aer2enu

ahrs.common.frames.aer2enu(az: float, elev: float, slant_range: float, deg: bool = True) → ndarray

Transform local azimuth-elevation-range (AER) spherical coordinates specified by az, elev, and slant_range to the local East-North-Up (ENU) Cartesian coordinates [SHHS20].

Parameters:

• az (float) – Azimuth measured clockwise from North.

• elev (float) – Elevation with respect to the local East-North plane.

• slant_range (float) – Distance from local origin.

• deg (bool, default: True) – If True, angles are given in degrees. Otherwise, they are in radians.

Returns:

enu – ENU cartesian coordinates [east, north, up].

Return type:

numpy.ndarray