let CoordinateTranslate = (function () {
	var _ = function () {
		this.PI = 3.141592653589793238
		this.a = 6378137.0
		this.b = 6356752.3142
		this.f = (this.a - this.b) / this.a
		this.e_sq = this.f * (2.0 - this.f)
		this.ee = 0.00669437999013
		this.WGSF = 1 / 298.257223563
		this.WGSe2 = this.WGSF * (2 - this.WGSF)
		this.WGSa = 6378137.00000
		this.EPSILON = 1.0e-12
	}
	_.prototype.CalculateCoordinates = function (point, azimuth, elevation, distance) {
		var vertical_height = distance * Math.sin(2 * this.PI / 360 * elevation)//垂直高度
		var horizontal_distance = distance * Math.cos(2 * this.PI / 360 * elevation)//水平距离
		if (azimuth > 360) azimuth = azimuth % 360
		if (azimuth < 0) azimuth = 360 + (azimuth % 360)

		var point1 = this.lonLat2WebMercator(point)
		var lnglat = null

		var x_length, y_length
		if (azimuth <= 90) {//第四象限
			x_length = horizontal_distance * Math.cos(2 * this.PI / 360 * azimuth)
			y_length = horizontal_distance * Math.sin(2 * this.PI / 360 * azimuth)
			lnglat = {
				x: point1.x + x_length,
				y: point1.y - y_length
			}
		} else if (azimuth > 90 && azimuth <= 180) {//第三象限
			x_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 90))
			y_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 90))
			lnglat = {
				x: point1.x - x_length,
				y: point1.y - y_length
			}
		} else if (azimuth > 180 && azimuth <= 270) {//第二象限
			x_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 180))
			y_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 180))
			lnglat = {
				x: point1.x - x_length,
				y: point1.y + y_length
			}
		} else {//第一象限
			x_length = horizontal_distance * Math.sin(2 * this.PI / 360 * (azimuth - 270))
			y_length = horizontal_distance * Math.cos(2 * this.PI / 360 * (azimuth - 270))
			lnglat = {
				x: point1.x + x_length,
				y: point1.y + y_length
			}
		}
		lnglat = this.webMercator2LonLat(lnglat)
		return {
			lng: lnglat.x,
			lat: lnglat.y,
			height: vertical_height
		}
	}
	/*
	   *经纬度转Web墨卡托
	   *@lonLat 经纬度
	   */
	_.prototype.lonLat2WebMercator = function (lonLat) {
		let x = lonLat.x * this.a / 180
		let y = Math.log(Math.tan((90 + lonLat.y) * this.PI / 360)) / (this.PI / 180)
		y = y * this.a / 180
		return {
			x: x,
			y: y
		}
	}

	/*
	   *Web墨卡托转经纬度
	   *@mercator 平面坐标
	   */
	_.prototype.webMercator2LonLat = function (mercator) {
		let x = mercator.x / this.a * 180
		let y = mercator.y / this.a * 180
		y = 180 / this.PI * (2 * (Math.exp(y * this.PI / 180)) - this.PI / 2)
		return {
			x: x,
			y: y
		}
	}

	_.prototype.get_atan = function (z, y) {
		let x
		if (z == 0) {
			x = this.PI / 2
		} else {
			if (y == 0) {
				x = this.PI
			} else {
				x = Math.atan(Math.abs(y / z))
				if ((y > 0) && (z < 0)) {
					x = this.PI - x
				} else if ((y < 0) && (z < 0)) {
					x = this.PI + x
				} else if ((y < 0) && (z > 0)) {
					x = 2 * this.M_PI - x
				}
			}
		}
		return x
	}
	//WGS84转ECEF坐标系
	_.prototype.ConvertLLAToXYZ = function (LLACoor) {
		let lon = this.PI / 180 * LLACoor.longitude
		let lat = this.PI / 180 * LLACoor.latitude
		let H = LLACoor.altitude
		let N0 = this.a / Math.sqrt(1.0 - this.ee * Math.sin(lat) * Math.sin(lat))
		let x = (N0 + H) * Math.cos(lat) * Math.cos(lon)
		let y = (N0 + H) * Math.cos(lat) * Math.sin(lon)
		let z = (N0 * (1.0 - this.ee) + H) * Math.sin(lat)
		return {
			x: x,
			y: y,
			z: z
		}
	}

	//ECEF坐标系转WGS84
	_.prototype.ConvertXYZToLLA = function (XYZCoor) {
		let longitude = this.get_atan(XYZCoor.x, XYZCoor.y)
		if (longitude < 0) {
			longitude = longitude + this.PI
		}
		let latitude = this.get_atan(Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y), XYZCoor.z)

		let W = Math.sqrt(1 - this.WGSe2 * Math.sin(latitude) * Math.sin(latitude))
		let N = this.WGSa / W
		let B1
		do {
			B1 = latitude
			W = Math.sqrt(1 - this.WGSe2 * Math.sin(B1) * Math.sin(B1))
			N = this.WGSa / W
			latitude = this.get_atan(Math.sqrt(XYZCoor.x * XYZCoor.x + XYZCoor.y * XYZCoor.y), (XYZCoor.z + N * this.WGSe2 * Math.sin(B1)))
		}
		while (Math.abs(latitude - B1) > this.EPSILON)

		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))

		return {
			longitude: longitude * 180 / this.PI,
			latitude: latitude * 180 / this.PI,
			altitude: altitude
		}
	}
	/*北东天坐标系转WGS84
	@ a A点坐标
	@ p 相对参数，距离、方位角、仰角
	*/
	//	俯视角pitch -elevation 
	//航向角heading（yaw） -azimuth 
	_.prototype.enu_to_ecef = function (a, p) {
		//距离
		let distance = p.distance
		//方位角
		let azimuth = p.azimuth
		//仰角
		let elevation = p.elevation

		let zUp = elevation >= 0 ? distance * Math.sin(this.PI / 180 * elevation) : (-1) * distance * Math.sin(this.PI / 180 * Math.abs(elevation))

		let d = distance * Math.cos(this.PI / 180 * Math.abs(elevation))
		let xEast
		let yNorth
		if (azimuth <= 90) {
			xEast = d * Math.sin(this.PI / 180 * azimuth)
			yNorth = d * Math.cos(this.PI / 180 * azimuth)
		} else if (azimuth > 90 && azimuth < 180) {
			xEast = d * Math.cos(this.PI / 180 * (azimuth - 90))
			yNorth = (-1) * d * Math.sin(this.PI / 180 * (azimuth - 90))
		} else if (azimuth > 180 && azimuth < 270) {
			xEast = (-1) * d * Math.sin(this.PI / 180 * (azimuth - 180))
			yNorth = (-1) * d * Math.cos(this.PI / 180 * (azimuth - 180))
		} else {
			xEast = (-1) * d * Math.sin(this.PI / 180 * (360 - azimuth))
			yNorth = d * Math.cos(this.PI / 180 * (360 - azimuth))
		}

		let lamb = this.radians(a.latitude)
		let phi = this.radians(a.longitude)
		let h0 = a.altitude

		let s = Math.sin(lamb)
		let N = this.a / Math.sqrt(1.0 - this.e_sq * s * s)

		let sin_lambda = Math.sin(lamb)
		let cos_lambda = Math.cos(lamb)

		let sin_phi = Math.sin(phi)
		let cos_phi = Math.cos(phi)

		let x0 = (h0 + N) * cos_lambda * cos_phi
		let y0 = (h0 + N) * cos_lambda * sin_phi
		let z0 = (h0 + (1 - this.e_sq) * N) * sin_lambda

		let t = cos_lambda * zUp - sin_lambda * yNorth

		let zd = sin_lambda * zUp + cos_lambda * yNorth
		let xd = cos_phi * t - sin_phi * xEast
		let yd = sin_phi * t + cos_phi * xEast

		return this.ConvertXYZToLLA({
			x: xd + x0,
			y: yd + y0,
			z: zd + z0
		})
	}
	_.prototype.radians = function (degree) {
		return this.PI / 180 * degree
	}
	return _
})()

window.ECEF = CoordinateTranslate