aer2enu

Transform local spherical coordinates to local east-north-up

Syntax

[xEast,yNorth,zUp] = aer2enu(az,elev,slantRange)

[___] = aer2enu(___,angleUnit)

Description

[xEast,yNorth,zUp] = aer2enu(az,elev,slantRange) transforms the local azimuth-elevation-range (AER) spherical coordinates specified by az, elev, and slantRange to the local east-north-up (ENU) Cartesian coordinates specified by xEast, yNorth, and zUp. Both coordinate systems use the same local origin. Each input argument must match the others in size or be scalar.

[___] = aer2enu(___,angleUnit) specifies the units for azimuth and elevation. Specify angleUnit as 'degrees' (the default) or 'radians'.

Examples

Calculate ENU Coordinates from AER Coordinates

A sensor captures the AER coordinates of a nearby ground vehicle. Find the ENU coordinates of the vehicle with respect to the sensor, using the AER coordinates of the vehicle with respect to the same sensor.

First, specify the AER coordinates of the vehicle. Specify the azimuth and elevation in degrees. For this example, specify the slant range in meters.

az = 34.1160;
elev = 4.1931;
slantRange = 15.1070; 

Then, calculate the ENU coordinates of the vehicle. The units for the ENU coordinates match the units specified by the slant range. Thus, the ENU coordinates are specified in meters.

[xEast,yNorth,zUp] = aer2enu(az,elev,slantRange)

xEast = 
8.4504

yNorth = 
12.4737

zUp = 
1.1046

Reverse the transformation using the enu2aer function.

[az,elev,slantRange] = enu2aer(xEast,yNorth,zUp)

az = 
34.1160

elev = 
4.1931

slantRange = 
15.1070

Input Arguments

az — Azimuth angles

scalar | vector | matrix | N-D array

Azimuth angles of one or more points in the local AER system, specified as a scalar, vector, matrix, or N-D array. Azimuths are measured clockwise from north. Specify values in degrees. To use values in radians, specify the angleUnit argument as 'radians'.

Data Types: single | double

elev — Elevation angles

scalar | vector | matrix | N-D array

Elevation angles of one or more points in the local AER system, specified as a scalar, vector, matrix, or N-D array. Specify elevations with respect to the xEast-yNorth plane that contains the local origin. If the local origin is on the surface of the spheroid, then the xEast-yNorth plane is tangent to the spheroid.

Specify values in degrees. To use values in radians, specify the angleUnit argument as 'radians'.

Data Types: single | double

slantRange — Distances from local origin

scalar value | vector | matrix | N-D array

Distances from the local origin, specified as a scalar, vector, matrix, or N-D array. Specify each distance as along a straight, 3-D, Cartesian line.

Data Types: single | double

angleUnit — Angle units

'degrees' (default) | 'radians'

Angle units, specified as 'degrees' (the default) or 'radians'.

Output Arguments

xEast — ENU x-coordinates

scalar | vector | matrix | N-D array

ENU x-coordinates of one or more points in the local ENU system, returned as a scalar, vector, matrix, or N-D array. Values are returned in the same units as the slantRange argument.

yNorth — ENU y-coordinates

scalar | vector | matrix | N-D array

ENU y-coordinates of one or more points in the local ENU system, returned as a scalar, vector, matrix, or N-D array. Values are returned in the same units as the slantRange argument.

zUp — ENU z-coordinates

scalar | vector | matrix | N-D array

ENU z-coordinates of one or more points in the local ENU system, returned as a scalar, vector, matrix, or N-D array. Values are returned in the same units as the slantRange argument.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2012b

R2021a: Generate C and C++ code using MATLAB Coder

The aer2enu function supports code generation.