author | A.M. Thurnherr <athurnherr@yahoo.com> |
Wed, 15 Apr 2015 09:55:34 +0000 | |
changeset 16 | 54126cc9bb4a |
parent 0 | 0a450563f904 |
child 20 | 61b92f8fb463 |
permissions | -rw-r--r-- |
0
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1 |
function [d,p]=uvwrot(d,p,iup) |
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2 |
% function [d,p]=uvwrot(d,p,iup) |
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3 |
% rotate velocities by p.drot p.dpit p.drol |
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4 |
% iup=1, up-looking data olny |
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5 |
% iup=0, down-looking data only |
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6 |
|
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7 |
p.uwvrot=1; |
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8 |
p=setdefv(p,'drot',0); |
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9 |
p=setdefv(p,'dpit',0); |
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10 |
p=setdefv(p,'drol',0); |
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11 |
|
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12 |
|
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13 |
% which bins to transform |
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14 |
if nargin<3, |
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15 |
iz=1:size(d.ru,1); |
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16 |
it=1; |
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17 |
else |
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18 |
if iup |
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19 |
% up looking only |
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20 |
iz=d.izu; |
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21 |
it=2; |
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22 |
disp(' up-looking data pitch-roll offset') |
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23 |
disp([' pitch: ',num2str(p.dpit),' roll: ',num2str(p.dpit)]) |
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24 |
else |
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25 |
% down looking only |
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26 |
iz=d.izd; |
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27 |
it=1; |
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28 |
disp(' down-looking data pitch-roll offset') |
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29 |
disp([' pitch: ',num2str(p.dpit),' roll: ',num2str(p.dpit)]) |
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30 |
end |
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31 |
end |
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32 |
|
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33 |
d=setdefv(d,'drot',[0 0]); |
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34 |
d=setdefv(d,'dpit',[0 0]); |
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35 |
d=setdefv(d,'drol',[0 0]); |
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36 |
|
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37 |
drot=p.drot-d.drot(it); |
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38 |
dpit=p.dpit-d.dpit(it); |
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39 |
drol=p.drol-d.drol(it); |
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40 |
|
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41 |
d.drot(it)=p.drot; |
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42 |
d.dpit(it)=p.dpit; |
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43 |
d.drol(it)=p.drol; |
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44 |
|
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45 |
|
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46 |
|
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47 |
% precompute some constants |
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48 |
d2r=pi/180; % conversion from degrees to radians |
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49 |
|
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50 |
[nb,ne]=size(d.ru); |
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51 |
|
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52 |
%big loop |
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53 |
for ii=1:ne |
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54 |
|
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55 |
% get roll, pitch and heading |
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roll=d.rol(it,ii); |
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pitch=d.pit(it,ii); |
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head=d.hdg(it,ii); |
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59 |
|
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roll2=roll+drol; |
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pitch2=pitch+dpit; |
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head2=head+drot; |
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63 |
|
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64 |
earth=[d.ru(:,ii),d.rv(:,ii),d.rw(:,ii)]; |
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65 |
|
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66 |
% Step 1 - determine rotation angles from sensor readings |
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% fixed sensor case |
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68 |
% make sure everything is expressed in radians for MATLAB |
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69 |
RR=roll.*d2r; |
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KA=sqrt(1.0 - (sin(pitch.*d2r).*sin(roll.*d2r)).^2); |
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PP=asin(sin(pitch.*d2r).*cos(roll.*d2r)./KA); |
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72 |
HH=head.*d2r; |
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73 |
|
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74 |
RR2=roll2.*d2r; |
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75 |
KA=sqrt(1.0 - (sin(pitch2.*d2r).*sin(roll2.*d2r)).^2); |
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PP2=asin(sin(pitch2.*d2r).*cos(roll2.*d2r)./KA); |
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77 |
HH2=head2.*d2r; |
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78 |
|
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79 |
% Step 2 - calculate trig functions and scaling factors |
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80 |
CP=cos(PP); CR=cos(RR); |
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SP=sin(PP); SR=sin(RR); |
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82 |
|
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83 |
CP2=cos(PP2); CR2=cos(RR2); |
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84 |
SP2=sin(PP2); SR2=sin(RR2); |
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85 |
|
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86 |
CH=cos(HH); SH=sin(HH); |
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87 |
|
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88 |
CH2=cos(HH2); SH2=sin(HH2); |
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89 |
|
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90 |
% rotation matrix |
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91 |
% VX = VXE.*(CH*CR + SH*SR*SP) + VYE.*SH.*CP + VZE.*(CH*SR - SH*CR*SP); |
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92 |
% VY = -VXE.*(SH*CR - CH*SR*SP) + VYE.*CH.*CP - VZE.*(SH*SR + CH*SP*CR); |
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93 |
% VZ = -VXE.*(SR*CP) + VYE.*SP + VZE.*(CP*CR); |
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94 |
|
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95 |
R(1,1) = (CH*CR + SH*SR*SP); |
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96 |
R(1,2) = SH.*CP ; |
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R(1,3) = (CH*SR - SH*CR*SP); |
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98 |
R(2,1) = -(SH*CR - CH*SR*SP); |
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99 |
R(2,2) = CH.*CP; |
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R(2,3) = -(SH*SR + CH*SP*CR); |
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101 |
R(3,1) = -(SR*CP); |
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102 |
R(3,2) = SP; |
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103 |
R(3,3) = (CP*CR); |
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104 |
|
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105 |
RI=inv(R); |
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106 |
|
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R2(1,1) = (CH2*CR2 + SH2*SR2*SP2); |
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R2(1,2) = SH2.*CP2 ; |
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R2(1,3) = (CH2*SR2 - SH2*CR2*SP2); |
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R2(2,1) = -(SH2*CR2 - CH2*SR2*SP2); |
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R2(2,2) = CH2.*CP2; |
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R2(2,3) = -(SH2*SR2 + CH2*SP2*CR2); |
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R2(3,1) = -(SR2*CP2); |
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R2(3,2) = SP2; |
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R2(3,3) = (CP2*CR2); |
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116 |
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117 |
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for IB=iz, |
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119 |
|
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120 |
% Step 4: rotate to instument coordinates |
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vb = RI*earth(IB,:)'; |
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122 |
|
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% Step 4: rotate to earth coordinates |
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ve = R2*vb; |
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125 |
|
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earth(IB,:)=ve'; |
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127 |
|
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128 |
end |
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129 |
|
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d.ru(iz,ii)=earth(iz,1); |
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d.rv(iz,ii)=earth(iz,2); |
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d.rw(iz,ii)=earth(iz,3); |
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133 |
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134 |
end % Big Loop |
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135 |