rib[1][i] / mag;
}
CrossProduct(v1e, v2e, &Rie[1][0]);
mag = VectorMagnitude(&Rie[1][0]);
if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE) {
return -1;
}
for (i = 0; i < 3; i++) {
Rie[1][i] = Rie[1][i] / mag;
}
// The third rows of rot matrices are XxY (Row1xRow2)
CrossProduct(&Rib[0][0], &Rib[1][0], &Rib[2][0]);
CrossProduct(&Rie[0][0], &Rie[1][0], &Rie[2][0]);
// Rbe = Rbi*Rie = Rib'*Rie
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
Rbe[i][j] = 0;
for (k = 0; k < 3; k++) {
Rbe[i][j] += Rib[k][i] * Rie[k][j];
}
}
}
return 1;
}
void Rv2Rot(float Rv[3], float R[3][3])
{
// Compute rotation matrix from a rotation vector
// To save .text space, uses Quaternion2R()
float q[4];
float angle = VectorMagnitude(Rv);
if (angle <= 0.00048828125f) {
// angle < sqrt(2*machine_epsilon(float)), so flush cos(x) to 1.0f
q[0] = 1.0f;
// and flush sin(x/2)/x to 0.5
q[1] = 0.5f * Rv[0];
q[2] = 0.5f * Rv[1];
q[3] = 0.5f * Rv[2];
// This prevents division by zero, while retaining full accuracy
} else {
q[0] = cosf(angle * 0.5f);
float scale = sinf(angle * 0.5f) / angle;
q[1] = scale * Rv[0];
q[2] = scale * Rv[1];
q[3] = scale * Rv[2];
}
Quaternion2R(q, R);
}
// ****** Vector Cross Product ********
void CrossProduct(const float v1[3], const float v2[3], float result[3])
{
result[0] = v1[1] * v2[2] - v2[1] * v1[2];
result[1] = v2[0] * v1[2] - v1[0] * v2[2];
result[2] = v1[0] * v2[1] - v2[0] * v1[1];
}
// ****** Vector Magnitude ********
float VectorMagnitude(const float v[3])
{
return sqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
}
/**
* @brief Compute the inverse of a quaternion
* @param [in][out] q The matrix to invert
*/
void quat_inverse(float q[4])
{
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
/**
* @brief Duplicate a quaternion
* @param[in] q quaternion in
* @param[out] qnew quaternion to copy to
*/
void quat_copy(const float q[4], float qnew[4])
{
qnew[0] = q[0];
qnew[1] = q[1];
qnew[2] = q[2];
qnew[3] = q[3];
}
/**
* @brief Multiply two quaternions into a third
* @param[in] q1 First quaternion
* @param[in] q2 Second quaternion
* @param[out] qout Output quaternion
*/
void quat_mult(const float q1[4], const float q2[4], float qout[4])
{
qout[0] = q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3];
qout[1] = q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2];
qout[2] = q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1];
qout[3] = q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0];
}
/**
* @brief Rotate a vector by a rotation matrix
* @param[in] R a three by three rotation matrix (first index is row)
* @param[in] vec the source vector
* @param[out] vec_out the output vector
*/
void rot_mult(float R[3][3], const float vec[3], float vec_out[3])
{
vec_out[0] = R[0][0] * vec[0] + R[0][1] * vec[1] + R[0][2] * vec[2];
vec_out[1] = R[1][0] * vec[0] + R[1][1] * vec[1] + R[1][2] * vec[2];
vec_out[2] = R[2][0] * vec[0] + R[2][1] * vec[1] + R[2][2] * vec[2];
}