本文整理汇总了C#中Measurement.ConvertFromGeodedicToLocalNED方法的典型用法代码示例。如果您正苦于以下问题：C# Measurement.ConvertFromGeodedicToLocalNED方法的具体用法？C# Measurement.ConvertFromGeodedicToLocalNED怎么用？C# Measurement.ConvertFromGeodedicToLocalNED使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Measurement的用法示例。
在下文中一共展示了Measurement.ConvertFromGeodedicToLocalNED方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: setReferenceMeasurement
internal void setReferenceMeasurement(Measurement referenceMeasurement)
{
referenceJUNK = referenceMeasurement;
referenceMeasurementNED = referenceMeasurement.ConvertFromGeodedicToLocalNED(initialReferenceStartingPositionEFEC, initialReferenceStartingPositionGeodedic);
}示例2: processMeasurement
internal void processMeasurement(Measurement newmeasurementgeodedic, System.IO.StreamWriter file, System.IO.StreamWriter file2)
{
//Need to convert new measurement into correct frame.
//lets do this according to the doc. First we go from geodedic to EFEC, then to inertial, then we do some math
//and convert to body.
//so basically get newmeasurement into NED.
//I also have to ensure that the reference measurement gets properly transformed to local NED
/**
* 1. ensure that the new measurement gets transformed to local NED
* 2. ensure that the first new measurement gets set to previous measurement
* 3. ensure that the reference measurement gets transformed to local NED
* 4. Ensure that the takeoff point is transformed to ECEF then used for REF for other conversions to NED
* 5. make sure appropriate rotations are made for local NED to body frame.
* 6. ensure body frame still applies because it said stuff about body only being used for velocity.
*/
Measurement newMeasurementLocalNED = newmeasurementgeodedic.ConvertFromGeodedicToLocalNED(initialReferenceStartingPositionEFEC,
initialReferenceStartingPositionGeodedic);
if (firstMeasurement)
{
firstMeasurement = false;
previousMeasurementNED = newMeasurementLocalNED.Copy();
currentMeasurementNED = newMeasurementLocalNED.Copy();
return;
}
else
{
previousMeasurementNED = currentMeasurementNED.Copy();
currentMeasurementNED = newMeasurementLocalNED.Copy();
}
/* Measurement destinationBody = referenceMeasurementNED.Copy();
destinationBody.Orientation = newMeasurementLocalNED.Orientation;
destinationBody = destinationBody.ConvertFromLocalNEDToBodyFrame();
Measurement newMeasurementBody = newMeasurementLocalNED.Copy();
newMeasurementBody = newMeasurementBody.ConvertFromLocalNEDToBodyFrame();
*/
// Position errorPositionBodyFrame = destinationBody.Position.SubtractPosition(newMeasurementBody.Position);
Position errorPositionNED = referenceMeasurementNED.Position.SubtractPosition(newMeasurementLocalNED.Position);
Measurement temp = newMeasurementLocalNED.Copy();
temp.Position = errorPositionNED;
Position errorPositionBodyFrame = temp.ConvertFromLocalNEDToBodyFrame().Position;
errorPositionBodyFrame.ZAltitudePosition = errorPositionNED.ZAltitudePosition;
//*********
//Calculate integrals
//**********
integralOfXBodyLatitude = integralOfXBodyLatitude + errorPositionBodyFrame.XLatitudePosition * Util.TIMEBETWEENINTERVALS;
//double integralOfYBodyLongitude = calculateIntegral(1);
integralOfYBodyLongitude = integralOfYBodyLongitude + errorPositionBodyFrame.YLongitudePosition * Util.TIMEBETWEENINTERVALS;
// integralOfZBodyAltitude = integralOfZBodyAltitude + errorPositionBodyFrame.ZAltitudePosition;
Measurement currentmeasurementBodyFrame = currentMeasurementNED.ConvertFromLocalNEDToBodyFrame();
Measurement previousmeasurementBodyFrame = previousMeasurementNED.ConvertFromLocalNEDToBodyFrame();
//**********
//Calculate Velocity
//**********
// double xVelocityBodyFrame = (currentmeasurementBodyFrame.Position.XLatitudePosition - previousmeasurementBodyFrame.Position.XLatitudePosition) / Util.TIMEBETWEENINTERVALS;
//double yVelocityBodyFrame = (currentmeasurementBodyFrame.Position.YLongitudePosition - previousmeasurementBodyFrame.Position.YLongitudePosition) / Util.TIMEBETWEENINTERVALS;
double xVelocityBodyFrame = currentmeasurementBodyFrame.Velocity.XVelocityBodyFrame;
double yVelocityBodyFrame = currentmeasurementBodyFrame.Velocity.YVelocityBodyFrame;
//Note: i'm not using body frame z velocity because the error isn't in body frame. I'm rationalizing this because for z we are not
//producing an angle.
//double zVelocityBodyFrame = (currentmeasurementBodyFrame.Position.ZAltitudePosition - previousmeasurementBodyFrame.Position.ZAltitudePosition) / Util.TIMEBETWEENINTERVALS;
// double zVelocityBodyFrame = (currentMeasurementNED.Position.ZAltitudePosition - previousMeasurementNED.Position.ZAltitudePosition) / Util.TIMEBETWEENINTERVALS;
double zVelocityBodyFrame = currentmeasurementBodyFrame.Velocity.ZVelocityBodyFrame;
//Body and ned comparison works here because the velocity for the reference was already in body frame. (m/s)
double velocityErrorX = xVelocityBodyFrame - referenceMeasurementNED.Velocity.XVelocityBodyFrame;
double velocityErrorY = yVelocityBodyFrame - referenceMeasurementNED.Velocity.YVelocityBodyFrame;
double velocityErrorZ = zVelocityBodyFrame - referenceMeasurementNED.Velocity.ZVelocityBodyFrame;
//***************
//Calculate weighted values
//**************
//Calculate weighted integrals
double weightedIntegralOfXBodyLatitude = integralOfXBodyLatitude * Util.K_ETA_X;
double weightedIntegralOfYBodyLongitude = integralOfYBodyLongitude * Util.K_ETA_Y;
// double weightedIntegralOfZBodyAltitude = integralOfZBodyAltitude * Util.K_ETA_Z;
//Calculate weighted proportional values
double weightedProportionalErrorX = errorPositionBodyFrame.XLatitudePosition * Util.K_X;
double weightedProportionalErrorY = errorPositionBodyFrame.YLongitudePosition * Util.K_Y;
double weightedProportionalErrorZ = errorPositionBodyFrame.ZAltitudePosition * Util.K_Z;
double weightedDerivativeVelocityX = velocityErrorX * Util.K_U;
double weightedDerivativeVelocityY = velocityErrorY * Util.K_V;
double weightedDerivativeVelocityZ = velocityErrorZ * Util.K_W;
/*
//.........这里部分代码省略.........