pyins.earth

Earth geometry and gravity models.

This module defines constants and computation models for ellipsoidal Earth using WGS84 parameters. All definitions and explanations for used models can be found in [1].

Constants

RATE	Rotation rate of Earth in rad/s.
A	Semi major axis of Earth ellipsoid.
E2	Squared eccentricity of Earth ellipsoid
GE	Gravity at the equator.
GP	Gravity at the pole.

Functions

principal_radii(lat, alt)	Compute the principal radii of curvature of Earth ellipsoid.
gravity(lat, alt)	Compute gravity magnitude.
gravity_n(lat, alt)	Compute gravity vector in NED frame.
gravitation_ecef(lla)	Compute a vector of the gravitational force in ECEF frame.
curvature_matrix(lat, alt)	Compute Earth curvature matrix.
rate_n(lat)	Compute Earth rate resolved in NED frame.

References

[1]

P. D. Groves, “Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems”, 2nd edition