www.pudn.com > SINS-MatlabImplement.rar > earth.m, change:2007-11-22,size:430b


function [wnie, wnen, RMh, RNh, gn] = earth(pos, vn) 
global glv 
    sl=sin(pos(1)); cl=cos(pos(1)); tl=sl/cl; sl2=sl*sl; sl4=sl2*sl2; 
    wnie = glv.wie*[0; cl; sl]; 
    sq = 1-glv.e2*sl2; sq2 = sqrt(sq); 
    RMh = glv.Re*(1-glv.e2)/sq/sq2+pos(3); 
    RNh = glv.Re/sq2+pos(3); 
    wnen = [-vn(2)/RMh; vn(1)/RNh; vn(1)/RNh*tl]; 
    g = glv.g0*(1+5.27094e-3*sl2+2.32718e-5*sl4)-3.086e-6*pos(3); % grs80 
    gn = [0;0;-g];