/// <summary>
/// XYZ的协方差转换为ENU协方差。
/// </summary>
/// <param name="CovaOfLocalXyz"></param>
/// <param name="siteXyzEcef"></param>
/// <returns></returns>
public static Matrix XyyToEnuCova(Matrix CovaOfLocalXyz, XYZ siteXyzEcef)
{
var geo = XyzToGeoCoord(siteXyzEcef, AngleUnit.Radian);
Matrix M = BuilTransferMatrixFromXyzToEnu(geo);
Geo.Algorithm.Matrix CovaOfEnu = M * CovaOfLocalXyz * M.Transpose();
return(CovaOfEnu);
}
/// <summary>
/// XYZ转换为ENU的左乘矩阵。
/// </summary>
/// <param name="geo"></param>
/// <returns></returns>
public static Matrix BuilTransferMatrixFromXyzToEnu(GeoCoord geo)
{
Geo.Algorithm.Matrix M = new Geo.Algorithm.Matrix(3);
M[0, 0] = -Math.Sin(geo.Lon);
M[0, 1] = Math.Cos(geo.Lon);
M[0, 2] = 0;
M[1, 0] = -Math.Sin(geo.Lat) * Math.Cos(geo.Lon);
M[1, 1] = -Math.Sin(geo.Lat) * Math.Sin(geo.Lon);
M[1, 2] = Math.Cos(geo.Lat);
M[2, 0] = Math.Cos(geo.Lat) * Math.Cos(geo.Lon);
M[2, 1] = Math.Cos(geo.Lat) * Math.Sin(geo.Lon);
M[2, 2] = Math.Sin(geo.Lat);
return(M);
}