transforms84 package

transforms84.transforms module

transforms84.transforms.geodetic2UTM(rrm_LLA: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert geodetic coordinates (latitude, longitude, altitude) to UTM coordinates.

Parameters:

  • rrm_LLA (numpy.typing.NDArray[NumberLikeNpy]) – The geodetic coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The UTM coordinates as a NumPy array.

Return type:

numpy.typing.NDArray[NumberLikeNpy]

transforms84.transforms.geodetic2UTM(rad_lat: NumberLike | ArrayLike, rad_lon: NumberLike | ArrayLike, m_alt: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

Convert geodetic coordinates (latitude, longitude, altitude) to UTM coordinates.

Parameters:

  • rad_lat (Union[NumberLike, ArrayLike]) – The latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon (Union[NumberLike, ArrayLike]) – The longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt (Union[NumberLike, ArrayLike]) – The altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The UTM coordinates as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.UTM2geodetic(mmUTM: npt.NDArray[NumberLikeNpy], zone_number: int, zone_letter: str, m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert UTM coordinates to geodetic coordinates (latitude, longitude, altitude).

Parameters:

  • mmUTM (npt.NDArray[NumberLikeNpy]) – The UTM coordinates as a NumPy array.

  • zone_number (int) – The UTM zone number.

  • zone_letter (str) – The UTM zone letter.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The geodetic coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.UTM2geodetic(m_X: NumberLike | ArrayLike, m_Y: NumberLike | ArrayLike, zone_number: int, zone_letter: str, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert UTM coordinates to geodetic coordinates (latitude, longitude, altitude).

Parameters:

  • m_X (Union[NumberLike, ArrayLike]) – The UTM easting coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Y (Union[NumberLike, ArrayLike]) – The UTM northing coordinates as a NumPy array, pandas Series, or list of floats.

  • zone_number (int) – The UTM zone number.

  • zone_letter (str) – The UTM zone letter.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The geodetic coordinates (latitude, longitude, altitude) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.geodetic2ECEF(rrm_LLA: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert geodetic coordinates (latitude, longitude, altitude) to ECEF (Earth-Centered, Earth-Fixed) coordinates.

Parameters:

  • rrm_LLA (npt.NDArray[NumberLikeNpy]) – The geodetic coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ECEF coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.geodetic2ECEF(rad_lat: NumberLike | ArrayLike, rad_lon: NumberLike | ArrayLike, m_alt: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert geodetic coordinates (latitude, longitude, altitude) to ECEF (Earth-Centered, Earth-Fixed) coordinates.

Parameters:

  • rad_lat (Union[NumberLike, ArrayLike]) – The latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon (Union[NumberLike, ArrayLike]) – The longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt (Union[NumberLike, ArrayLike]) – The altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ECEF coordinates (X, Y, Z) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ECEF2geodetic(mmm_XYZ: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert ECEF (Earth-Centered, Earth-Fixed) coordinates to geodetic coordinates (latitude, longitude, altitude).

Parameters:

  • mmm_XYZ (npt.NDArray[NumberLikeNpy]) – The ECEF coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The geodetic coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ECEF2geodetic(m_X: NumberLike | ArrayLike, m_Y: NumberLike | ArrayLike, m_Z: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ECEF (Earth-Centered, Earth-Fixed) coordinates to geodetic coordinates (latitude, longitude, altitude).

Parameters:

  • m_X (Union[NumberLike, ArrayLike]) – The ECEF X coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Y (Union[NumberLike, ArrayLike]) – The ECEF Y coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Z (Union[NumberLike, ArrayLike]) – The ECEF Z coordinates as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The geodetic coordinates (latitude, longitude, altitude) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ECEF2ENU(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_target: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert ECEF (Earth-Centered, Earth-Fixed) coordinates to ENU (East-North-Up) coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_target (npt.NDArray[NumberLikeNpy]) – The target ECEF coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ENU coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ECEF2ENU(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_X_target: NumberLike | ArrayLike, m_Y_target: NumberLike | ArrayLike, m_Z_target: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ECEF (Earth-Centered, Earth-Fixed) coordinates to ENU (East-North-Up) coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_X_target (Union[NumberLike, ArrayLike]) – The target ECEF X coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Y_target (Union[NumberLike, ArrayLike]) – The target ECEF Y coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Z_target (Union[NumberLike, ArrayLike]) – The target ECEF Z coordinates as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ENU coordinates (East, North, Up) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ECEF2NED(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_target: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert ECEF (Earth-Centered, Earth-Fixed) coordinates to NED (North-East-Down) coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_target (npt.NDArray[NumberLikeNpy]) – The target ECEF coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The NED coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ECEF2NED(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_X_target: NumberLike | ArrayLike, m_Y_target: NumberLike | ArrayLike, m_Z_target: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ECEF (Earth-Centered, Earth-Fixed) coordinates to NED (North-East-Down) coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_X_target (Union[NumberLike, ArrayLike]) – The target ECEF X coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Y_target (Union[NumberLike, ArrayLike]) – The target ECEF Y coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Z_target (Union[NumberLike, ArrayLike]) – The target ECEF Z coordinates as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The NED coordinates (North, East, Down) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ECEF2ENUv(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_X_target: NumberLike | ArrayLike, m_Y_target: NumberLike | ArrayLike, m_Z_target: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ECEF (Earth-Centered, Earth-Fixed) velocity coordinates to ENU (East-North-Up) velocity coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_X_target (Union[NumberLike, ArrayLike]) – The target ECEF X velocity coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Y_target (Union[NumberLike, ArrayLike]) – The target ECEF Y velocity coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Z_target (Union[NumberLike, ArrayLike]) – The target ECEF Z velocity coordinates as a NumPy array, pandas Series, or list of floats.

Returns:

The ENU velocity coordinates (East, North, Up) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ECEF2ENUv(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_target: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert ECEF (Earth-Centered, Earth-Fixed) velocity coordinates to ENU (East-North-Up) velocity coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic velocity coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_target (npt.NDArray[NumberLikeNpy]) – The target ECEF velocity coordinates as a NumPy array.

Returns:

The ENU velocity coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ECEF2NEDv(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_target: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert ECEF (Earth-Centered, Earth-Fixed) velocity coordinates to NED (North-East-Down) velocity coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic velocity coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_target (npt.NDArray[NumberLikeNpy]) – The target ECEF velocity coordinates as a NumPy array.

Returns:

The NED velocity coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ECEF2NEDv(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_X_target: NumberLike | ArrayLike, m_Y_target: NumberLike | ArrayLike, m_Z_target: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ECEF (Earth-Centered, Earth-Fixed) velocity coordinates to NED (North-East-Down) velocity coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_X_target (Union[NumberLike, ArrayLike]) – The target ECEF X velocity coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Y_target (Union[NumberLike, ArrayLike]) – The target ECEF Y velocity coordinates as a NumPy array, pandas Series, or list of floats.

  • m_Z_target (Union[NumberLike, ArrayLike]) – The target ECEF Z velocity coordinates as a NumPy array, pandas Series, or list of floats.

Returns:

The NED velocity coordinates (North, East, Down) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ENU2ECEF(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_east: NumberLike | ArrayLike, m_north: NumberLike | ArrayLike, m_up: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ENU (East-North-Up) coordinates to ECEF (Earth-Centered, Earth-Fixed) coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_east (Union[NumberLike, ArrayLike]) – The East coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_north (Union[NumberLike, ArrayLike]) – The North coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_up (Union[NumberLike, ArrayLike]) – The Up coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ECEF coordinates (X, Y, Z) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ENU2ECEF(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_local: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert ENU (East-North-Up) coordinates to ECEF (Earth-Centered, Earth-Fixed) coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_local (npt.NDArray[NumberLikeNpy]) – The local ENU coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ECEF coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.NED2ECEF(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_north: NumberLike | ArrayLike, m_east: NumberLike | ArrayLike, m_down: NumberLike | ArrayLike, m_semi_major_axis: float, m_semi_minor_axis: float) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert NED (North-East-Down) coordinates to ECEF (Earth-Centered, Earth-Fixed) coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_north (Union[NumberLike, ArrayLike]) – The North coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_east (Union[NumberLike, ArrayLike]) – The East coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_down (Union[NumberLike, ArrayLike]) – The Down coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ECEF coordinates (X, Y, Z) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.NED2ECEF(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_local: npt.NDArray[NumberLikeNpy], m_semi_major_axis: float, m_semi_minor_axis: float) → npt.NDArray[NumberLikeNpy]

Convert NED (North-East-Down) coordinates to ECEF (Earth-Centered, Earth-Fixed) coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_local (npt.NDArray[NumberLikeNpy]) – The local NED coordinates as a NumPy array.

  • m_semi_major_axis (float) – The semi-major axis of the ellipsoid.

  • m_semi_minor_axis (float) – The semi-minor axis of the ellipsoid.

Returns:

The ECEF coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ENU2ECEFv(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_east: NumberLike | ArrayLike, m_north: NumberLike | ArrayLike, m_up: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ENU (East-North-Up) velocity coordinates to ECEF (Earth-Centered, Earth-Fixed) velocity coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_east (Union[NumberLike, ArrayLike]) – The East coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_north (Union[NumberLike, ArrayLike]) – The North coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_up (Union[NumberLike, ArrayLike]) – The Up coordinate in meters as a NumPy array, pandas Series, or list of floats.

Returns:

The ECEF velocity coordinates (X, Y, Z) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ENU2ECEFv(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_local: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert ENU (East-North-Up) velocity coordinates to ECEF (Earth-Centered, Earth-Fixed) velocity coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic velocity coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_local (npt.NDArray[NumberLikeNpy]) – The local ENU velocity coordinates as a NumPy array.

Returns:

The ECEF velocity coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.NED2ECEFv(rad_lat_local_origin: NumberLike | ArrayLike, rad_lon_local_origin: NumberLike | ArrayLike, m_alt_local_origin: NumberLike | ArrayLike, m_north: NumberLike | ArrayLike, m_east: NumberLike | ArrayLike, m_down: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert NED (North-East-Down) velocity coordinates to ECEF (Earth-Centered, Earth-Fixed) velocity coordinates.

Parameters:

  • rad_lat_local_origin (Union[NumberLike, ArrayLike]) – The local origin latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_local_origin (Union[NumberLike, ArrayLike]) – The local origin longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_local_origin (Union[NumberLike, ArrayLike]) – The local origin altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_north (Union[NumberLike, ArrayLike]) – The North velocity coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_east (Union[NumberLike, ArrayLike]) – The East velocity coordinate in meters as a NumPy array, pandas Series, or list of floats.

  • m_down (Union[NumberLike, ArrayLike]) – The Down velocity coordinate in meters as a NumPy array, pandas

Returns:

The ECEF velocity coordinates (X, Y, Z) as a tuple of NumPy arrays.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.NED2ECEFv(rrm_LLA_local_origin: npt.NDArray[NumberLikeNpy], mmm_XYZ_local: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert NED (North-East-Down) velocity coordinates to ECEF (Earth-Centered, Earth-Fixed) velocity coordinates.

Parameters:

  • rrm_LLA_local_origin (npt.NDArray[NumberLikeNpy]) – The local origin geodetic velocity coordinates (latitude, longitude, altitude) as a NumPy array.

  • mmm_XYZ_local (npt.NDArray[NumberLikeNpy]) – The local NED velocity coordinates as a NumPy array.

Returns:

The ECEF velocity coordinates as a NumPy array.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.ENU2AER(m_east: NumberLike | ArrayLike, m_north: NumberLike | ArrayLike, m_up: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert ENU (East-North-Up) coordinates to AER (Azimuth-Elevation-Range) coordinates.

Parameters:

  • m_east (Union[NumberLike, ArrayLike]) – Array of East coordinates.

  • m_north (Union[NumberLike, ArrayLike]) – Array of North coordinates.

  • m_up (Union[NumberLike, ArrayLike]) – Array of Up coordinates.

Returns:

Tuple containing arrays of Azimuth, Elevation, and Range coordinates.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.ENU2AER(: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert ENU (East-North-Up) coordinates to AER (Azimuth-Elevation-Range) coordinates.

Parameters:

mmm_ENU (npt.NDArray[NumberLikeNpy]) – Array of ENU coordinates.

Returns:

Array of AER coordinates.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.AER2ENU(rad_az: NumberLike | ArrayLike, rad_el: NumberLike | ArrayLike, m_range: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert AER (Azimuth-Elevation-Range) coordinates to ENU (East-North-Up) coordinates.

Parameters:

  • rad_az (Union[NumberLike, ArrayLike]) – Array of Azimuth angles in radians as a NumPy array, pandas Series, list, or set.

  • rad_el (Union[NumberLike, ArrayLike]) – Array of Elevation angles in radians as a NumPy array, pandas Series, list, or set.

  • m_range (Union[NumberLike, ArrayLike]) – Array of Range distances as a NumPy array, pandas Series, list, or set.

Returns:

Tuple containing arrays of East, North, and Up coordinates.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.AER2ENU(: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert AER (Azimuth-Elevation-Range) coordinates to ENU (East-North-Up) coordinates.

Parameters:

rrm_AER (npt.NDArray[NumberLikeNpy]) – Array of AER coordinates.

Returns:

Array of ENU coordinates.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.NED2AER(: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert NED (North-East-Down) coordinates to AER (Azimuth-Elevation-Range) coordinates.

Parameters:

mmm_NED (npt.NDArray[NumberLikeNpy]) – Array of NED coordinates.

Returns:

Array of AER coordinates.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.NED2AER(m_north: NumberLike | ArrayLike, m_east: NumberLike | ArrayLike, m_down: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert NED (North-East-Down) coordinates to AER (Azimuth-Elevation-Range) coordinates.

Parameters:

  • m_north (Union[NumberLike, ArrayLike]) – Array of North coordinates as a NumPy array, pandas Series, or list of floats.

  • m_east (Union[NumberLike, ArrayLike]) – Array of East coordinates as a NumPy array, pandas Series, or list of floats.

  • m_down (Union[NumberLike, ArrayLike]) – Array of Down coordinates as a NumPy array, pandas Series, or list of floats.

Returns:

Tuple containing arrays of Azimuth, Elevation, and Range coordinates.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.transforms.AER2NED(: npt.NDArray[NumberLikeNpy]) → npt.NDArray[NumberLikeNpy]

Convert AER (Azimuth-Elevation-Range) coordinates to NED (North-East-Down) coordinates.

Parameters:

rrm_AER (npt.NDArray[NumberLikeNpy]) – Array of AER coordinates.

Returns:

Array of NED coordinates.

Return type:

npt.NDArray[NumberLikeNpy]

transforms84.transforms.AER2NED(rad_az: NumberLike | ArrayLike, rad_el: NumberLike | ArrayLike, m_range: NumberLike | ArrayLike) → tuple[npt.NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy], .NDArray[NumberLikeNpy]]

Convert AER (Azimuth-Elevation-Range) coordinates to NED (North-East-Down) coordinates.

Parameters:

  • rad_az (Union[NumberLike, ArrayLike]) – Array of Azimuth angles in radians as a NumPy array, pandas Series, or list of floats.

  • rad_el (Union[NumberLike, ArrayLike]) – Array of Elevation angles in radians as a NumPy array, pandas Series, or list of floats.

  • m_range (Union[NumberLike, ArrayLike]) – Array of Range distances as a NumPy array, pandas Series, or list of floats.

Returns:

Tuple containing arrays of North, East, and Down coordinates.

Return type:

tuple[npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy], npt.NDArray[NumberLikeNpy]]

transforms84.distances module

transforms84.distances.Haversine(rrmStart: npt.NDArray[NumberLikeNpy], rrmEnd: npt.NDArray[NumberLikeNpy], m_radius_sphere: float) → float | npt.NDArray[NumberLikeNpy]

Calculate the Haversine distance between two points on a sphere.

Parameters:

  • rrmStart (npt.NDArray[SUPPORTED_TYPES]) – The starting point coordinates as a NumPy array.

  • rrmEnd (npt.NDArray[SUPPORTED_TYPES]) – The ending point coordinates as a NumPy array.

  • m_radius_sphere (float) – The radius of the sphere.

Returns:

The Haversine distance between the two points. The return type matches the type of the input coordinates.

Return type:

npt.NDArray[SUPPORTED_TYPES]

transforms84.distances.Haversine(rad_lat_start: NumberLike | ArrayLike, rad_lon_start: NumberLike | ArrayLike, m_alt_start: NumberLike | ArrayLike, rad_lat_end: NumberLike | ArrayLike, rad_lon_end: NumberLike | ArrayLike, m_alt_end: NumberLike | ArrayLike, m_radius_sphere: float) → npt.NDArray[NumberLikeNpy]:

Calculate the Haversine distance between two points on a sphere.

Parameters:

  • rad_lat_start (Union[NumberLike, ArrayLike]) – The starting point latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_start (Union[NumberLike, ArrayLike]) – The starting point longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_start (Union[NumberLike, ArrayLike]) – The starting point altitude in meters as a NumPy array, pandas Series, or list of floats.

  • rad_lat_end (Union[NumberLike, ArrayLike]) – The ending point latitude in radians as a NumPy array, pandas Series, or list of floats.

  • rad_lon_end (Union[NumberLike, ArrayLike]) – The ending point longitude in radians as a NumPy array, pandas Series, or list of floats.

  • m_alt_end (Union[NumberLike, ArrayLike]) – The ending point altitude in meters as a NumPy array, pandas Series, or list of floats.

  • m_radius_sphere (float) – The radius of the sphere in meters.

Returns:

The Haversine distance between the two points. The return type matches the type of the input coordinates.

Return type:

npt.NDArray[SUPPORTED_TYPES]

transforms84.systems module

class transforms84.systems.WGS(a: float, b: float)[source]

Bases: object

property e: float

eccentricity (indicates the elongation of an ellipse away from a circle)

property e2: float

second eccentricity squared

property f: float

(first) flattening

property f_second: float

Second flattening

property mean_radius: float

mean radius of ellipsoid in metres

property n: float

Third flattening

transforms84.helpers module