How to ensure that all values are not equal when using the ecef2enu function

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inhyeok
inhyeok 2025-3-30
评论： inhyeok 2025-4-5
I'm doing coordinate system transformation using the ecef2enu function. But for some reason, all three E, N, and U values are the same. I wonder why. How can I modify it to get the exact value?
Isn't it normal for the 1, 2, 3 matrices to have different values? Is there something wrong with my code?
currTime = gnss.SensorModel.InitialTime;
setup(scene)
wgs84 = wgs84Ellipsoid('meter');
while scene.IsRunning
[~,~,p,satPos,status] = gnss.read ();
allSatPos = gnssconstellation(currTime); % ecef
currTime = currTime + seconds(1/scene.UpdateRate);
[~,trueRecPos] = plat.read; % lla
trueRecPos_ecef = lla2ecef(trueRecPos); % uav ecef
[az,el] = lookangles(trueRecPos,satPos,gnss.SensorModel.MaskAngle);
nsat = length(satPos(:,1));
enu_sat = zeros(nsat,3);
for k = 1:1:nsat
enu_sat(k,:) = ecef2enu(satPos(k,1),satPos(k,2),satPos(k,3),trueRecPos(1),trueRecPos(2),trueRecPos(3),wgs84);
end
temp=1;
unit_sat = normalize(enu_sat,'norm',1);
target_z = 500;
scale_factors = target_z ./ unit_sat(:,3);
unit_sat_scaled = unit_sat .* scale_factors;
end

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采纳的回答

Ryan Salvo
Ryan Salvo 2025-3-31
The ecef2enu function returns three output arguments, but you are setting all three columns of the enu_sat variable with only the first output argument. Update the for-loop to:
for k = 1:1:nsat
[enu_sat(k,1),enu_sat(k,2),enu_sat(k,3)] = ecef2enu(satPos(k,1),satPos(k,2),satPos(k,3),trueRecPos_lla(1),trueRecPos_lla(2),trueRecPos_lla(3),wgs84);
end

更多回答（1 个）

KALYAN ACHARJYA
KALYAN ACHARJYA 2025-3-30
编辑：KALYAN ACHARJYA 2025-3-30
As there may be multiple reasons, I don't have the complete data file and am unable to reproduce the issue. Please give it a try converting Earth-Centered Earth-Fixed (ECEF) coordinates to geodetic coordinates first might help.
ecef2lla
trueRecPos_lla = ecef2lla(trueRecPos_ecef);
enu_sat(k,:) = ecef2enu(satPos(k,1), satPos(k,2), satPos(k,3), trueRecPos_lla(1), trueRecPos_lla(2), trueRecPos_lla(3), wgs84);
  1 个评论
inhyeok
inhyeok 2025-3-30
It's the same as before..
I'll show you the full code. I recommend replacing the .osm file in the middle with something else.
referenceLocation=[37.498759 127.027487 0];
stopTime = 1;
scene = uavScenario(ReferenceLocation=referenceLocation,UpdateRate=10,StopTime=stopTime);
xTerrainLimits = [-200 200];
yTerrainLimits = [-200 200];
xBuildingLimits = [-150 150];
yBuildingLimits = [-150 150];
color = [0.80302 0.80298 0.8029];
addMesh(scene,"buildings",{"gangnam_11exit.osm" xBuildingLimits yBuildingLimits,"auto"},color)
uavTrajectory = waypointTrajectory([0 0 1; 0 0 1],TimeOfArrival=[0 stopTime],ReferenceFrame="ENU");
plat = uavPlatform("UAV",scene,Trajectory=uavTrajectory,ReferenceFrame="ENU");
updateMesh(plat,"quadrotor",{1},[1 0 0],eye(4));
gnss = uavSensor("GNSS",plat,gnssMeasurementGenerator(ReferenceLocation=referenceLocation));
fig = figure;
ax = show3D(scene);
uavPosition = uavTrajectory.lookupPose(linspace(0,stopTime,35));
hold on
uavTrajectoryLine = plot3(uavPosition(:,1),uavPosition(:,2),uavPosition(:,3),".",LineWidth=1.5,Color="cyan",MarkerSize=15);
legend(uavTrajectoryLine,"Trajectory",Location="northeast")
clf(fig,"reset")
set(fig,Position=[400 458 1120 420])
hScenePlot = uipanel(fig,Position=[0 0 0.5 1]);
ax = axes(hScenePlot);
[~,pltFrames] = show3D(scene,Parent=ax);
hold(ax,"on")
uavMarker = plot(pltFrames.UAV.BodyFrame,0,0,Marker="o",MarkerFaceColor="cyan");
uavTrajectoryLine = plot3(uavPosition(:,1),uavPosition(:,2),uavPosition(:,3),"--",LineWidth=1.5,Color="cyan");
legend(ax,[uavMarker uavTrajectoryLine],["UAV","Trajectory"],Location="northeast")
view(ax,[0 90])
axis(ax,"equal")
hold(ax,"off")
currTime = gnss.SensorModel.InitialTime;
setup(scene)
wgs84 = wgs84Ellipsoid('meter');
while scene.IsRunning
[~,~,p,satPos,status] = gnss.read ();
allSatPos = gnssconstellation(currTime); % ecef
currTime = currTime + seconds(1/scene.UpdateRate);
[~,trueRecPos] = plat.read; % lla
trueRecPos_ecef = lla2ecef(trueRecPos); % uav ecef
trueRecPos_lla = ecef2lla(trueRecPos_ecef);
[az,el] = lookangles(trueRecPos,satPos,gnss.SensorModel.MaskAngle);
nsat = length(satPos(:,1));
enu_sat = zeros(nsat,3);
for k = 1:1:nsat
enu_sat(k,:) = ecef2enu(satPos(k,1),satPos(k,2),satPos(k,3),trueRecPos_lla(1),trueRecPos_lla(2),trueRecPos_lla(3),wgs84);
end
temp=1;
unit_sat = normalize(enu_sat,'norm',1);
target_z = 500;
scale_factors = target_z ./ unit_sat(:,3);
unit_sat_scaled = unit_sat .* scale_factors;
end

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