Matrix 绝对传感器定向

我正在使用中提供的a和矩阵运算的数据。MISB数据提供平台在偏航、俯仰和横滚中的方向，以及传感器相对于平台在偏航、俯仰和横滚中的方向。我试图根据平台方向和传感器相对方向，计算传感器相对于北方的绝对方向（偏航、俯仰、滚转）

我目前正在计算平台旋转矩阵和传感器相对旋转矩阵，并将结果相乘。生成的旋转矩阵似乎不正确。根据第6.2.4节中的MISB文件，欧拉角操作顺序为偏航、俯仰，然后滚转。组合旋转矩阵以获得绝对旋转的正确方法是什么

  //use transpose for clockwise rotation     
  Matrix mpYaw   = Matrix.fromRotationZ(pYaw).getTranspose();
  Matrix mpPitch = Matrix.fromRotationY(pPitch).getTranspose();
  Matrix mpRoll  = Matrix.fromRotationX(pRoll).getTranspose();      

  Matrix msYaw   = Matrix.fromRotationZ(sYaw).getTranspose();
  Matrix msPitch = Matrix.fromRotationY(sPitch).getTranspose();
  Matrix msRoll  = Matrix.fromRotationX(sRoll).getTranspose();

  Matrix mpRot = mpYaw.multiply(mpPitch).multiply(mpRoll); //platform      
  Matrix msRot = msYaw.multiply(msPitch).multiply(msRoll); //sensor

  Matrix maRot = mpRot.multiply(msRot); //absolute

MISB数据样本：

Platform Heading Angle:175.66308079652094
Platform Pitch Angle:3.4296700949125647
Platform Roll Angle:-0.3982665486617634    
Sensor Rel. Az. Angle:326.08593764856596
Sensor Rel. El. Angle:-21.60937493741949
Sensor Rel. Roll Angle:0.0

Sensor Latitude:33.03482410173622
Sensor Longitude:-114.45451377632772
Sensor True Altitude:1022.4368657969026
Frame Center Lat.:33.01531312661958
Frame Center Lon.:-114.4367867216639
Frame Center El.:79.58953231097883
Slant Range:2883.640118614687

编辑1：

应用@anjruu建议的修复后，结果看起来很接近，但仍然有点偏离。通过将旋转矩阵的正向向量乘以MISB提供的目标距离，我计算了目标位置的局部NED坐标。然后，我计算了MISB提供的目标位置的本地NED坐标（使用），原点设置为提供的平台位置，结果略有偏差

  Matrix mpYaw   = Matrix.fromRotationZ(pYaw).getTranspose();
  Matrix mpPitch = Matrix.fromRotationY(pPitch).getTranspose();
  Matrix mpRoll  = Matrix.fromRotationX(pRoll).getTranspose();      

  Matrix msYaw   = Matrix.fromRotationZ(sYaw).getTranspose();
  Matrix msPitch = Matrix.fromRotationY(sPitch).getTranspose();
  Matrix msRoll  = Matrix.fromRotationX(sRoll).getTranspose();

  Matrix mpRot = mpRoll.multiply(mpPitch).multiply(mpYaw); //platform      
  Matrix msRot = msRoll.multiply(msPitch).multiply(msYaw); //sensor

  Matrix maRot = msRot.multiply(mpRot); //absolute

  Globe globe = new Earth();

  Position pPlatform = Position.fromDegrees(33.03482410173622, -114.45451377632772, 1022.4368657969026);
  Position pTarget   = Position.fromDegrees(33.01531312661958, -114.4367867216639, 79.58953231097883);
  double targetRange = 2883.640118614687;

  Vec4 vTarNED = new Vec4(1,0,0).transformBy3(maRot.getTranspose()).multiply3(targetRange);
  //NED = (-2165.935747907422, 1656.9597179630864, 937.3298046411029, 1.0)

  Matrix localENU = ViewUtil.computePositionTransform(globe, pPlatform);
  Vec4 vTarENU = globe.computePointFromPosition(pTarget).transformBy4(localENU);
  //ENU = (1656.3846316600684, -2163.7501770820236, -943.4305881811306, 1.0)
  //NED = (-2163.7501770820236, 1656.3846316600684,  943.4305881811306, 1.0)

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对于进一步的研究人员来说，我也面临着同样的问题。主要问题是传感器的错误率，要从传感器数据直接设置视图位置和方向，需要计算此错误并将其作为偏移值添加。但是，我们可能有世界风来为我们处理大多数计算

使用任何3D引擎，实际上你都不会得到任何给定的角度信息，因为你已经有了眼睛和注视位置。您可以从这些位置计算必要的方向值，也可以手动和自动进行管理

这里，在我的函数中，根据给定的MISB KLV数据设置相机位置

public void setCameraPosition(BTelemetryData pData){


    // Get Platform Location Information
    Angle tPlatformLatitude    = Angle.fromDegrees(Double.parseDouble(pData.getAlternatePlatformLatitude()));
    Angle tPlatformLongitude   = Angle.fromDegrees(Double.parseDouble(pData.getAlternatePlatformLongitude()));
    double tPlatformAltitude   = Double.parseDouble(pData.getPlatformGPSAltitude());
    Position tPlatfromPosition = new Position(tPlatformLatitude, tPlatformLongitude ,tPlatformAltitude);

    // Get LookAt Location Information
    Angle tLookAtLatitude = Angle.fromDegrees(Double.parseDouble(pData.getFrameCenterLatitude()));
    Angle tLookAtLongitude= Angle.fromDegrees(Double.parseDouble(pData.getFrameCenterLongitude()));
    // Note must take into account the surface elevation at given lat lon.
    double tLookAtAltitude= getWwd().getModel().getGlobe().getElevation(tLookAtLatitude, tLookAtLongitude);
    Position tLookAtPosition = new Position(tLookAtLatitude, tLookAtLongitude ,tLookAtAltitude);

    // First things first, we need to Set Field of View
    getView().setFieldOfView(Angle.fromDegrees(Double.parseDouble(pData.getSensorHorizontalFieldofView())));
    if (useAutoCameraPosition())
        setCameraPositionAutomatically(tLookAtPosition, tPlatfromPosition);
    else
        calculateAndSetCameraPosition(tLookAtPosition, tPlatfromPosition);

    getView().firePropertyChange(AVKey.VIEW, null, getView());

}

public void setCameraPositionAutomatically(Position pLookAtPosition, Position pEyePosition){
    getView().setEyePosition(pEyePosition);
    getView().setOrientation(pEyePosition, pLookAtPosition);
}
public void calculateAndSetCameraPosition(Position pLookAtPosition, Position pEyePosition){
        double tPitch   = getPitchAngleBetweenPositionInDegrees(pLookAtPosition, pEyePosition);
        double tHeading = getHeadingAngleBetweenPositionInDegrees(pLookAtPosition, pEyePosition);

        getView().setEyePosition(pEyePosition);
        getView().setHeading(Angle.fromDegrees(tHeading));
        getView().setPitch(Angle.fromDegrees(tPitch));
}


public double getPitchAngleBetweenPositionInDegrees(Position pLookAt, Position pEyePosition) {

    // Calculate the radius at given look at position
    double tRadius = getWwd().getModel().getGlobe().getRadiusAt(pLookAt);

    // Find the Surrounding Radial Length Between those positions
    double tRadialDistance = Position.greatCircleDistance(pLookAt, pEyePosition).getRadians() * tRadius;

    // Find the Ratio Between Distance, which will give the offset and Angle
    double tTheta = tRadialDistance / tRadius;

    // Get the surface elevation of lookatposition
    double tLookAtElevation = pLookAt.getElevation();

    // Get Altitude of given eye position
    double tEyeAltitude = pEyePosition.getAltitude();

    // Delta Location Changes in cartesian
    double tDeltaX  = (tRadius + tLookAtElevation) * Math.cos(tTheta);
    double tDeltaY  = (tRadius + tLookAtElevation) * Math.sin(tTheta);
    double tDeltaZ  =  tRadius + tEyeAltitude - tDeltaX;

    double alpha = Math.atan(tDeltaZ / tDeltaY)  - tTheta;

    // Convert NED to World Wind Coordinate System. The Pitch angle should be 90 - calculated.
    double degrees = 90 - Math.toDegrees(alpha); 

    System.out.println("Elevation Angle Between Positions = " + degrees);
    return degrees;
}

public  double getHeadingAngleBetweenPositionInDegrees(Position pLookAtPosition, Position  pEyePosition) {

    double tLatEye     = pEyePosition.getLatitude().radians;
    double tLatLookAt  = pLookAtPosition.getLatitude().radians;

    double tLonLookAt = pLookAtPosition.getLongitude().radians;
    double tLonEye    = pEyePosition.getLongitude().radians;
    double dLon = (tLonLookAt - tLonEye);

    double y = Math.sin(dLon) * Math.cos(tLatLookAt);
    double x = Math.cos(tLatEye) * Math.sin(tLatLookAt) - Math.sin(tLatEye)
             * Math.cos(tLatLookAt) * Math.cos(dLon);

    // Calculate the Bearing Angle. 
    double tBearing = Math.toDegrees(Math.atan2(y, x));

    // Calculate the absolute value of that Angle
    tBearing = (tBearing + 360) % 360;

    // Note that world wind takes the Heading in clockwise, if you want to make it counter clockwise, you need to subtract it from 360 degrees
   //tBearing = 360 - tBearing;

    return tBearing;
}

!！ //

在我的代码中，我没有设置滚动角度，但根据文档，您可以简单地将传感器和平台的滚动角度相加，然后设置滚动角度

请注意，World Wind有两个不同的视图类BasicBitView和BasicFlyView，要模拟给定的数据，必须使用BasicFlyView。原因是，在FlyView中，设置角度时保持相机位置，但另一方面，在OrbitView中，保持注视位置，并更改相对于这些角度的角度和相机位置。如果精度足够高，可以使用setOrientation方法

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良好的编码：）

您可以包括矩阵类，或者至少是

乘法的规范吗？我猜
Matrix:：multiply
是一个正确的乘法，相机姿势是相对于平台姿势的，这意味着它应该是
msRot.multiply（mpRot）
，并且应该反转乘法链以获得
mpRot
和
msRot
，但是如果我不知道乘法实际上是做什么的，我就说不出来。@anjruu贴子中的NASA WorldWind链接链接到Matrix类。它是这样的，对不起。是的，
A.multiply（B）
是
A*B
（这是正常的），所以我认为它应该是
矩阵mpRot=mpRoll.multiply（mpPitch）。multiply（mpYaw）
，类似于
msRot
和
maRot
。另外，请参见。@anjruu我添加了一个测试用例来验证您的更改，但仍然得到了稍微不正确的结果。