enu2dca

ahrs.common.frames.enu2dca(east: float, north: float, up: float, angle: float, deg: bool = True) → ndarray

Transform the local east-north-up (ENU) Cartesian coordinates specified by east, north, and up to the down-cross-above (DCA) reference frame [SHHS20].

The conversion is given by:

\[\begin{split}\begin{bmatrix}d \\ c \\ a\end{bmatrix} = \begin{bmatrix} \sin\theta & \cos\theta & 0 \\ -\cos\theta & \sin\theta & 0 \\ 0 & 0 & 1 \end{bmatrix} \begin{bmatrix}e \\ n \\ u\end{bmatrix}\end{split}\]

Parameters:

• east (float) – X-coordinate of a point in the local ENU system.

• north (float) – Y-coordinate of a point in the local ENU system.

• up (float) – Z-coordinate of a point in the local ENU system.

• angle (float) – Angle measured clockwise from North.

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

Returns:

dca – DCA Cartesian coordinates [d, c, a].

Return type:

numpy.ndarray