102 lines
2.7 KiB
C++
102 lines
2.7 KiB
C++
#include "standardglobe.h"
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#include <cmath>
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double StandardGlobe::_radius_m = 65000000;
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#define PI 3.14159265354
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auto deg2a = [](double v) { return v / 180.0 * PI; };
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auto rad2d = [](double v) { return v / PI * 180.0; };
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StandardGlobe::StandardGlobe()
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{
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}
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ECEFPos StandardGlobe::llaToEcef(const LLAPos& v)
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{
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// 计算距离球心距离
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auto axis_r_g = v._alt_m + _radius_m;
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// ecef-z坐标
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auto axis_z = axis_r_g * sin(deg2a(v._lat_deg));
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// 纬度圈半径
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auto axis_r_lat = axis_r_g * cos(deg2a(v._lat_deg));
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// ecef-x
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auto axis_x = axis_r_lat * cos(deg2a(v._lon_deg));
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// ecef-y
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auto axis_y = axis_r_lat * sin(deg2a(v._lon_deg));
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return ECEFPos{ axis_x, axis_y, axis_z };
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}
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LLAPos StandardGlobe::ecefToLLA(const ECEFPos& v)
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{
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auto r2 = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos);
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auto rad_lon = acos(v._x_pos / r2);
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if(v._y_pos < 0)
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rad_lon *= -1;
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auto rx = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos + v._z_pos * v._z_pos);
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auto rad_lat = asin(v._z_pos / rx);
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LLAPos ret;
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ret._lon_deg = rad2d(rad_lon);
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ret._lat_deg = rad2d(rad_lat);
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ret._alt_m = rx - _radius_m;
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return ret;
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}
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void StandardGlobe::getDistanceWithTargetLLA(const LLAPos& base, const LLAPos& target, double& dist, double& azi)
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{
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// ecef矢量
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auto vec_base = llaToEcef(base).getVec3();
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auto vec_target = llaToEcef(target).getVec3();
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auto vec_bn = vec_base.normalized();
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auto vec_tn = vec_target.normalized();
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// 两点之间的矢量夹角
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auto cos_between = QVector3D::dotProduct(vec_bn, vec_tn);
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// 两点之间最短球面弧线长度
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dist = acos(cos_between) * _radius_m;
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// 目标平面法线矢量
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auto vec_vn = QVector3D::crossProduct(vec_bn, vec_tn).normalized();
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// 目标平面切线矢量
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auto vec_hn = QVector3D::crossProduct(vec_vn, vec_bn).normalized();
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// 初始夹角cos值
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auto cos_angle = QVector3D::dotProduct(vec_hn, QVector3D(0, 0, 1));
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auto angle = acos(cos_angle);
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// 180°校验
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auto flag_vec = QVector3D::crossProduct(vec_hn, QVector3D(0, 0, 1)).normalized();
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if (vec_bn.z() * flag_vec.z() < 0)
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angle = 2 * PI - angle;
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// 返回方位角
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azi = rad2d(angle);
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}
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#include <qquaternion.h>
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void StandardGlobe::getTargetLLAWithDistance(const LLAPos& base, double dist, double azi, LLAPos& target)
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{
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auto ecef_bvec = llaToEcef(base).getVec3().normalized();
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QQuaternion u0(-deg2a(azi), ecef_bvec);
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// 获取切线方向矢量
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auto vec_hv = u0.rotatedVector(QVector3D(0, 0, 1)).normalized();
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// 获取法线方向矢量
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auto vec_bv = QVector3D::crossProduct(ecef_bvec, vec_hv).normalized();
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auto rad_between = dist / _radius_m;
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QQuaternion u1(rad_between, vec_bv);
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auto ecef_t = u1.rotatedVector(llaToEcef(base).getVec3());
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ECEFPos sv;
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sv._x_pos = ecef_t.x();
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sv._y_pos = ecef_t.y();
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sv._z_pos = ecef_t.z();
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target = ecefToLLA(sv);
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}
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QVector3D ECEFPos::getVec3() const
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{
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return QVector3D(_x_pos, _y_pos, _z_pos);
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}
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