Fixposition GNSS Transformation Lib

fixposition_gnss_tf

This is a simple C++ library for geodetic coordinate transformations. This should also serve as an exmaple of how to calculate spatial coordinate transformations between the following coordinate frames:

  • ECEF: Earth-Center-Earth-Fixed
  • ENU: East-North-Up (Local tangiantial plane)
  • LLH: Latitude, Longitude, Height, based on WGS84 Ellipsoid

Dependencies

For the tests:

Build

Using catkin_tools (recommended):

  • Create a catkin workspace with the structure:

catkin_ws
└── src
    └── gnsstransformationlib
    └── <Other Catkin Pacakges>
  • in the workspace do:
catkin build fixposition_gnss_tf

Using CMake:

mkdir build
cd build
cmake ..
make

Example Usage

See test/gnss_test.cpp for examples of how to use these functions

Documentation

Related Readings

License

This project is licensed under the MIT License – see the LICENSE file for details

GitHub

View Github