# Coverage for pygeodesy/trf.py : 97%

## 175 statements 169 run 6 missing 25 excluded

Hot-keys on this page

r m x p toggle line displays

j k next/prev highlighted chunk

0 (zero) top of page

1 (one) first highlighted chunk

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 | # -*- coding: utf-8 -*- u'''I{Veness}' Terrestrial Reference Frames (TRF). Classes L{RefFrame}, registry L{RefFrames} and L{TRFError}. Transcoded from I{Chris Veness'} (C) 2006-2019 JavaScript originals U{latlon-ellipsoidal-referenceframe.js<https://GitHub.com/ChrisVeness/geodesy/blob/master/ latlon-ellipsoidal-referenceframe.js>} and U{latlon-ellipsoidal-referenceframe-txparams.js <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe-txparams.js>}. Following is a copy of the comments in I{Veness}' U{latlon-ellipsoidal-referenceframe.js <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe.js>}. Modern geodetic reference frames: a latitude/longitude point defines a geographic location on, above or below the earth’s surface, measured in degrees from the equator and the U{International Reference Meridian<https://WikiPedia.org/wiki/IERS_Reference_Meridian>} (IRM) and metres above the ellipsoid within a given I{Terrestrial Reference Frame} at a given I{epoch}. This is scratching the surface of complexities involved in high precision geodesy, but may be of interest and/or value to those with less demanding requirements. More information U{here <https://www.Movable-Type.co.UK/scripts/geodesy-library.html>} and U{here <https://www.Movable-Type.co.UK/scripts/geodesy-library.html#latlon-ellipsoidal-referenceframe>}. Note that I{ITRF solutions} do not directly use an ellipsoid, but are specified by Cartesian coordinates. The GRS80 ellipsoid is recommended for transformations to geographical coordinates. Note WGS84(G730/G873/G1150) are coincident with ITRF at 10-centimetre level, see also U{here <ftp://ITRF.ENSG.IGN.Fr/pub/itrf/WGS84.TXT>}. WGS84(G1674) and ITRF20014 / ITRF2008 I{"are likely to agree at the centimeter level"}, see also U{QPS/Qinsy<https://Confluence.QPS.NL/qinsy/ en/how-to-deal-with-etrs89-datum-and-time-dependent-transformation-parameters-45353274.html>}. @var RefFrames.ETRF2000: RefFrame(name='ETRF2000', epoch=2005, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.GDA2020: RefFrame(name='GDA2020', epoch=2020, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.GDA94: RefFrame(name='GDA94', epoch=1994, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2000: RefFrame(name='ITRF2000', epoch=1997, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2005: RefFrame(name='ITRF2005', epoch=2000, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2008: RefFrame(name='ITRF2008', epoch=2005, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2014: RefFrame(name='ITRF2014', epoch=2010, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF90: RefFrame(name='ITRF90', epoch=1988, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF91: RefFrame(name='ITRF91', epoch=1988, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF93: RefFrame(name='ITRF93', epoch=1988, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.NAD83: RefFrame(name='NAD83', epoch=1997, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.WGS84: RefFrame(name='WGS84', epoch=1984, ellipsoid=Ellipsoid(name='WGS84') @var RefFrames.WGS84g1150: RefFrame(name='WGS84g1150', epoch=2001, ellipsoid=Ellipsoid(name='WGS84') @var RefFrames.WGS84g1674: RefFrame(name='WGS84g1674', epoch=2005, ellipsoid=Ellipsoid(name='WGS84') @var RefFrames.WGS84g1762: RefFrame(name='WGS84g1762', epoch=2005, ellipsoid=Ellipsoid(name='WGS84') ''' from pygeodesy.basics import map1, _xinstanceof from pygeodesy.datums import _ellipsoid, Transform from pygeodesy.ellipsoids import Ellipsoids, Fmt, Property_RO from pygeodesy.errors import _IsnotError, TRFError from pygeodesy.interns import NN, _COMMASPACE_, _cartesian_, _conversion_, \ _ellipsoid_, _ellipsoidal_, _epoch_, _exists_, \ _float as _F, _GRS80_, _NAD83_, _name_, _no_, _s_, \ _SPACE_, _sx_, _sy_, _sz_, _to_, _tx_, _ty_, _tz_, \ _WGS84_, _0_0, _0_001, _0_01, _0_1, _0_26, _0_5, _1_0 from pygeodesy.lazily import _ALL_LAZY from pygeodesy.named import classname, _lazyNamedEnumItem as _lazy, _NamedEnum, \ _NamedEnumItem, _NamedDict as _XD, _NamedTuple # from pygeodesy.props import Property_RO # from .ellipsoids # from pygeodesy.streprs import Fmt # from .ellipsoids from pygeodesy.units import Epoch, Float from math import ceil __all__ = _ALL_LAZY.trf __version__ = '21.12.22' _0_02 = _F( 0.02) _0_06 = _F( 0.06) _0_09 = _F( 0.09) _366_0 = _F(366) _mDays = (0, 31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 0) _ETRF2000_ = 'ETRF2000' _GDA2020_ = 'GDA2020' _GDA94_ = 'GDA94' _ITRF_ = 'ITRF' _ITRF88_ = 'ITRF88' _ITRF89_ = 'ITRF89' _ITRF90_ = 'ITRF90' _ITRF91_ = 'ITRF91' _ITRF92_ = 'ITRF92' _ITRF93_ = 'ITRF93' _ITRF94_ = 'ITRF94' _ITRF96_ = 'ITRF96' _ITRF97_ = 'ITRF97' _ITRF2000_ = 'ITRF2000' _ITRF2005_ = 'ITRF2005' _ITRF2008_ = 'ITRF2008' _ITRF2014_ = 'ITRF2014' _WGS84g1150_ = 'WGS84g1150' _WGS84g1674_ = 'WGS84g1674' _WGS84g1762_ = 'WGS84g1762' class RefFrame(_NamedEnumItem): '''Terrestrial Reference Frame (TRF) parameters. ''' _ellipsoid = None # ellipsoid GRS80 or WGS84 (L{Ellipsoid} or L{Ellipsoid2}) _epoch = _0_0 # epoch, calendar year (L{Epoch} or C{float}) def __init__(self, epoch, ellipsoid, name=NN): '''New L{RefFrame}. @arg epoch: Epoch, a fractional calendar year (C{scalar} or C{str}). @arg ellipsoid: The ellipsoid (L{Ellipsoid}, L{Ellipsoid2}, L{Datum} or L{a_f2Tuple}). @kwarg name: Optional, unique name (C{str}). @raise NameError: A L{RefFrame} with that B{C{name}} already exists. @raise TRFError: Invalid B{C{epoch}}. @raise TypeError: Invalid B{C{ellipsoid}}. ''' self._ellipsoid = _ellipsoid(ellipsoid, name=name) self._epoch = Epoch(epoch) self._register(RefFrames, name) def __matmul__(self, other): # PYCHOK Python 3.5+ '''Convert cartesian or ellipsoidal B{C{other}} to this reframe. @raise TypeError: Invalid B{C{other}}. ''' try: # only Cartesian- and LatLonEllipsoidalBase return other.toRefFrame(self) except AttributeError: pass raise _IsnotError(_cartesian_, _ellipsoidal_, other=other) @Property_RO def ellipsoid(self): '''Get this reference frame's ellipsoid (L{Ellipsoid} or L{Ellipsoid2}). ''' return self._ellipsoid @Property_RO def epoch(self): '''Get this reference frame's epoch (C{Epoch}). ''' return self._epoch def toStr(self, **unused): # PYCHOK expected '''Return this reference frame as a text string. @return: This L{RefFrame}'s attributes (C{str}). ''' e = self.ellipsoid t = (Fmt.EQUAL(_name_, repr(self.name)), Fmt.EQUAL(_epoch_, self.epoch), Fmt.PAREN(Fmt.EQUAL(_ellipsoid_, classname(e)), Fmt.EQUAL(_name_, repr(e.name)))) return _COMMASPACE_.join(t) class RefFrames(_NamedEnum): '''(INTERNAL) L{RefFrame} registry, I{must} be a sub-class to accommodate the L{_LazyNamedEnumItem} properties. ''' def _Lazy(self, epoch, ellipsoid_name, name=NN): '''(INTERNAL) Instantiate the L{RefFrame}. ''' return RefFrame(epoch, Ellipsoids.get(ellipsoid_name), name=name) RefFrames = RefFrames(RefFrame) # PYCHOK singleton '''Some pre-defined L{RefFrame}s, all I{lazily} instantiated.''' # <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe.js> RefFrames._assert( ETRF2000 = _lazy(_ETRF2000_, _F(2005), _GRS80_), # ETRF2000(R08) GDA2020 = _lazy(_GDA2020_, _F(2020), _GRS80_), # Australia GDA94 = _lazy(_GDA94_, _F(1994), _GRS80_), # Australia ITRF2000 = _lazy(_ITRF2000_, _F(1997), _GRS80_), ITRF2005 = _lazy(_ITRF2005_, _F(2000), _GRS80_), ITRF2008 = _lazy(_ITRF2008_, _F(2005), _GRS80_), # aks ITRF08 ITRF2014 = _lazy(_ITRF2014_, _F(2010), _GRS80_), ITRF90 = _lazy(_ITRF90_, _F(1988), _GRS80_), ITRF91 = _lazy(_ITRF91_, _F(1988), _GRS80_), ITRF93 = _lazy(_ITRF93_, _F(1988), _GRS80_), NAD83 = _lazy(_NAD83_, _F(1997), _GRS80_), # CORS96 WGS84 = _lazy(_WGS84_, _F(1984), _WGS84_), WGS84g1150 = _lazy(_WGS84g1150_, _F(2001), _WGS84_), WGS84g1674 = _lazy(_WGS84g1674_, _F(2005), _WGS84_), WGS84g1762 = _lazy(_WGS84g1762_, _F(2005), _WGS84_)) # same epoch def date2epoch(year, month, day): '''Return the reference frame C{epoch} for a calendar day. @arg year: Year of the date (C{scalar}). @arg month: Month in the B{C{year}} (C{scalar}, 1..12). @arg day: Day in the B{C{month}} (C{scalar}, 1..31). @return: Epoch, the fractional year (C{float}). @raise TRFError: Invalid B{C{year}}, B{C{month}} or B{C{day}}. @note: Any B{C{year}} is considered a leap year, i.e. having 29 days in February. ''' try: y, m, d = map1(int, year, month, day) if y > 0 and 1 <= m <= 12 and 1 <= d <= _mDays[m]: return Epoch(y + float(sum(_mDays[:m]) + d) / _366_0, low=0) t = NN # _invalid_ except (TRFError, TypeError, ValueError) as x: t = str(x) raise TRFError(year=year, month=month, day=day, txt=t) def epoch2date(epoch): '''Return the date for a reference frame C{epoch}. @arg epoch: Fractional year (C{scalar}). @return: 3-Tuple C{(year, month, day)}. @raise TRFError: Invalid B{C{epoch}}. @note: Any B{C{year}} is considered a leap year, i.e. having 29 days in February. ''' e = Epoch(epoch, Error=TRFError, low=0) y = int(e) d = int(ceil(_366_0 * (e - y))) for m, n in enumerate(_mDays[1:]): if d > n: d -= n else: break return y, (m + 1), max(1, d) _mas = _mm = _ppb = Float # as == arcseconds _Forward = _0_001 # mm2m, ppb2ppM, mas2as _Inverse = -_0_001 # same, inverse transforms def _intermediate(n1, n2): '''(INTERNAL) Find a trf* "in between" C{n1} and C{n2}. ''' f1 = set(m for n, m in _trfXs.keys() if n == n1) # from trf1 t2 = set(n for n, m in _trfXs.keys() if m == n2) # to trf2 n = f1.intersection(t2) return n.pop() if n else NN def _reframeTransforms2(rf2, rf, epoch): '''(INTERNAL) Get 0, 1 or 2 Helmert L{Transform}s to convert reference frame B{C{rf}} observed at B{C{epoch}} into B{C{rf2}}. ''' e = rf.epoch if epoch is None else Epoch(epoch) n2 = rf2.name # .upper() n1 = rf.name # .upper() if n1 == n2 or (n1.startswith(_ITRF_) and n2.startswith(_WGS84_)) \ or (n2.startswith(_ITRF_) and n1.startswith(_WGS84_)): return e, () # PYCHOK returns if (n1, n2) in _trfXs: return e, (_2Transform((n1, n2), e, _Forward),) # PYCHOK returns if (n2, n1) in _trfXs: return e, (_2Transform((n2, n1), e, _Inverse),) # PYCHOK returns n = _intermediate(n1, n2) if n: return e, (_2Transform((n1, n), e, _Forward), # PYCHOK returns _2Transform((n, n2), e, _Forward)) n = _intermediate(n2, n1) if n: return e, (_2Transform((n, n1), e, _Inverse), # PYCHOK returns _2Transform((n2, n), e, _Inverse)) t = _SPACE_(RefFrame.__name__, repr(n1), _to_, repr(n2)) raise TRFError(_no_(_conversion_), txt=t) def _2Transform(n1_n2, epoch, _Forward_Inverse): '''(INTERNAL) Combine the dual Helmert transforms from TRF conversion C{_trfXs[n1_n2]} into a into a single Helmert L{Transform} observed at B{C{epoch}}. @note: Translations in C{millimeter} are converted to C{meter} and rotations in C{milliarcseconds} to C{arcseconds}. ''' X = _trfXs[n1_n2] e = epoch - X.epoch # fractional delta years d = dict((n, (x + r * e) * _Forward_Inverse) for n, x, r in zip(Transform7Tuple._Names_, X.xform, X.rates)) return Transform(**d) class Transform7Tuple(_NamedTuple): '''7-Tuple C{(tx, ty, tz, s, sx, sy, sz)} Helmert transformation with translations C{tx}, C{ty} and C{tz} in C{millimeter}, scale C{s} in C{ppb} and rotations C{sx}, C{sy} and C{sz} in C{milliarcseconds}. @see: L{Transform}. ''' _Names_ = (_tx_, _ty_, _tz_, _s_, _sx_, _sy_, _sz_) _Units_ = (_mm, _mm, _mm, _ppb, _mas, _mas, _mas) def __new__(cls, tx=_0_0, ty=_0_0, tz=_0_0, s=_0_0, sx=_0_0, sy=_0_0, sz=_0_0, name=NN): '''New L{Transform7Tuple}. @kwarg tx: Optional X translation (C{millimeter}). @kwarg ty: Optional Y translation (C{millimeter}). @kwarg tz: Optional Z translation (C{millimeter}). @kwarg s: Optional scale (C{float}), ppb. @kwarg sx: Optional X rotation (C{milliarcseconds}). @kwarg sy: Optional Y rotation (C{milliarcseconds}). @kwarg sz: Optional Z rotation (C{milliarcseconds}). @kwarg name: Optional name (C{str}). ''' t = map1(_F, tx, ty, tz, s, sx, sy, sz) return _NamedTuple.__new__(cls, *t, name=name) def trfXform(reframe1, reframe2, epoch=None, xform=None, rates=None): '''Define a new Terrestrial Reference Frame (TRF) conversion. @arg reframe1: Source reframe (L{RefFrame}), converting I{from}. @arg reframe2: Destination reframe (L{RefFrame}), converting I{to}. @kwarg epoch: Epoch, a fractional calendar year (C{scalar} or C{str}) or C{None} for C{B{reframe2}.epoch}. @kwarg xform: Helmert transform (C{Tranform7Tuple}). @kwarg rates: Helmert transform (C{Tranform7Tuple}). @raise TRFError: Invalid B{C{epoch}} or TRF conversion already exists. ''' _xinstanceof(RefFrame, reframe1=reframe1, reframe2=reframe2) e = reframe2.epoch if epoch is None else Epoch(epoch=epoch, Error=TRFError) _xinstanceof(Transform7Tuple, xform=xform, rates=rates) _trfX(reframe1.name, reframe2.name, epoch=e, xform=xform, rates=rates) def _trfX(n1, n2, **epoch_xform_rates): '''(INTERNAL) New C{_trfXs} entry. ''' n1_n2 = n1, n2 if n1_n2 in _trfXs: raise TRFError(trfX=n1_n2, txt=_exists_) # _NameError _trfXs[n1_n2] = _XD(X=n1_n2, **epoch_xform_rates) _T = Transform7Tuple _T_0_0_x_7 = _T(_0_0, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0) # TRF conversions specified as an epoch and dual 7-parameter Helmert transforms. Most from U{Transformation # Parameters<http://ITRF.IGN.Fr/trans_para.php>}, more at U{Quinsy QPS<https://confluence.QPS.NL/qinsy/ # files/latest/en/182618383/182618384/1/1579182881000/ITRF_Transformation_Parameters.xlsx>}. See also # U{Quinsy International Terrestrial Reference Frame 2014 (ITRF2014)<https://confluence.QPS.NL/qinsy/ # latest/en/international-terrestrial-reference-frame-2014-itrf2014-182618383.html>}. _trfXs = dict() # key is [(from_TRF, to_TRF)] 2-tuple # see U{Transformation Parameters ITRF2014<http://ITRF.IGN.Fr/doc_ITRF/Transfo-ITRF2014_ITRFs.txt>} _trfX(_ITRF2014_, _ITRF2008_, epoch=_F(2010), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2014/tp_14-08.php> xform=_T( 1.6, 1.9, 2.4, -0.02, _0_0, _0_0, _0_0), rates=_T( _0_0, _0_0, -_0_1, 0.03, _0_0, _0_0, _0_0)) _trfX(_ITRF2014_, _ITRF2005_, epoch=_F(2010), xform=_T( 2.6, _1_0, -2.3, 0.92, _0_0, _0_0, _0_0), rates=_T( 0.3, _0_0, -_0_1, 0.03, _0_0, _0_0, _0_0)) _trfX(_ITRF2014_, _ITRF2000_, epoch=_F(2010), xform=_T( 0.7, 1.2, -26.1, 2.12, _0_0, _0_0, _0_0), rates=_T( _0_1, _0_1, -1.9, 0.11, _0_0, _0_0, _0_0)) _trfX(_ITRF2014_, _ITRF97_, epoch=_F(2010), xform=_T( 7.4, -_0_5, -62.8, 3.8, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF96_, epoch=_F(2010), xform=_T( 7.4, -_0_5, -62.8, 3.8, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF94_, epoch=_F(2010), xform=_T( 7.4, -_0_5, -62.8, 3.8, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF93_, epoch=_F(2010), xform=_T( -50.4, 3.3, -60.2, 4.29, -2.81, -3.38, 0.4), rates=_T( -2.8, -_0_1, -2.5, 0.12, -0.11, -0.19, 0.07)) _trfX(_ITRF2014_, _ITRF92_, epoch=_F(2010), xform=_T( 15.4, 1.5, -70.8, 3.09, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF91_, epoch=_F(2010), xform=_T( 27.4, 15.5, -76.8, 4.49, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF90_, epoch=_F(2010), xform=_T( 25.4, 11.5, -92.8, 4.79, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF89_, epoch=_F(2010), xform=_T( 30.4, 35.5, -130.8, 8.19, _0_0, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF88_, epoch=_F(2010), xform=_T( 25.4, -_0_5, -154.8, 11.29, _0_1, _0_0, _0_26), rates=_T( _0_1, -_0_5, -3.3, 0.12, _0_0, _0_0, _0_02)) # see U{Transformation Parameters ITRF2008<http://ITRF.IGN.Fr/doc_ITRF/Transfo-ITRF2008_ITRFs.txt>} # _trfX(_ITRF2008_, _ITRF2005_, epoch=_F(2005), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2008/tp_08-05.php> # xform=_T(-_0_5, -0.9, -4.7, 0.94, _0_0, _0_0, _0_0), # rates=_T( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0)) _trfX(_ITRF2008_, _ITRF2005_, epoch=_F(2000), xform=_T( -2.0, -0.9, -4.7, 0.94, _0_0, _0_0, _0_0), rates=_T( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0)) _trfX(_ITRF2008_, _ITRF2000_, epoch=_F(2000), xform=_T( -1.9, -1.7, -10.5, 1.34, _0_0, _0_0, _0_0), rates=_T( _0_1, _0_1, -1.8, 0.08, _0_0, _0_0, _0_0)) _trfX(_ITRF2008_, _ITRF97_, epoch=_F(2000), xform=_T( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF96_, epoch=_F(2000), xform=_T( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF94_, epoch=_F(2000), xform=_T( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF93_, epoch=_F(2000), xform=_T( -24.0, 2.4, -38.6, 3.41, -1.71, -1.48, -0.3), rates=_T( -2.8, -_0_1, -2.4, _0_09, -0.11, -0.19, 0.07)) _trfX(_ITRF2008_, _ITRF92_, epoch=_F(2000), xform=_T( 12.8, 4.6, -41.2, 2.21, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF91_, epoch=_F(2000), xform=_T( 24.8, 18.6, -47.2, 3.61, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF90_, epoch=_F(2000), xform=_T( 22.8, 14.6, -63.2, 3.91, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF89_, epoch=_F(2000), xform=_T( 27.8, 38.6, -101.2, 7.31, _0_0, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF88_, epoch=_F(2000), xform=_T( 22.8, 2.6, -125.2, 10.41, _0_1, _0_0, _0_06), rates=_T( _0_1, -_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2005_, _ITRF2000_, epoch=_F(2000), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2005/tp_05-00.php> xform=_T( _0_1, -0.8, -5.8, 0.4, _0_0, _0_0, _0_0), rates=_T( -0.2, _0_1, -1.8, 0.08, _0_0, _0_0, _0_0)) _trfX(_ITRF2000_, _ITRF97_, epoch=_F(1997), xform=_T( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF96_, epoch=_F(1997), xform=_T( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF94_, epoch=_F(1997), xform=_T( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF93_, epoch=_F(1988), xform=_T( 12.7, 6.5, -20.9, 1.95, -0.39, 0.8, -1.14), rates=_T( -2.9, -0.2, -0.6, _0_01, -0.11, -0.19, 0.07)) _trfX(_ITRF2000_, _ITRF92_, epoch=_F(1988), xform=_T( 1.47, 1.35, -1.39, 0.75, _0_0, _0_0, -0.18), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF91_, epoch=_F(1988), xform=_T( 26.7, 27.5, -19.9, 2.15, _0_0, _0_0, -0.18), rates=_T( _0_0, -0.6, -1.4, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF90_, epoch=_F(1988), xform=_T( 2.47, 2.35, -3.59, 2.45, _0_0, _0_0, -0.18), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF89_, epoch=_F(1988), xform=_T( 2.97, 4.75, -7.39, 5.85, _0_0, _0_0, -0.18), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF88_, epoch=_F(1988), xform=_T( 2.47, 1.15, -9.79, 8.95, _0_1, _0_0, -0.18), rates=_T( _0_0, -0.06, -0.14, _0_01, _0_0, _0_0, _0_02)) # see U{Boucher, C. & Altamimi, Z. "Memo: Specifications for reference frame fixing in the # analysis of a EUREF GPS campaign" (2011) <https://ETRS89.ENSG.IGN.Fr/memo-V8.pdf>} and # Altamimi, Z. U{"Key results of ITRF2014 and implication to ETRS89 realization", EUREF2016 # <https://www.EUREF.EU/symposia/2016SanSebastian/01-02-Altamimi.pdf>}. _trfX(_ITRF2014_, _ETRF2000_, epoch=_F(2000), xform=_T( 53.7, 51.2, -55.1, 1.02, 0.891, 5.39, -8.712), rates=_T( _0_1, _0_1, -1.9, 0.11, 0.081, 0.49, -0.792)) _trfX(_ITRF2008_, _ETRF2000_, epoch=_F(2000), xform=_T( 52.1, 49.3, -58.5, 1.34, 0.891, 5.39, -8.712), rates=_T( _0_1, _0_1, -1.8, 0.08, 0.081, 0.49, -0.792)) _trfX(_ITRF2005_, _ETRF2000_, epoch=_F(2000), xform=_T( 54.1, 50.2, -53.8, 0.4, 0.891, 5.39, -8.712), rates=_T( -0.2, _0_1, -1.8, 0.08, 0.081, 0.49, -0.792)) _trfX(_ITRF2000_, _ETRF2000_, epoch=_F(2000), xform=_T( 54.0, 51.0, -48.0, _0_0, 0.891, 5.39, -8.712), rates=_T( _0_0, _0_0, _0_0, _0_0, 0.081, 0.49, -0.792)) # GDA2020 "Geocentric Datum of Australia 2020 Technical Manual", v1.5, 2020-12-09, Table 3.3 and 3.4 # <https://www.ICSM.gov.AU/sites/default/files/2020-12/GDA2020%20Technical%20Manual%20V1.5_4.pdf> # (the GDA2020 xforms are different but the rates are the same as GDA94, further below) _trfX(_ITRF2014_, _GDA2020_, epoch=_F(2020), xform=_T_0_0_x_7, rates=_T( _0_0, _0_0, _0_0, _0_0, 1.50379, 1.18346, 1.20716)) _trfX(_ITRF2008_, _GDA2020_, epoch=_F(2020), xform=_T( 13.79, 4.55, 15.22, 2.5, 0.2808, 0.2677, -0.4638), rates=_T( 1.42, 1.34, 0.9, 0.109, 1.5461, 1.182, 1.1551)) _trfX(_ITRF2005_, _GDA2020_, epoch=_F(2020), xform=_T( 40.32, -33.85, -16.72, 4.286, -1.2893, -0.8492, -0.3342), rates=_T( 2.25, -0.62, -0.56, 0.294, -1.4707, -1.1443, -1.1701)) _trfX(_ITRF2000_, _GDA2020_, epoch=_F(2020), xform=_T(-105.52, 51.58, 231.68, 3.55, 4.2175, 6.3941, 0.8617), rates=_T( -4.66, 3.55, 11.24, 0.249, 1.7454, 1.4868, 1.224)) # see Table 2 in U{Dawson, J. & Woods, A. "ITRF to GDA94 coordinate transformations", Journal of Applied # Geodesy 4 (2010), 189-199<https://www.ResearchGate.net/publication/258401581_ITRF_to_GDA94_coordinate_transformations>} # (note, sign of rotations for GDA94 reversed as "Australia assumes rotation to be of coordinate axes", # rather than the more conventional "position around the coordinate axes") _trfX(_ITRF2008_, _GDA94_, epoch=_F(1994), xform=_T( -84.68, -19.42, 32.01, 9.71, -0.4254, 2.2578, 2.4015), rates=_T( 1.42, 1.34, 0.9, 0.109, 1.5461, 1.182, 1.1551)) _trfX(_ITRF2005_, _GDA94_, epoch=_F(1994), xform=_T( -79.73, -6.86, 38.03, 6.636, 0.0351, -2.1211, -2.1411), rates=_T( 2.25, -0.62, -0.56, 0.294, -1.4707, -1.1443, -1.1701)) _trfX(_ITRF2000_, _GDA94_, epoch=_F(1994), xform=_T( -45.91, -29.85, -20.37, 7.07, -1.6705, 0.4594, 1.9356), rates=_T( -4.66, 3.55, 11.24, 0.249, 1.7454, 1.4868, 1.224)) # see U{Solar, T. & Snay, R.A. "Transforming Positions and Velocities between the # International Terrestrial Reference Frame of 2000 and North American Datum of 1983" # (2004)<https://www.NGS.NOAA.gov/CORS/Articles/SolerSnayASCE.pdf>} _trfX(_ITRF2000_, _NAD83_, epoch=_F(1997), # note NAD83(CORS96) xform=_T( 995.6, -1901.3, -521.5, 0.615, -25.915, -9.426, -11.599), rates=_T( 0.7, -0.7, _0_5, -0.182, -0.06667, 0.75744, 0.05133)) # see U{Quinsy QPS<https://confluence.QPS.NL/qinsy/files/latest/en/182618383/182618384/1/1579182881000/ # ITRF_Transformation_Parameters.xlsx>}, sheets ITRF and NAD83 _trfX(_ITRF2008_, _NAD83_, epoch=_F(1997), xform=_T( 993.43, -1903.31, -526.55, 1.71504, -25.91467, -9.42645, -11.59935), rates=_T( 0.79, -0.6, -1.34, -0.10201, -0.06667, 0.75744, 0.05133)) _trfX(_ITRF2005_, _NAD83_, epoch=_F(1997), xform=_T( 996.3, -1902.4, -521.9, 0.775, -25.915, -9.426, -11.599), rates=_T( 0.5, -0.6, -1.3, -0.10201, -0.06667, 0.75744, 0.05133)) _trfX(_ITRF90_, _NAD83_, epoch=_F(1997), xform=_T( 973.0, -1919.2, -482.9, -0.9, -25.79, -9.65, -11.66), rates=_T( _0_0, _0_0, _0_0, _0_0, -0.053, 0.742, 0.032)) _trfX(_ITRF90_, _WGS84_, epoch=_F(1984), xform=_T( 60.0, -517.0, -223.0, -11.0, 18.3, -0.3, 7.0), rates=_T_0_0_x_7) del _T if __name__ == '__main__': from pygeodesy.interns import _COMMA_, _NL_, _NL_var_, _STAR_ D = date2epoch.__name__ E = epoch2date.__name__ y = 2021 for m in range(1, 13): for d in (1, _mDays[m] - 1, _mDays[m]): f = '%s(%d,%3d,%3d)' % (D, y, m, d) e = date2epoch(y, m, d) t = epoch2date(e) x = NN if t == (y, m, d) else _STAR_ e = '%.3f' % (e,) e = '%s, %s(%s)' % (e, E, e) t = '%d,%3d,%3d' % t print('# %s = %s = %s %s' % (f, e, t, x)) # __doc__ of this file, force all into registery t = [NN] + RefFrames.toRepr(all=True).split(_NL_) print(_NL_var_.join(i.strip(_COMMA_) for i in t)) # **) MIT License # # Copyright (C) 2016-2022 -- mrJean1 at Gmail -- All Rights Reserved. # # Permission is hereby granted, free of charge, to any person obtaining a # copy of this software and associated documentation files (the "Software"), # to deal in the Software without restriction, including without limitation # the rights to use, copy, modify, merge, publish, distribute, sublicense, # and/or sell copies of the Software, and to permit persons to whom the # Software is furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included # in all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS # OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR # OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR # OTHER DEALINGS IN THE SOFTWARE. # % python -m pygeodesy.trf # # date2epoch(2021, 1, 1) = 2021.003, epoch2date(2021.003) = 2021, 1, 1 # date2epoch(2021, 1, 30) = 2021.082, epoch2date(2021.082) = 2021, 1, 30 # date2epoch(2021, 1, 31) = 2021.085, epoch2date(2021.085) = 2021, 1, 31 # date2epoch(2021, 2, 1) = 2021.087, epoch2date(2021.087) = 2021, 2, 2 * # date2epoch(2021, 2, 28) = 2021.161, epoch2date(2021.161) = 2021, 2, 28 # date2epoch(2021, 2, 29) = 2021.164, epoch2date(2021.164) = 2021, 3, 1 * # date2epoch(2021, 3, 1) = 2021.167, epoch2date(2021.167) = 2021, 3, 2 * # date2epoch(2021, 3, 30) = 2021.246, epoch2date(2021.246) = 2021, 3, 31 * # date2epoch(2021, 3, 31) = 2021.249, epoch2date(2021.249) = 2021, 4, 1 * # date2epoch(2021, 4, 1) = 2021.251, epoch2date(2021.251) = 2021, 4, 1 # date2epoch(2021, 4, 29) = 2021.328, epoch2date(2021.328) = 2021, 4, 29 # date2epoch(2021, 4, 30) = 2021.331, epoch2date(2021.331) = 2021, 4, 30 # date2epoch(2021, 5, 1) = 2021.333, epoch2date(2021.333) = 2021, 5, 1 # date2epoch(2021, 5, 30) = 2021.413, epoch2date(2021.413) = 2021, 5, 30 # date2epoch(2021, 5, 31) = 2021.415, epoch2date(2021.415) = 2021, 6, 1 * # date2epoch(2021, 6, 1) = 2021.418, epoch2date(2021.418) = 2021, 6, 2 * # date2epoch(2021, 6, 29) = 2021.495, epoch2date(2021.495) = 2021, 6, 30 * # date2epoch(2021, 6, 30) = 2021.497, epoch2date(2021.497) = 2021, 7, 1 * # date2epoch(2021, 7, 1) = 2021.500, epoch2date(2021.500) = 2021, 7, 1 # date2epoch(2021, 7, 30) = 2021.579, epoch2date(2021.579) = 2021, 7, 30 # date2epoch(2021, 7, 31) = 2021.582, epoch2date(2021.582) = 2021, 7, 31 # date2epoch(2021, 8, 1) = 2021.585, epoch2date(2021.585) = 2021, 8, 1 # date2epoch(2021, 8, 30) = 2021.664, epoch2date(2021.664) = 2021, 8, 31 * # date2epoch(2021, 8, 31) = 2021.667, epoch2date(2021.667) = 2021, 9, 1 * # date2epoch(2021, 9, 1) = 2021.669, epoch2date(2021.669) = 2021, 9, 2 * # date2epoch(2021, 9, 29) = 2021.746, epoch2date(2021.746) = 2021, 9, 30 * # date2epoch(2021, 9, 30) = 2021.749, epoch2date(2021.749) = 2021, 10, 1 * # date2epoch(2021, 10, 1) = 2021.751, epoch2date(2021.751) = 2021, 10, 1 # date2epoch(2021, 10, 30) = 2021.831, epoch2date(2021.831) = 2021, 10, 30 # date2epoch(2021, 10, 31) = 2021.833, epoch2date(2021.833) = 2021, 10, 31 # date2epoch(2021, 11, 1) = 2021.836, epoch2date(2021.836) = 2021, 11, 1 # date2epoch(2021, 11, 29) = 2021.913, epoch2date(2021.913) = 2021, 11, 29 # date2epoch(2021, 11, 30) = 2021.915, epoch2date(2021.915) = 2021, 12, 1 * # date2epoch(2021, 12, 1) = 2021.918, epoch2date(2021.918) = 2021, 12, 2 * # date2epoch(2021, 12, 30) = 2021.997, epoch2date(2021.997) = 2021, 12, 31 * # date2epoch(2021, 12, 31) = 2022.000, epoch2date(2022.000) = 2022, 1, 1 *