coordinate frames transformation

pkg/calculator/intersection.go

@@ -15,7 +15,7 @@ type IntersectionPoint struct {
 	H   float64
 }
 
-func IntersectionAttitude(q Quaternion, satPos84 []float64, satTime time.Time, ucam int) (IntersectionPoint, error) {
+func IntersectionAttitude(q Quaternion, satPosECI, satPos84 []float64, satTime time.Time, ucam int) (IntersectionPoint, error) {
 	// alpha := FOV * math.Pi / 180.0
 	// alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(PANPixels))
 	// direction := []float64{0, math.Tan(alpha), -1.3}
@@ -33,16 +33,19 @@ func IntersectionAttitude(q Quaternion, satPos84 []float64, satTime time.Time, u
 	dECI := result.RawVector().Data
 
 	// -------- 转到ECEF坐标系 --------
-	x, y, z := ECItoECEF(dECI[0], dECI[1], dECI[2], satTime)
-	dECEF := []float64{x, y, z}
+	// x, y, z := ECItoECEF(dECI[0], dECI[1], dECI[2], satTime)
+	// dECEF := []float64{x, y, z}
 
 	// -------- 计算与地球表面的交点 --------
-	intersection, err := intersectWithEllipsoid(satPos84, dECEF)
+	intersection, err := intersectWithEllipsoid(satPosECI, dECI)
 	if err != nil {
 		return IntersectionPoint{}, err
 	}
 
-	lat, lon, h := ECEFToGeodetic(intersection[0], intersection[1], intersection[2])
+	x, y, z := ECItoECEF(intersection[0], intersection[1], intersection[2], satTime)
+	intersection = []float64{x, y, z}
+
+	lat, lon, h := ECEFGeocentricToGeodetic(intersection[0], intersection[1], intersection[2])
 	return IntersectionPoint{Lat: lat, Lon: lon, H: h}, nil
 }
 
@@ -78,7 +81,7 @@ func IntersectionECI(Qsat2orbit, Qorbit2eci Quaternion, satPos84 []float64, satT
 		return IntersectionPoint{}, err
 	}
 
-	lat, lon, h := ECEFToGeodetic(intersection[0], intersection[1], intersection[2])
+	lat, lon, h := ECEFGeocentricToGeodetic(intersection[0], intersection[1], intersection[2])
 
 	return IntersectionPoint{Lat: lat, Lon: lon, H: h}, nil
 }