我正在使用MISB KLV Local Dataset中提供的NASA Worldwind和Matrix操作中的数据。 MISB数据提供偏航，俯仰和滚转的平台方向，以及相对于偏航，俯仰和俯仰平台的传感器方向。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，滚动）。
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6.2.4节中的MISB文档，欧拉角操作顺序是Yaw，Pitch，然后是Roll。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
样本MISB数据：
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：
在应用了@anjruu建议的修复后，看起来结果很接近但仍略微偏离。我通过将旋转矩阵的前向矢量乘以MISB提供的目标距离来计算到目标位置的局部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ViewUtil），并将原点设置为提供的平台位置，结果稍微偏离。
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)
答案 0 :(得分：0)
对于其他研究人员，我也遇到过同样的问题。主要问题是传感器的误差率，直接设置您需要计算此误差的传感器数据的视图位置和方向，并将它们添加为偏移值。但是，我们可能会让World Wind为我们处理大部分计算。
使用任何3D引擎时，您实际上并不知道任何给定的角度信息，因为您已经拥有了眼睛和lookAt位置。您可以从这些位置计算必要的方向值，也可以手动和自动管理它。
在这里，我的功能根据给定的MISB KLV数据设置摄像机位置。
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滚动角度相加，然后设置滚动角度。
一点注意，World Wind有两个不同的视图类BasicOrbitView和BasicFlyView，要模拟给定的数据，你必须使用BasicFlyView。在FlyView中你可以在设置角度时保持相机位置的原因，但另一方面，在OrbitView中，你可以保持你的外观位置并改变相对于这些角度的角度和相机位置。如果精度足够好，可以使用setOrientation方法。
良好的编码：）
