页面提取自-星载SAR用到的坐标系关系_Thesis.docxVIP

Appendix Coordinate Frames and Transformations Several different coordinate frames are used in this work. Each of them has some advantages concerning the calculations that are done on its basis. Most of the frames are Cartesian, because they allow rather simple vector algebra. And beyond it, a set of simple matrices can be used to perform vector rotation around each axis [Appendix A.2]. The final results are mostly given in ellipsoidal WGS84 coordinates to relate them to the surface of the rotating earth [Appendix A.1.2]. Definition of the Coordinate Frames Earth Centered Inertial System (IN) vsat Psat Fig A. 1: Earth Centered Inertial System 9 98 Appendix A Appendix PAGE 99 The Earth Centered Inertial System is a right handed Cartesian coordinate frame. All vectors related to an orbital platform (e.g. position, velocity) can be calculated independently from the earth’s rotation in this system. Definition: The point of origin is the geocenter. The z-axis is parallel to the spin axis of the earth, the x- axis lies in the equatorial plane and points towards the vernal equinox (γ). Orthogonal to the x-z-plane, the y-axis completes the right handed coordinate system. Earth Centered Earth Fixed System (EF) Like the Earth Centered Inertial System, the Earth Centered Earth Fixed System is right handed and Cartesian. In this coordinate frame all vectors can be expressed related to the rotating earth. Fig. A. 2: Earth Centered Earth Fixed System with ellipsoidal coordinates Definition: Again the point of origin is the geocenter. The z-axis is aligned with the z-axis of the Earth Centered Inertial System. The x-axis lies in the equatorial plane and points towards the intersection of equator and zero meridian. The y-axis completes the right handed system. Relative to the Earth Centered Inertial System, the earth fixed system rotates around the z-axis with the angular velocity of ω. All vectors in the earth fixed system can also be expressed by ellipsoidal coordinates. Thes