PSINS中地球自转角速度投影与牵连角速度的计算公式与代码

地球自转角速度投影

公式

代码

function eth = ethupdate(eth, pos, vn)
% Update the Earth related parameters, much faster than 'earth'.
%
% Prototype: eth = ethupdate(eth, pos, vn)
% Inputs: eth - input earth structure array
%         pos - geographic position [lat;lon;hgt]
%         vn - velocity
% Outputs: eth - parameter structure array
%
% See also  ethinit, earth.

% Copyright(c) 2009-2014, by Gongmin Yan, All rights reserved.
% Northwestern Polytechnical University, Xi An, P.R.China
% 23/05/2014
    if nargin==2,  vn = [0; 0; 0];  end
    eth.pos = pos;  eth.vn = vn;
    eth.sl = sin(pos(1));  eth.cl = cos(pos(1));  eth.tl = eth.sl/eth.cl; 
    eth.sl2 = eth.sl*eth.sl;  sl4 = eth.sl2*eth.sl2;
    sq = 1-eth.e2*eth.sl2;  RN = eth.Re/sqrt(sq); 
    eth.RNh = RN+pos(3);  eth.clRNh = eth.cl*eth.RNh;
    eth.RMh = RN*(1-eth.e2)/sq+pos(3);
%     eth.wnie = [0; eth.wie*eth.cl; eth.wie*eth.sl];
    eth.wnie(2) = eth.wie*eth.cl; eth.wnie(3) = eth.wie*eth.sl;

牵连角速度投影

公式

代码

%     eth.wnen = [-vn(2)/eth.RMh; vn(1)/eth.RNh; vn(1)/eth.RNh*eth.tl];
    eth.wnen(1) = -vn(2)/eth.RMh; eth.wnen(2) = vn(1)/eth.RNh; eth.wnen(3) = eth.wnen(2)*eth.tl;