let CoordinateTranslate = (function () {
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var _ = function () {
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this.PI = 3.141592653589793238
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this.a = 6378137.0
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this.b = 6356752.3142
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this.f = (this.a - this.b) / this.a
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this.e_sq = this.f * (2.0 - this.f)
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this.ee = 0.00669437999013
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this.WGSF = 1 / 298.257223563
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this.WGSe2 = this.WGSF * (2 - this.WGSF)
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this.WGSa = 6378137.00000
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this.EPSILON = 1.0e-12
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}
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_.prototype.CalculateCoordinates = function (point, azimuth, elevation, distance) {
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var vertical_height = distance * Math.sin(2 * this.PI / 360 * elevation)//垂直高度
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var horizontal_distance = distance * Math.cos(2 * this.PI / 360 * elevation)//水平距离
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if (azimuth > 360) azimuth = azimuth % 360
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if (azimuth < 0) azimuth = 360 + (azimuth % 360)
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var point1 = this.lonLat2WebMercator(point)
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var lnglat = null
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var x_length, y_length
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if (azimuth <= 90) {//第四象限
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x_length = horizontal_distance * Math.cos(2 * this.PI / 360 * azimuth)
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y_length = horizontal_distance * Math.sin(2 * this.PI / 360 * azimuth)
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lnglat = {
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x: point1.x + x_length,
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y: point1.y - y_length
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}
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} else if (azimuth > 90 && azimuth <= 180) {//第三象限
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x_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 90))
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y_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 90))
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lnglat = {
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x: point1.x - x_length,
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y: point1.y - y_length
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}
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} else if (azimuth > 180 && azimuth <= 270) {//第二象限
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x_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 180))
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y_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 180))
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lnglat = {
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x: point1.x - x_length,
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y: point1.y + y_length
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}
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} else {//第一象限
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x_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 270))
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y_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 270))
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lnglat = {
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x: point1.x + x_length,
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y: point1.y + y_length
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}
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}
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lnglat = this.webMercator2LonLat(lnglat)
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return {
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lng: lnglat.x,
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lat: lnglat.y,
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height: vertical_height
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}
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}
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/*
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*经纬度转Web墨卡托
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*@lonLat 经纬度
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*/
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_.prototype.lonLat2WebMercator = function (lonLat) {
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let x = lonLat.x * this.a / 180
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let y = Math.log(Math.tan((90 + lonLat.y) * this.PI / 360)) / (this.PI / 180)
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y = y * this.a / 180
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return {
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x: x,
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y: y
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}
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}
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/*
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*Web墨卡托转经纬度
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*@mercator 平面坐标
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*/
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_.prototype.webMercator2LonLat = function (mercator) {
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let x = mercator.x / this.a * 180
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let y = mercator.y / this.a * 180
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y = 180 / this.PI * (2 * (Math.exp(y * this.PI / 180)) - this.PI / 2)
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return {
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x: x,
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y: y
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}
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}
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_.prototype.get_atan = function (z, y) {
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let x
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if (z == 0) {
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x = this.PI / 2
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} else {
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if (y == 0) {
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x = this.PI
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} else {
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x = Math.atan(Math.abs(y / z))
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if ((y > 0) && (z < 0)) {
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x = this.PI - x
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} else if ((y < 0) && (z < 0)) {
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x = this.PI + x
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} else if ((y < 0) && (z > 0)) {
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x = 2 * this.M_PI - x
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}
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}
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}
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return x
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}
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//WGS84转ECEF坐标系
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_.prototype.ConvertLLAToXYZ = function (LLACoor) {
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let lon = this.PI / 180 * LLACoor.longitude
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let lat = this.PI / 180 * LLACoor.latitude
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let H = LLACoor.altitude
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let N0 = this.a / Math.sqrt(1.0 - this.ee * Math.sin(lat) * Math.sin(lat))
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let x = (N0 + H) * Math.cos(lat) * Math.cos(lon)
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let y = (N0 + H) * Math.cos(lat) * Math.sin(lon)
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let z = (N0 * (1.0 - this.ee) + H) * Math.sin(lat)
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return {
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x: x,
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y: y,
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z: z
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}
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}
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//ECEF坐标系转WGS84
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_.prototype.ConvertXYZToLLA = function (XYZCoor) {
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let longitude = this.get_atan(XYZCoor.x, XYZCoor.y)
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if (longitude < 0) {
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longitude = longitude + this.PI
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}
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let latitude = this.get_atan(Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y), XYZCoor.z)
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let W = Math.sqrt(1 - this.WGSe2 * Math.sin(latitude) * Math.sin(latitude))
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let N = this.WGSa / W
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let B1
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do {
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B1 = latitude
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W = Math.sqrt(1 - this.WGSe2 * Math.sin(B1) * Math.sin(B1))
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N = this.WGSa / W
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latitude = this.get_atan(Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y), (XYZCoor.z + N * this.WGSe2 * Math.sin(B1)))
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}
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while (Math.abs(latitude - B1) > this.EPSILON)
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var altitude = Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y) / Math.cos(latitude) - this.WGSa / Math.sqrt(1 - this.WGSe2 * Math.sin(latitude) * Math.sin(latitude))
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return {
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longitude: longitude * 180 / this.PI,
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latitude: latitude * 180 / this.PI,
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altitude: altitude
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}
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}
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/*北东天坐标系转WGS84
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@ a A点坐标
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@ p 相对参数，距离、方位角、仰角
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*/
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// 俯视角pitch -elevation
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//航向角heading（yaw） -azimuth
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_.prototype.enu_to_ecef = function (a, p) {
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//距离
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let distance = p.distance
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//方位角
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let azimuth = p.azimuth
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//仰角
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let elevation = p.elevation
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let zUp = elevation >= 0 ? distance * Math.sin(this.PI / 180 * elevation) : (-1) * distance * Math.sin(this.PI / 180 * Math.abs(elevation))
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let d = distance * Math.cos(this.PI / 180 * Math.abs(elevation))
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let xEast
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let yNorth
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if (azimuth <= 90) {
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xEast = d * Math.sin(this.PI / 180 * azimuth)
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yNorth = d * Math.cos(this.PI / 180 * azimuth)
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} else if (azimuth > 90 && azimuth < 180) {
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xEast = d * Math.cos(this.PI / 180 * (azimuth - 90))
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yNorth = (-1) * d * Math.sin(this.PI / 180 * (azimuth - 90))
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} else if (azimuth > 180 && azimuth < 270) {
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xEast = (-1) * d * Math.sin(this.PI / 180 * (azimuth - 180))
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yNorth = (-1) * d * Math.cos(this.PI / 180 * (azimuth - 180))
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} else {
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xEast = (-1) * d * Math.sin(this.PI / 180 * (360 - azimuth))
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yNorth = d * Math.cos(this.PI / 180 * (360 - azimuth))
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}
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let lamb = this.radians(a.latitude)
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let phi = this.radians(a.longitude)
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let h0 = a.altitude
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let s = Math.sin(lamb)
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let N = this.a / Math.sqrt(1.0 - this.e_sq * s * s)
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let sin_lambda = Math.sin(lamb)
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let cos_lambda = Math.cos(lamb)
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let sin_phi = Math.sin(phi)
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let cos_phi = Math.cos(phi)
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let x0 = (h0 + N) * cos_lambda * cos_phi
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let y0 = (h0 + N) * cos_lambda * sin_phi
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let z0 = (h0 + (1 - this.e_sq) * N) * sin_lambda
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let t = cos_lambda * zUp - sin_lambda * yNorth
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let zd = sin_lambda * zUp + cos_lambda * yNorth
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let xd = cos_phi * t - sin_phi * xEast
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let yd = sin_phi * t + cos_phi * xEast
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return this.ConvertXYZToLLA({
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x: xd + x0,
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y: yd + y0,
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z: zd + z0
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})
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}
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_.prototype.radians = function (degree) {
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return this.PI / 180 * degree
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}
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return _
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})()
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window.ECEF = CoordinateTranslate
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