mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Martin Dieblich
17 lines
989 B
TeX
17 lines
989 B
TeX
\section{LTP}\label{LTP}
|
|
The Local Tangent Plane (LTP) is an approximation of the earth at a fixed position. It is defined using an ECEF position, a LLA position and a rotational matrix to convert between them. \emph{Please note that the matrix transforms from ECEF to ENU!}
|
|
\begin{verbatim}
|
|
LtpDef = { ecef lla ltp_of_ecef }
|
|
\end{verbatim}
|
|
It is available for the following simple types:\\
|
|
\begin{tabular}{c|cccc}
|
|
sinmple type & struct name & $p_{ECEF}$ & $p_{LLA}$ & $\mat R_{ltp\_of\_ecef}$\\ \hline
|
|
int32\_t & LtpDef\_i & EcefCoor\_i ecef & LlaCoor\_i lla & INT32Mat33 ltp\_of\_ecef\\
|
|
float & LtpDef\_f & EcefCoor\_f ecef & LlaCoor\_f lla & FloatMat33 ltp\_of\_ecef\\
|
|
double & LtpDef\_d & EcefCoor\_d ecef & LlaCoor\_d lla & DoubleMat33 ltp\_of\_ecef
|
|
\end{tabular}
|
|
The fixed-point struct has hmsl (height above mean sea level) as an additional parameter.
|
|
|
|
\subsection{Transformations to LTP}
|
|
\subsubsection*{from ECEF}
|
|
\input{transformations/ecef2ltp} |