Fixposition GNSS Transformation Lib
fixposition_gnss_tf
This is a simple C++ library for geodetic coordinate transformations. This should also serve as an example of how to calculate spatial coordinate transformations between the following coordinate frames:
- ECEF: Earth-Center-Earth-Fixed
- ENU: East-North-Up (Local tangiantial plane)
- LLH: Latitude, Longitude, Height, based on WGS84 Ellipsoid
Dependencies
For the tests:
Build
catkin_tools (recommended):
Using- Create a catkin workspace with the structure:
catkin_ws
└── src
└── gnsstransformationlib
└── <Other Catkin Pacakges>
- in the workspace do:
catkin build fixposition_gnss_tf
Using CMake:
mkdir build
cd build
cmake ..
make
Example Usage
See test/gnss_test.cpp
for examples of how to use these functions
Documentation
- Make sure you have Doxygen installed
- Run
doxygen Doxyfile
and then open doc_gen/html/index.html for the documentation
Related Readings
- Wikipedia - Geographic coordinate conversion
- ESA NAvipedia - Transformations between ECEF and ENU coordinates
License
This project is licensed under the MIT License - see the LICENSE file for details