complicated geo coordinate systems
Contents
Transforming through coordination systems can be confused for some developers like me. But we have to know those commonly used systems and know the bridge between these words.
As an autonomous system developer, the commonly used coordination systems are: WGS84, local Cartesian, and ego. Although it is not that important to know the projection theory behind these coordinates, it is good to know how to transform between the coordinations.
Conversion from WGS84 to Cartesian
- We first need to choose a reference point in WGS84 as the cartesian’s origin.
- Convert the WGS84 coordinates of the reference point to Earth-Centered, Earth-Fixed (ECEF) Cartesian coordinates.
- Convert the WGS84 coordinates of the point you want to transform to ECEF Cartesian coordinates.
- Translate and rotate the ECEF coordinates of the target point to the local ENU coordinate system centered at the reference point.
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Convert local cartesian to ego position
In our system, the difference between the local cartesian to the ego coordinate system is only the rotation.
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