Fixposition GNSS Transformation Lib

fixposition_gnss_tf

This is a simple C++ library for geodetic coordinate transformations. This should also serve as an example 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

• Eigen3, tested with version 3.3.7
• CMake
• Catkin
• Yaml-Cpp

For the tests:

• Googletest

Installing dependencies on Ubuntu system

 sudo apt update
 sudo apt install -y wget
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update
 sudo apt-get install -y python3-catkin-tools
 sudo apt install -y build-essential cmake
 sudo apt install -y libeigen3-dev
 sudo apt install -y libyaml-cpp-dev

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

• Make sure you have Doxygen installed
• Run doxygen Doxyfile and then open doc_gen/html/index.html for the documentation

Related Readings

• Wikipedia - Geographic coordinate conversion
• ESA NAvipedia - Transformations between ECEF and ENU coordinates

License

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