Index of Functions: A B C D E F G H I J K L M N O P Q R S T U V W X
Index Page drdgeo_c

Table of contents

Procedure Abstract Required_Reading Keywords Brief_I/O Detailed_Input | Detailed_Output Parameters Exceptions Files Particulars Examples | Restrictions Literature_References Author_and_Institution Version Index_Entries

#### Procedure

       drdgeo_c ( Derivative of rectangular w.r.t. geodetic )

       void drdgeo_c ( SpiceDouble    lon,
                       SpiceDouble    lat,
                       SpiceDouble    alt,
                       SpiceDouble    re,
                       SpiceDouble    f,
                       SpiceDouble    jacobi[3][3] )

#### Abstract

       Compute the Jacobian matrix of the transformation from geodetic
       to rectangular coordinates.

#### Required_Reading

       None.

#### Keywords

       COORDINATES
       DERIVATIVES
       MATRIX

#### Brief_I/O

       VARIABLE  I/O  DESCRIPTION
       --------  ---  --------------------------------------------------
       lon        I   Geodetic longitude of point (radians).
       lat        I   Geodetic latitude of point (radians).
       alt        I   Altitude of point above the reference spheroid.
       re         I   Equatorial radius of the reference spheroid.
       f          I   Flattening coefficient.
       jacobi     O   Matrix of partial derivatives.

#### Detailed_Input

       lon         is the geodetic longitude of point (radians).

       lat         is the geodetic latitude  of point (radians).

       alt         is the altitude of point above the reference spheroid.

       re          is the equatorial radius of the reference spheroid.

       f           is the flattening coefficient = (re-rp) / re,  where `rp' is
                   the polar radius of the spheroid. (More importantly
                   rp = re*(1-f).)

#### Detailed_Output

       jacobi      is the matrix of partial derivatives of the conversion
                   between geodetic and rectangular coordinates. It
                   has the form

                      .-                             -.
                      |  dx/dlon   dx/dlat  dx/dalt   |
                      |  dy/dlon   dy/dlat  dy/dalt   |
                      |  dz/dlon   dz/dlat  dz/dalt   |
                      `-                             -'

                   evaluated at the input values of `lon', `lat' and `alt'.

                   The formulae for computing `x', `y', and `z' from
                   geodetic coordinates are given below.

                      x = [alt +        re/g(lat,f)]*cos(lon)*cos(lat)

                      y = [alt +        re/g(lat,f)]*sin(lon)*cos(lat)

                                         2
                      z = [alt + re*(1-f) /g(lat,f)]*         sin(lat)

                   where

                      re    is the polar radius of the reference spheroid.

                      f     is the flattening factor (the polar radius is
                            obtained by multiplying the equatorial radius by 1-f).

                      g( lat, f ) is given by

                             2             2     2
                         sqrt ( cos (lat) + (1-f) * sin (lat) )

#### Parameters

       None.

#### Exceptions

       1)  If the flattening coefficient is greater than or equal to one,
           the error SPICE(VALUEOUTOFRANGE) is signaled by a routine in
           the call tree of this routine.

       2)  If the equatorial radius is non-positive, the error
           SPICE(BADRADIUS) is signaled by a routine in the call tree of
           this routine.

#### Files

       None.

#### Particulars

       It is often convenient to describe the motion of an object in
       the geodetic coordinate system. However, when performing
       vector computations its hard to beat rectangular coordinates.

       To transform states given with respect to geodetic coordinates
       to states with respect to rectangular coordinates, one makes use
       of the Jacobian of the transformation between the two systems.

       Given a state in geodetic coordinates

            ( lon, lat, alt, dlon, dlat, dalt )

       the velocity in rectangular coordinates is given by the matrix
       equation:

                      t          |                                 t
          (dx, dy, dz)   = jacobi|             * (dlon, dlat, dalt)
                                 |(lon,lat,alt)

       This routine computes the matrix

                |
          jacobi|
                |(lon,lat,alt)

#### Examples

       The numerical results shown for this example may differ across
       platforms. The results depend on the SPICE kernels used as
       input, the compiler and supporting libraries, and the machine
       specific arithmetic implementation.

       1) Find the geodetic state of the earth as seen from
          Mars in the IAU_MARS reference frame at January 1, 2005 TDB.
          Map this state back to rectangular coordinates as a check.

          Use the meta-kernel shown below to load the required SPICE
          kernels.

             KPL/MK

             File name: drdgeo_ex1.tm

             This meta-kernel is intended to support operation of SPICE
             example programs. The kernels shown here should not be
             assumed to contain adequate or correct versions of data
             required by SPICE-based user applications.

             In order for an application to use this meta-kernel, the
             kernels referenced here must be present in the user's
             current working directory.

             The names and contents of the kernels referenced
             by this meta-kernel are as follows:

                File name                     Contents
                ---------                     --------
                de421.bsp                     Planetary ephemeris
                pck00010.tpc                  Planet orientation and
                                              radii
                naif0009.tls                  Leapseconds

             \begindata

                KERNELS_TO_LOAD = ( 'de421.bsp',
                                    'pck00010.tpc',
                                    'naif0009.tls'  )

             \begintext

             End of meta-kernel

          Example code begins here.

          /.
             Program drdgeo_ex1
          ./
          #include <stdio.h>
          #include "SpiceUsr.h"

          int main( )
          {

             /.
             Local variables
             ./
             SpiceDouble          alt;
             SpiceDouble          drectn [3];
             SpiceDouble          et;
             SpiceDouble          f;
             SpiceDouble          jacobi [3][3];
             SpiceDouble          lat;
             SpiceDouble          lon;
             SpiceDouble          lt;
             SpiceDouble          geovel [3];
             SpiceDouble          radii  [3];
             SpiceDouble          re;
             SpiceDouble          rectan [3];
             SpiceDouble          rp;
             SpiceDouble          state  [6];

             SpiceInt             n;

             /.
             Load SPK, PCK, and LSK kernels, use a meta kernel for
             convenience.
             ./
             furnsh_c ( "drdgeo_ex1.tm" );

             /.
             Look up the radii for Mars.  Although we
             omit it here, we could first call badkpv_c
             to make sure the variable BODY499_RADII
             has three elements and numeric data type.
             If the variable is not present in the kernel
             pool, bodvrd_c will signal an error.
             ./
             bodvrd_c ( "MARS", "RADII", 3, &n, radii );

             /.
             Compute flattening coefficient.
             ./
             re  =  radii[0];
             rp  =  radii[2];
             f   =  ( re - rp ) / re;

             /.
             Look up the apparent state of earth as seen from Mars at
             January 1, 2005 TDB, relative to the IAU_MARS reference
             frame.
             ./
             str2et_c ( "January 1, 2005 TDB", &et );

             spkezr_c ( "Earth", et, "IAU_MARS", "LT+S", "Mars", state, &lt );

             /.
             Convert position to geodetic coordinates.
             ./
             recgeo_c ( state, re, f, &lon, &lat, &alt );

             /.
             Convert velocity to geodetic coordinates.
             ./

             dgeodr_c ( state[0], state[1], state[2], re, f, jacobi );

             mxv_c ( jacobi, state+3, geovel );

             /.
             As a check, convert the geodetic state back to
             rectangular coordinates.
             ./
             georec_c ( lon, lat, alt, re, f, rectan );

             drdgeo_c ( lon, lat, alt, re, f, jacobi );

             mxv_c ( jacobi, geovel, drectn );

             printf( " \n" );
             printf( "Rectangular coordinates:\n" );
             printf( " \n" );
             printf( " X (km)                 =  %17.8e\n", state[0] );
             printf( " Y (km)                 =  %17.8e\n", state[1] );
             printf( " Z (km)                 =  %17.8e\n", state[2] );
             printf( " \n" );
             printf( "Rectangular velocity:\n" );
             printf( " \n" );
             printf( " dX/dt (km/s)           =  %17.8e\n", state[3] );
             printf( " dY/dt (km/s)           =  %17.8e\n", state[4] );
             printf( " dZ/dt (km/s)           =  %17.8e\n", state[5] );
             printf( " \n" );
             printf( "Ellipsoid shape parameters: \n" );
             printf( " \n" );
             printf( " Equatorial radius (km) =  %17.8e\n", re );
             printf( " Polar radius      (km) =  %17.8e\n", rp );
             printf( " Flattening coefficient =  %17.8e\n", f );
             printf( " \n" );
             printf( "Geodetic coordinates:\n" );
             printf( " \n" );
             printf( " Longitude (deg)        =  %17.8e\n", lon / rpd_c() );
             printf( " Latitude  (deg)        =  %17.8e\n", lat / rpd_c() );
             printf( " Altitude  (km)         =  %17.8e\n", alt );
             printf( " \n" );
             printf( "Geodetic velocity:\n" );
             printf( " \n" );
             printf( " d Longitude/dt (deg/s) =  %17.8e\n", geovel[0]/rpd_c() );
             printf( " d Latitude/dt  (deg/s) =  %17.8e\n", geovel[1]/rpd_c() );
             printf( " d Altitude/dt  (km/s)  =  %17.8e\n", geovel[2] );
             printf( " \n" );
             printf( "Rectangular coordinates from inverse mapping:\n" );
             printf( " \n" );
             printf( " X (km)                 =  %17.8e\n", rectan[0] );
             printf( " Y (km)                 =  %17.8e\n", rectan[1] );
             printf( " Z (km)                 =  %17.8e\n", rectan[2] );
             printf( " \n" );
             printf( "Rectangular velocity from inverse mapping:\n" );
             printf( " \n" );
             printf( " dX/dt (km/s)           =  %17.8e\n", drectn[0] );
             printf( " dY/dt (km/s)           =  %17.8e\n", drectn[1] );
             printf( " dZ/dt (km/s)           =  %17.8e\n", drectn[2] );
             printf( " \n" );

             return ( 0 );
          }

          When this program was executed on a Mac/Intel/cc/64-bit
          platform, the output was:

          Rectangular coordinates:

           X (km)                 =    -7.60961826e+07
           Y (km)                 =     3.24363805e+08
           Z (km)                 =     4.74704840e+07

          Rectangular velocity:

           dX/dt (km/s)           =     2.29520749e+04
           dY/dt (km/s)           =     5.37601112e+03
           dZ/dt (km/s)           =    -2.08811490e+01

          Ellipsoid shape parameters:

           Equatorial radius (km) =     3.39619000e+03
           Polar radius      (km) =     3.37620000e+03
           Flattening coefficient =     5.88600756e-03

          Geodetic coordinates:

           Longitude (deg)        =     1.03202903e+02
           Latitude  (deg)        =     8.10898757e+00
           Altitude  (km)         =     3.36531823e+08

          Geodetic velocity:

           d Longitude/dt (deg/s) =    -4.05392876e-03
           d Latitude/dt  (deg/s) =    -3.31899337e-06
           d Altitude/dt  (km/s)  =    -1.12116015e+01

          Rectangular coordinates from inverse mapping:

           X (km)                 =    -7.60961826e+07
           Y (km)                 =     3.24363805e+08
           Z (km)                 =     4.74704840e+07

          Rectangular velocity from inverse mapping:

           dX/dt (km/s)           =     2.29520749e+04
           dY/dt (km/s)           =     5.37601112e+03
           dZ/dt (km/s)           =    -2.08811490e+01

#### Restrictions

       None.

#### Literature_References

       None.

#### Author_and_Institution

       N.J. Bachman        (JPL)
       J. Diaz del Rio     (ODC Space)
       W.L. Taber          (JPL)

#### Version

       -CSPICE Version 1.0.1, 01-NOV-2021 (JDR)

           Edited the -Examples section to comply with NAIF standard.
           Added complete code example.

       -CSPICE Version 1.0.0, 20-JUL-2001 (WLT) (NJB)

#### Index_Entries

       Jacobian of rectangular w.r.t. geodetic coordinates

#### Link to routine drdgeo_c source file drdgeo_c.c

    Fri Dec 31 18:41:04 2021