sforkowany z mirror/meshtastic-firmware
Create GeoCoord class
Sam
rodzic
b182819aff
commit
91bc051e6d
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#include "GeoCoord.h"
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GeoCoord::GeoCoord() {
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_dirty = true;
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}
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GeoCoord::GeoCoord (int32_t lat, int32_t lon, int32_t alt) : _lattitude(lat), _longitude(lon), _altidude(alt) {
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GeoCoord::setCoords();
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}
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GeoCoord::GeoCoord (float lat, float lon, int32_t alt) : _altidude(alt) {
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// Change decimial reprsentation to int32_t. I.e., 12.345 becomes 123450000
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_lattitude = int32_t(lat * 1e+7);
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_longitude = int32_t(lon * 1e+7);
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GeoCoord::setCoords();
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}
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GeoCoord::GeoCoord(double lat, double lon, int32_t alt): _altidude(alt) {
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// Change decimial reprsentation to int32_t. I.e., 12.345 becomes 123450000
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_lattitude = int32_t(lat * 1e+7);
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_longitude = int32_t(lon * 1e+7);
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GeoCoord::setCoords();
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}
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// Initialize all the coordinate systems
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void GeoCoord::setCoords() {
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double lat = _lattitude * 1e-7;
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double lon = _longitude * 1e-7;
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GeoCoord::latLongToDMS(lat, lon, _dms);
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GeoCoord::latLongToUTM(lat, lon, _utm);
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GeoCoord::latLongToMGRS(lat, lon, _mgrs);
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GeoCoord::latLongToOSGR(lat, lon, _osgr);
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GeoCoord::latLongToOLC(lat, lon, _olc);
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_dirty = false;
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}
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void GeoCoord::updateCoords(int32_t lat, int32_t lon, int32_t alt) {
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// If marked dirty or new coordiantes
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if(_dirty || _lattitude != lat || _longitude != lon || _altidude != alt) {
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_dirty = true;
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_lattitude = lat;
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_longitude = lon;
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_altidude = alt;
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setCoords();
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}
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}
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void GeoCoord::updateCoords(const double lat, const double lon, const int32_t alt) {
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int32_t iLat = lat * 1e+7;
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int32_t iLon = lon * 1e+7;
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// If marked dirty or new coordiantes
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if(_dirty || _lattitude != iLat || _longitude != iLon || _altidude != alt) {
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_dirty = true;
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_lattitude = iLat;
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_longitude = iLon;
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_altidude = alt;
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setCoords();
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}
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}
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void GeoCoord::updateCoords(const float lat, const float lon, const int32_t alt) {
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int32_t iLat = lat * 1e+7;
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int32_t iLon = lon * 1e+7;
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// If marked dirty or new coordiantes
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if(_dirty || _lattitude != iLat || _longitude != iLon || _altidude != alt) {
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_dirty = true;
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_lattitude = iLat;
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_longitude = iLon;
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_altidude = alt;
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setCoords();
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}
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}
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/**
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* Converts lat long coordinates from decimal degrees to degrees minutes seconds format.
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* DD°MM'SS"C DDD°MM'SS"C
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*/
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void GeoCoord::latLongToDMS(const double lat, const double lon, DMS &dms) {
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if (lat < 0) dms.latCP = 'S';
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else dms.latCP = 'N';
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double latDeg = lat;
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if (lat < 0)
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latDeg = latDeg * -1;
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dms.latDeg = floor(latDeg);
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double latMin = (latDeg - dms.latDeg) * 60;
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dms.latMin = floor(latMin);
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dms.latSec = (latMin - dms.latMin) * 60;
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if (lon < 0) dms.lonCP = 'W';
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else dms.lonCP = 'E';
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double lonDeg = lon;
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if (lon < 0)
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lonDeg = lonDeg * -1;
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dms.lonDeg = floor(lonDeg);
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double lonMin = (lonDeg - dms.lonDeg) * 60;
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dms.lonMin = floor(lonMin);
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dms.lonSec = (lonMin - dms.lonMin) * 60;
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}
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/**
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* Converts lat long coordinates to UTM.
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* based on this: https://github.com/walvok/LatLonToUTM/blob/master/latlon_utm.ino
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*/
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void GeoCoord::latLongToUTM(const double lat, const double lon, UTM &utm) {
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const std::string latBands = "CDEFGHJKLMNPQRSTUVWXX";
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utm.zone = int((lon + 180)/6 + 1);
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utm.band = latBands[int(lat/8 + 10)];
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double a = 6378137; // WGS84 - equatorial radius
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double k0 = 0.9996; // UTM point scale on the central meridian
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double eccSquared = 0.00669438; // eccentricity squared
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double lonTemp = (lon + 180) - int((lon + 180)/360) * 360 - 180; //Make sure the longitude is between -180.00 .. 179.9
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double latRad = toRadians(lat);
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double lonRad = toRadians(lonTemp);
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// Special Zones for Norway and Svalbard
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if( lat >= 56.0 && lat < 64.0 && lonTemp >= 3.0 && lonTemp < 12.0 ) // Norway
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utm.zone = 32;
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if( lat >= 72.0 && lat < 84.0 ) { // Svalbard
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if ( lonTemp >= 0.0 && lonTemp < 9.0 ) utm.zone = 31;
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else if( lonTemp >= 9.0 && lonTemp < 21.0 ) utm.zone = 33;
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else if( lonTemp >= 21.0 && lonTemp < 33.0 ) utm.zone = 35;
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else if( lonTemp >= 33.0 && lonTemp < 42.0 ) utm.zone = 37;
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}
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double lonOrigin = (utm.zone - 1)*6 - 180 + 3; // puts origin in middle of zone
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double lonOriginRad = toRadians(lonOrigin);
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double eccPrimeSquared = (eccSquared)/(1 - eccSquared);
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double N = a/sqrt(1 - eccSquared*sin(latRad)*sin(latRad));
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double T = tan(latRad)*tan(latRad);
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double C = eccPrimeSquared*cos(latRad)*cos(latRad);
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double A = cos(latRad)*(lonRad - lonOriginRad);
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double M = a*((1 - eccSquared/4 - 3*eccSquared*eccSquared/64 - 5*eccSquared*eccSquared*eccSquared/256)*latRad
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- (3*eccSquared/8 + 3*eccSquared*eccSquared/32 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(2*latRad)
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+ (15*eccSquared*eccSquared/256 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(4*latRad)
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- (35*eccSquared*eccSquared*eccSquared/3072)*sin(6*latRad));
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utm.easting = (double)(k0*N*(A+(1-T+C)*pow(A, 3)/6 + (5-18*T+T*T+72*C-58*eccPrimeSquared)*A*A*A*A*A/120)
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+ 500000.0);
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utm.northing = (double)(k0*(M+N*tan(latRad)*(A*A/2+(5-T+9*C+4*C*C)*A*A*A*A/24
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+ (61-58*T+T*T+600*C-330*eccPrimeSquared)*A*A*A*A*A*A/720)));
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if(lat < 0)
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utm.northing += 10000000.0; //10000000 meter offset for southern hemisphere
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}
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// Converts lat long coordinates to an MGRS.
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void GeoCoord::latLongToMGRS(const double lat, const double lon, MGRS &mgrs) {
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const std::string e100kLetters[3] = { "ABCDEFGH", "JKLMNPQR", "STUVWXYZ" };
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const std::string n100kLetters[2] = { "ABCDEFGHJKLMNPQRSTUV", "FGHJKLMNPQRSTUVABCDE" };
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UTM utm;
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latLongToUTM(lat, lon, utm);
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mgrs.zone = utm.zone;
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mgrs.band = utm.band;
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double col = floor(utm.easting / 100000);
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mgrs.east100k = e100kLetters[(mgrs.zone - 1) % 3][col - 1];
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double row = (int32_t)floor(utm.northing / 100000.0) % 20;
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mgrs.north100k = n100kLetters[(mgrs.zone-1)%2][row];
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mgrs.easting = (int32_t)utm.easting % 100000;
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mgrs.northing = (int32_t)utm.northing % 100000;
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}
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/**
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* Converts lat long coordinates to Ordnance Survey Grid Reference (UK National Grid Ref).
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* Based on: https://www.movable-type.co.uk/scripts/latlong-os-gridref.html
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*/
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void GeoCoord::latLongToOSGR(const double lat, const double lon, OSGR &osgr) {
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char letter[] = "ABCDEFGHJKLMNOPQRSTUVWXYZ"; // No 'I' in OSGR
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double a = 6377563.396; // Airy 1830 semi-major axis
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double b = 6356256.909; // Airy 1830 semi-minor axis
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double f0 = 0.9996012717; // National Grid point scale factor on the central meridian
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double phi0 = toRadians(49);
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double lambda0 = toRadians(-2);
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double n0 = -100000;
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double e0 = 400000;
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double e2 = 1 - (b*b)/(a*a); // eccentricity squared
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double n = (a - b)/(a + b);
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double osgb_Latitude;
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double osgb_Longitude;
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convertWGS84ToOSGB36(lat, lon, osgb_Latitude, osgb_Longitude);
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double phi = osgb_Latitude; // already in radians
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double lambda = osgb_Longitude; // already in radians
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double v = a * f0 / sqrt(1 - e2 * sin(phi) * sin(phi));
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double rho = a * f0 * (1 - e2) / pow(1 - e2 * sin(phi) * sin(phi), 1.5);
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double eta2 = v / rho - 1;
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double mA = (1 + n + (5/4)*n*n + (5/4)*n*n*n) * (phi - phi0);
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double mB = (3*n + 3*n*n + (21/8)*n*n*n) * sin(phi - phi0) * cos(phi + phi0);
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// loss of precision in mC & mD due to floating point rounding can cause innaccuracy of northing by a few meters
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double mC = (15/8*n*n + 15/8*n*n*n) * sin(2*(phi - phi0)) * cos(2*(phi + phi0));
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double mD = (35/24)*n*n*n * sin(3*(phi - phi0)) * cos(3*(phi + phi0));
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double m = b*f0*(mA - mB + mC - mD);
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double cos3Phi = cos(phi)*cos(phi)*cos(phi);
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double cos5Phi = cos3Phi*cos(phi)*cos(phi);
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double tan2Phi = tan(phi)*tan(phi);
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double tan4Phi = tan2Phi*tan2Phi;
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double I = m + n0;
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double II = (v/2)*sin(phi)*cos(phi);
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double III = (v/24)*sin(phi)*cos3Phi*(5 - tan2Phi + 9*eta2);
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double IIIA = (v/720)*sin(phi)*cos5Phi*(61 - 58*tan2Phi + tan4Phi);
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double IV = v*cos(phi);
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double V = (v/6)*cos3Phi*(v/rho - tan2Phi);
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double VI = (v/120)*cos5Phi*(5 - 18*tan2Phi + tan4Phi + 14*eta2 - 58*tan2Phi*eta2);
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double deltaLambda = lambda - lambda0;
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double deltaLambda2 = deltaLambda*deltaLambda;
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double northing = I + II*deltaLambda2 + III*deltaLambda2*deltaLambda2 + IIIA*deltaLambda2*deltaLambda2*deltaLambda2;
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double easting = e0 + IV*deltaLambda + V*deltaLambda2*deltaLambda + VI*deltaLambda2*deltaLambda2*deltaLambda;
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if (easting < 0 || easting > 700000 || northing < 0 || northing > 1300000) // Check if out of boundaries
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osgr = { 'I', 'I', 0, 0 };
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else {
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uint32_t e100k = floor(easting / 100000);
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uint32_t n100k = floor(northing / 100000);
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int8_t l1 = (19 - n100k) - (19 - n100k) % 5 + floor((e100k + 10) / 5);
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int8_t l2 = (19 - n100k) * 5 % 25 + e100k % 5;
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osgr.e100k = letter[l1];
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osgr.n100k = letter[l2];
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osgr.easting = floor((int)easting % 100000);
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osgr.northing = floor((int)northing % 100000);
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}
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}
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/**
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* Converts lat long coordinates to Open Location Code.
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* Based on: https://github.com/google/open-location-code/blob/main/c/src/olc.c
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*/
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void GeoCoord::latLongToOLC(double lat, double lon, OLC &olc) {
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char tempCode[] = "1234567890abc";
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const char kAlphabet[] = "23456789CFGHJMPQRVWX";
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double latitude;
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double longitude = lon;
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double latitude_degrees = std::min(90.0, std::max(-90.0, lat));
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if (latitude_degrees < 90) // Check latitude less than lat max
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latitude = latitude_degrees;
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else {
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double precision;
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if (OLC_CODE_LEN <= 10)
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precision = pow_neg(20, floor((OLC_CODE_LEN / -2) + 2));
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else
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precision = pow_neg(20, -3) / pow(5, OLC_CODE_LEN - 10);
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latitude = latitude_degrees - precision / 2;
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}
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while (longitude < -180) // Normalize longitude
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longitude += 360;
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while (longitude >= 180)
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longitude -= 360;
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int64_t lat_val = 90 * 2.5e7;
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int64_t lng_val = 180 * 8.192e6;
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lat_val += latitude * 2.5e7;
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lng_val += longitude * 8.192e6;
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size_t pos = OLC_CODE_LEN;
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if (OLC_CODE_LEN > 10) { // Compute grid part of code if needed
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for (size_t i = 0; i < 5; i++) {
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int lat_digit = lat_val % 5;
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int lng_digit = lng_val % 4;
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int ndx = lat_digit * 4 + lng_digit;
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tempCode[pos--] = kAlphabet[ndx];
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lat_val /= 5;
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lng_val /= 4;
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}
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} else {
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lat_val /= pow(5, 5);
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lng_val /= pow(4, 5);
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}
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pos = 10;
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for (size_t i = 0; i < 5; i++) { // Compute pair section of code
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int lat_ndx = lat_val % 20;
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int lng_ndx = lng_val % 20;
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tempCode[pos--] = kAlphabet[lng_ndx];
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tempCode[pos--] = kAlphabet[lat_ndx];
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lat_val /= 20;
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lng_val /= 20;
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if (i == 0)
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tempCode[pos--] = '+';
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}
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if (OLC_CODE_LEN < 9) { // Add padding if needed
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for (size_t i = OLC_CODE_LEN; i < 9; i++)
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tempCode[i] = '0';
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tempCode[9] = '+';
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}
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size_t char_count = OLC_CODE_LEN;
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if (10 > char_count) {
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char_count = 10;
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}
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for (size_t i = 0; i < char_count; i++) {
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olc.code[i] = tempCode[i];
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}
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olc.code[char_count] = '\0';
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}
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// Converts the coordinate in WGS84 datum to the OSGB36 datum.
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void GeoCoord::convertWGS84ToOSGB36(const double lat, const double lon, double &osgb_Latitude, double &osgb_Longitude) {
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// Convert lat long to cartesian
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double phi = toRadians(lat);
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double lambda = toRadians(lon);
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double h = 0.0; // No OSTN height data used, some loss of accuracy (up to 5m)
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double wgsA = 6378137; // WGS84 datum semi major axis
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double wgsF = 1 / 298.257223563; // WGS84 datum flattening
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double ecc = 2*wgsF - wgsF*wgsF;
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double vee = wgsA / sqrt(1 - ecc * pow(sin(phi), 2));
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double wgsX = (vee + h) * cos(phi) * cos(lambda);
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double wgsY = (vee + h) * cos(phi) * sin(lambda);
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double wgsZ = ((1 - ecc) * vee + h) * sin(phi);
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// 7-parameter Helmert transform
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double tx = -446.448; // x shift in meters
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double ty = 125.157; // y shift in meters
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double tz = -542.060; // z shift in meters
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double s = 20.4894/1e6 + 1; // scale normalized parts per million to (s + 1)
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double rx = toRadians(-0.1502/3600); // x rotation normalize arcseconds to radians
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double ry = toRadians(-0.2470/3600); // y rotation normalize arcseconds to radians
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double rz = toRadians(-0.8421/3600); // z rotation normalize arcseconds to radians
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double osgbX = tx + wgsX*s - wgsY*rz + wgsZ*ry;
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double osgbY = ty + wgsX*rz + wgsY*s - wgsZ*rx;
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double osgbZ = tz - wgsX*ry + wgsY*rx + wgsZ*s;
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// Convert cartesian to lat long
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double airyA = 6377563.396; // Airy1830 datum semi major axis
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double airyB = 6356256.909; // Airy1830 datum semi minor axis
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double airyF = 1/ 299.3249646; // Airy1830 datum flattening
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double airyEcc = 2*airyF - airyF*airyF;
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double airyEcc2 = airyEcc / (1 - airyEcc);
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double p = sqrt(osgbX*osgbX + osgbY*osgbY);
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double R = sqrt(p*p + osgbZ*osgbZ);
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double tanBeta = (airyB*osgbZ) / (airyA*p) * (1 + airyEcc2*airyB/R);
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double sinBeta = tanBeta / sqrt(1 + tanBeta*tanBeta);
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double cosBeta = sinBeta / tanBeta;
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osgb_Latitude = atan2(osgbZ + airyEcc2*airyB*sinBeta*sinBeta*sinBeta, p - airyEcc*airyA*cosBeta*cosBeta*cosBeta); // leave in radians
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osgb_Longitude = atan2(osgbY, osgbX); // leave in radians
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//osgb height = p*cos(osgb.latitude) + osgbZ*sin(osgb.latitude) -
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//(airyA*airyA/(airyA / sqrt(1 - airyEcc*sin(osgb.latitude)*sin(osgb.latitude)))); // Not used, no OSTN data
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}
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@ -0,0 +1,154 @@
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#pragma once
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#include <algorithm>
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#include <string>
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#include <cstring>
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#include <cstdint>
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#include <math.h>
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#include <stdint.h>
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#include <stdexcept>
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#define PI 3.1415926535897932384626433832795
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#define OLC_CODE_LEN 11
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// Helper functions
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// Raises a number to an exponent, handling negative exponents.
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static double pow_neg(double base, double exponent) {
|
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if (exponent == 0) {
|
||||
return 1;
|
||||
} else if (exponent > 0) {
|
||||
return pow(base, exponent);
|
||||
}
|
||||
return 1 / pow(base, -exponent);
|
||||
}
|
||||
|
||||
static inline double toRadians(double deg)
|
||||
{
|
||||
return deg * PI / 180;
|
||||
}
|
||||
|
||||
static inline double toDegrees(double r)
|
||||
{
|
||||
return r * 180 / PI;
|
||||
}
|
||||
|
||||
// GeoCoord structs/classes
|
||||
// A struct to hold the data for a DMS coordinate.
|
||||
struct DMS
|
||||
{
|
||||
uint8_t latDeg;
|
||||
uint8_t latMin;
|
||||
uint32_t latSec;
|
||||
char latCP;
|
||||
uint8_t lonDeg;
|
||||
uint8_t lonMin;
|
||||
uint32_t lonSec;
|
||||
char lonCP;
|
||||
};
|
||||
|
||||
// A struct to hold the data for a UTM coordinate, this is also used when creating an MGRS coordinate.
|
||||
struct UTM
|
||||
{
|
||||
uint8_t zone;
|
||||
char band;
|
||||
uint32_t easting;
|
||||
uint32_t northing;
|
||||
};
|
||||
|
||||
// A struct to hold the data for a MGRS coordinate.
|
||||
struct MGRS
|
||||
{
|
||||
uint8_t zone;
|
||||
char band;
|
||||
char east100k;
|
||||
char north100k;
|
||||
uint32_t easting;
|
||||
uint32_t northing;
|
||||
};
|
||||
|
||||
// A struct to hold the data for a OSGR coordiante
|
||||
struct OSGR {
|
||||
char e100k;
|
||||
char n100k;
|
||||
uint32_t easting;
|
||||
uint32_t northing;
|
||||
};
|
||||
|
||||
// A struct to hold the data for a OLC coordinate
|
||||
struct OLC {
|
||||
char code[OLC_CODE_LEN + 1]; // +1 for null termination
|
||||
};
|
||||
|
||||
class GeoCoord {
|
||||
private:
|
||||
int32_t _lattitude = 0;
|
||||
int32_t _longitude = 0;
|
||||
int32_t _altidude = 0;
|
||||
|
||||
DMS _dms;
|
||||
UTM _utm;
|
||||
MGRS _mgrs;
|
||||
OSGR _osgr;
|
||||
OLC _olc;
|
||||
|
||||
bool _dirty = true;
|
||||
|
||||
void setCoords();
|
||||
|
||||
public:
|
||||
GeoCoord();
|
||||
GeoCoord(int32_t lat, int32_t lon, int32_t alt);
|
||||
GeoCoord(double lat, double lon, int32_t alt);
|
||||
GeoCoord(float lat, float lon, int32_t alt);
|
||||
|
||||
void updateCoords(const int32_t lat, const int32_t lon, const int32_t alt);
|
||||
void updateCoords(const double lat, const double lon, const int32_t alt);
|
||||
void updateCoords(const float lat, const float lon, const int32_t alt);
|
||||
|
||||
// Conversions
|
||||
static void latLongToDMS(const double lat, const double lon, DMS &dms);
|
||||
static void latLongToUTM(const double lat, const double lon, UTM &utm);
|
||||
static void latLongToMGRS(const double lat, const double lon, MGRS &mgrs);
|
||||
static void latLongToOSGR(const double lat, const double lon, OSGR &osgr);
|
||||
static void latLongToOLC(const double lat, const double lon, OLC &olc);
|
||||
static void convertWGS84ToOSGB36(const double lat, const double lon, double &osgb_Latitude, double &osgb_Longitude);
|
||||
|
||||
// Lat lon alt getters
|
||||
int32_t getLatitude() const { return _lattitude; }
|
||||
int32_t getLongitude() const { return _longitude; }
|
||||
int32_t getAltitude() const { return _altidude; }
|
||||
|
||||
// DMS getters
|
||||
uint8_t getDMSLatDeg() const { return _dms.latDeg; }
|
||||
uint8_t getDMSLatMin() const { return _dms.latMin; }
|
||||
uint32_t getDMSLatSec() const { return _dms.latSec; }
|
||||
char getDMSLatCP() const { return _dms.latCP; }
|
||||
uint8_t getDMSLonDeg() const { return _dms.lonDeg; }
|
||||
uint8_t getDMSLonMin() const { return _dms.lonMin; }
|
||||
uint32_t getDMSLonSec() const { return _dms.lonSec; }
|
||||
char getDMSLonCP() const { return _dms.lonCP; }
|
||||
|
||||
// UTM getters
|
||||
uint8_t getUTMZone() const { return _utm.zone; }
|
||||
char getUTMBand() const { return _utm.band; }
|
||||
uint32_t getUTMEasting() const { return _utm.easting; }
|
||||
uint32_t getUTMNorthing() const { return _utm.northing; }
|
||||
|
||||
// MGRS getters
|
||||
uint8_t getMGRSZone() const { return _mgrs.zone; }
|
||||
char getMGRSBand() const { return _mgrs.band; }
|
||||
char getMGRSEast100k() const { return _mgrs.east100k; }
|
||||
char getMGRSNorth100k() const { return _mgrs.north100k; }
|
||||
uint32_t getMGRSEasting() const { return _mgrs.easting; }
|
||||
uint32_t getMGRSNorthing() const { return _mgrs.northing; }
|
||||
|
||||
// OSGR getters
|
||||
char getOSGRE100k() const { return _osgr.e100k; }
|
||||
char getOSGRN100k() const { return _osgr.n100k; }
|
||||
uint32_t getOSGREasting() const { return _osgr.easting; }
|
||||
uint32_t getOSGRNorthing() const { return _osgr.northing; }
|
||||
|
||||
// OLC getter
|
||||
void getOLCCode(char* code) { strncpy(code, _olc.code, OLC_CODE_LEN + 1); } // +1 for null termination
|
||||
};
|
||||
|
||||
Ładowanie…
Reference in New Issue