/// <summary>
/// 本地ENU坐标转换成地心坐标差（相对于测站坐标）
/// </summary>
/// <param name="sat"></param>
/// <param name="siteCoord"></param>
/// <returns></returns>
public static XYZ LocalEnuToDxyz(ENU sat, XYZ siteCoord)
{
var geo = XyzToGeoCoord(siteCoord, AngleUnit.Radian);
var x = -sat.E * Sin(geo.Lon) - sat.N * Sin(geo.Lat) * Cos(geo.Lon) + sat.U * Cos(geo.Lat) * Cos(geo.Lon);
var y = sat.E * Cos(geo.Lon) - sat.N * Sin(geo.Lat) * Sin(geo.Lon) + sat.U * Cos(geo.Lat) * Sin(geo.Lon);
var z = sat.N * Cos(geo.Lat) + sat.U * Sin(geo.Lat);
var dxyz = new XYZ(x, y, z);
return(dxyz);
}
/// <summary>
/// XYZ转ENU的精度转换
/// </summary>
/// <param name="CovaOfLocalXyz">估值坐标的协方差阵（3*3阶）</param>
/// <param name="siteXyzEcef">本地测站原点坐标ECEF</param>
/// <returns></returns>
static public ENU XyzToEnuRms(Matrix CovaOfLocalXyz, XYZ siteXyzEcef)
{
Matrix CovaOfEnu = XyyToEnuCova(CovaOfLocalXyz, siteXyzEcef);
double qeG = Math.Sqrt(CovaOfEnu[0, 0]);
double qnG = Math.Sqrt(CovaOfEnu[1, 1]);
double quG = Math.Sqrt(CovaOfEnu[2, 2]);
var CovOfEEN = new ENU(qeG, qnG, quG);
return(CovOfEEN);
}
/// <summary>
/// 站心坐标ENU与地心空间直角坐标XYZ的转换
/// </summary>
/// <param name="sat"></param>
/// <param name="siteCoord"></param>
/// <returns></returns>
static public XYZ EnuToXyz(ENU sat, XYZ siteCoord)
{
XYZ dxyz = LocalEnuToDxyz(sat, siteCoord);
return(dxyz + siteCoord);
}