lla和大地线互转

This commit is contained in:
codeboss 2025-06-07 15:11:48 +08:00
parent 3177b23825
commit f2148707b7
2 changed files with 80 additions and 8 deletions

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@ -1,7 +1,11 @@
#include "standardglobe.h" #include "standardglobe.h"
#include <math.h> #include <cmath>
double StandardGlobe::_radius_m = 65000000; double StandardGlobe::_radius_m = 65000000;
#define PI 3.14159265354
auto deg2a = [](double v) { return v / 180.0 * PI; };
auto rad2d = [](double v) { return v / PI * 180.0; };
StandardGlobe::StandardGlobe() StandardGlobe::StandardGlobe()
{ {
} }
@ -11,25 +15,47 @@ ECEFPos StandardGlobe::llaToEcef(const LLAPos& v)
// 柴麻鉦宣白伉鉦宣 // 柴麻鉦宣白伉鉦宣
auto axis_r_g = v._alt_m + _radius_m; auto axis_r_g = v._alt_m + _radius_m;
// ecef-z恫炎 // ecef-z恫炎
auto axis_z = axis_r_g * sin(v._lat_deg); auto axis_z = axis_r_g * sin(deg2a(v._lat_deg));
// 粒業筈磯抄 // 粒業筈磯抄
auto axis_r_lat = axis_r_g * cos(v._lat_deg); auto axis_r_lat = axis_r_g * cos(deg2a(v._lat_deg));
// ecef-x // ecef-x
auto axis_x = axis_r_g * cos(v._lon_deg); auto axis_x = axis_r_lat * cos(deg2a(v._lon_deg));
// ecef-y // ecef-y
auto axis_y = axis_r_g * sin(v._lon_deg); auto axis_y = axis_r_lat * sin(deg2a(v._lon_deg));
return ECEFPos{ axis_x, axis_y, axis_z }; return ECEFPos{ axis_x, axis_y, axis_z };
} }
void StandardGlobe::getDistanceWithin(const LLAPos& base, const LLAPos& target, double dist, double azi) LLAPos StandardGlobe::ecefToLLA(const ECEFPos& v)
{
auto r2 = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos);
auto rad_lon = acos(v._x_pos / r2);
if(v._y_pos < 0)
rad_lon *= -1;
auto rx = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos + v._z_pos * v._z_pos);
auto rad_lat = asin(v._z_pos / rx);
LLAPos ret;
ret._lon_deg = rad2d(rad_lon);
ret._lat_deg = rad2d(rad_lat);
ret._alt_m = rx - _radius_m;
return ret;
}
void StandardGlobe::getDistanceWithTargetLLA(const LLAPos& base, const LLAPos& target, double& dist, double& azi)
{ {
// ecef文楚 // ecef文楚
auto vec_base = llaToEcef(base).getVec3(); auto vec_base = llaToEcef(base).getVec3();
auto vec_target = llaToEcef(target).getVec3(); auto vec_target = llaToEcef(target).getVec3();
auto vec_bn = vec_base.normalized(); auto vec_bn = vec_base.normalized();
auto vec_tn = vec_target.normalized(); auto vec_tn = vec_target.normalized();
// 两点之间的矢量夹角
auto cos_between = QVector3D::dotProduct(vec_bn, vec_tn);
// 两点之间最短球面弧线长度
dist = acos(cos_between) * _radius_m;
// 朕炎峠中隈<E4B8AD>文楚 // 朕炎峠中隈<E4B8AD>文楚
auto vec_vn = QVector3D::crossProduct(vec_bn, vec_tn).normalized(); auto vec_vn = QVector3D::crossProduct(vec_bn, vec_tn).normalized();
// 朕炎峠中俳<E4B8AD>文楚 // 朕炎峠中俳<E4B8AD>文楚
@ -37,6 +63,36 @@ void StandardGlobe::getDistanceWithin(const LLAPos& base, const LLAPos& target,
// 兜兵斜叔cos峙 // 兜兵斜叔cos峙
auto cos_angle = QVector3D::dotProduct(vec_hn, QVector3D(0, 0, 1)); auto cos_angle = QVector3D::dotProduct(vec_hn, QVector3D(0, 0, 1));
auto angle = acos(cos_angle); auto angle = acos(cos_angle);
// 180°校验
auto flag_vec = QVector3D::crossProduct(vec_hn, QVector3D(0, 0, 1)).normalized();
if (vec_bn.z() * flag_vec.z() < 0)
angle = 2 * PI - angle;
// 返回方位角
azi = rad2d(angle);
}
#include <qquaternion.h>
void StandardGlobe::getTargetLLAWithDistance(const LLAPos& base, double dist, double azi, LLAPos& target)
{
auto ecef_bvec = llaToEcef(base).getVec3().normalized();
QQuaternion u0(-deg2a(azi), ecef_bvec);
// 获取切线方向矢量
auto vec_hv = u0.rotatedVector(QVector3D(0, 0, 1)).normalized();
// 获取法线方向矢量
auto vec_bv = QVector3D::crossProduct(ecef_bvec, vec_hv).normalized();
auto rad_between = dist / _radius_m;
QQuaternion u1(rad_between, vec_bv);
auto ecef_t = u1.rotatedVector(llaToEcef(base).getVec3());
ECEFPos sv;
sv._x_pos = ecef_t.x();
sv._y_pos = ecef_t.y();
sv._z_pos = ecef_t.z();
target = ecefToLLA(sv);
} }
QVector3D ECEFPos::getVec3() const QVector3D ECEFPos::getVec3() const

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@ -55,6 +55,22 @@ public:
StandardGlobe(); StandardGlobe();
static ECEFPos llaToEcef(const LLAPos &v); static ECEFPos llaToEcef(const LLAPos &v);
static void getDistanceWithin(const LLAPos &base, const LLAPos &target, double dist, double azi); static LLAPos ecefToLLA(const ECEFPos &v);
/// <summary>
/// 根据LLA坐标获取两点之间的大地线长度和b->t初始方位角warning本计算忽视LLA的高度值
/// </summary>
/// <param name="base"></param>
/// <param name="target"></param>
/// <param name="dist"></param>
/// <param name="azi"></param>
static void getDistanceWithTargetLLA(const LLAPos &base, const LLAPos &target, double &dist, double &azi);
/// <summary>
/// 根据两点之间的大地线长度和b->t初始方位角计算目标LLA定位坐标
/// </summary>
/// <param name="base"></param>
/// <param name="dist"></param>
/// <param name="azi"></param>
/// <param name="target"></param>
static void getTargetLLAWithDistance(const LLAPos& base, double dist, double azi, LLAPos& target);
}; };