NASA Ocean Color

ocssw V2022

 #include "libnav.h"
 #include "nav.h"
 #include "ocorient.h"
 #include "math_utils.h"
 void matmpy(const float xm1[3][3], const float xm2[3][3], float xm3[3][3]) {
     int i, j, m, n;
     for (i = 0; i < 3; i++) {
         for (j = 0; j < 3; j++) {
             xm3[i][j] = 0;
             for (m = 0; m < 3; m++)
                 xm3[i][j] += xm1[i][m] * xm2[m][j];
         }
     }
 }
  
 void matmpy_(const float xm1[3][3], const float xm2[3][3], float xm3[3][3]) {
     float xsave3[3][3];
     float xsave1[3][3];
     float xsave2[3][3];
     transpose3d(xm1, xsave1);
     transpose3d(xm2, xsave2);
     matmpy(xsave1, xsave2, xsave3);
     transpose3d(xsave3, xm3);
 }
 void oceuler(float a[3], float xm[3][3]) {
     float xm1[3][3], xm2[3][3], xm3[3][3], xmm[3][3];
  
     //  Initialize all matrix elements to zero.
     for (int i = 0; i < 3; i++) {
         for (int j = 0; j < 3; j++) {
             xm1[i][j] = xm2[i][j] = xm3[i][j] = 0.0f;
         }
     }
     //    c  Compute sines and cosines
     float c1 = cos(a[0] / radeg);
     float s1 = sin(a[0] / radeg);
     float c2 = cos(a[1] / radeg);
     float s2 = sin(a[1] / radeg);
     float c3 = cos(a[2] / radeg);
     float s3 = sin(a[2] / radeg);
     // c Convert individual rotations to matrices xm1(1, 1) = 1.d0;
     xm1[1 - 1][1 - 1] = 1.0f;
     xm1[2 - 1][2 - 1] = c1;
     xm1[3 - 1][3 - 1] = c1;
     xm1[2 - 1][3 - 1] = s1;
     xm1[3 - 1][2 - 1] = -s1;
     xm2[2 - 1][2 - 1] = 1.0f;
     xm2[1 - 1][1 - 1] = c2;
     xm2[3 - 1][3 - 1] = c2;
     xm2[3 - 1][1 - 1] = s2;
     xm2[1 - 1][3 - 1] = -s2;
     xm3[3 - 1][3 - 1] = 1.0f;
     xm3[2 - 1][2 - 1] = c3;
     xm3[1 - 1][1 - 1] = c3;
     xm3[1 - 1][2 - 1] = s3;
     xm3[2 - 1][1 - 1] = -s3;
     matmpy(xm2, xm3, xmm);
     matmpy(xm1, xmm, xm);
 }
  
 void ocorient_(float pos[3], float vel[3], float att[3], float rm[3][3], float coef[10]) {
     float vc[3], xpri[3], ypri[3], zpri[3], yrp[3][3], rn[3][3];
     vc[1 - 1] = vel[1 - 1] - omegae * pos[2 - 1];
     vc[2 - 1] = vel[2 - 1] + omegae * pos[1 - 1];
     vc[3 - 1] = vel[3 - 1];
     double pm = sqrt((double)(pos[0] * pos[0] + pos[1] * pos[1] + pos[2] * pos[2]));
     double omf2p = (omf2 * rem + pm - rem) / pm;
     double pxy = pos[0] * pos[0] + pos[1] * pos[1];
     double temp = sqrt((double)(pos[2] * pos[2] + omf2p * omf2p * pxy));
     zpri[0] = -omf2p * pos[0] / temp;
     zpri[1] = -omf2p * pos[1] / temp;
     zpri[2] = -pos[2] / temp;
     // c   Compute Y axis along negative orbit normal
     crossp_(vc, zpri, ypri);
     double yprim = sqrt((double)(ypri[0] * ypri[0] + ypri[1] * ypri[1] + ypri[2] * ypri[2]));
     // normalization to length 1
     for (int i = 0; i < 3; i++)
         ypri[i] /= -yprim;
     // c   Compute X axis to complete orthonormal triad
     crossp_(ypri, zpri, xpri);
     // c  Store in matrix
     for (int i = 0; i < 3; i++) {
         rn[0][i] = xpri[i];
         rn[1][i] = ypri[i];
         rn[2][i] = zpri[i];
     }
     // c  Convert attitude (Euler) angles to YRP matrix
     oceuler(att, yrp);
     // c  Compute sensor orientation matrix
     float rm_temp[3][3];
     matmpy(yrp, rn, rm);
     memcpy(rm_temp,rm, sizeof rm_temp);
 //    transpose3d(rm_temp,rm);
     // c  Compute coefficients of intersection ellipse in scan plane
     double rd = 1.e0 / omf2;
     *(coef + 1 - 1) = 1.e0 + (rd - 1.e0) * rm[1 - 1][3 - 1] * rm[1 - 1][3 - 1];
     *(coef + 2 - 1) = 1.e0 + (rd - 1.e0) * rm[2 - 1][3 - 1] * rm[2 - 1][3 - 1];
     *(coef + 3 - 1) = 1.e0 + (rd - 1.e0) * rm[3 - 1][3 - 1] * rm[3 - 1][3 - 1];
     *(coef + 4 - 1) = (rd - 1.e0) * rm[1 - 1][3 - 1] * rm[2 - 1][3 - 1] * 2.e0;
     *(coef + 5 - 1) = (rd - 1.e0) * rm[1 - 1][3 - 1] * rm[3 - 1][3 - 1] * 2.e0;
     *(coef + 6 - 1) = (rd - 1.e0) * rm[2 - 1][3 - 1] * rm[3 - 1][3 - 1] * 2.e0;
     *(coef + 7 - 1) =
         (rm[1 - 1][1 - 1] * pos[1 - 1] + rm[1 - 1][2 - 1] * pos[2 - 1] + rm[1 - 1][3 - 1] * pos[3 - 1] * rd) *
         2.e0;
     *(coef + 8 - 1) =
         (rm[2 - 1][1 - 1] * pos[1 - 1] + rm[2 - 1][2 - 1] * pos[2 - 1] + rm[2 - 1][3 - 1] * pos[3 - 1] * rd) *
         2.e0;
     *(coef + 9 - 1) =
         (rm[3 - 1][1 - 1] * pos[1 - 1] + rm[3 - 1][2 - 1] * pos[2 - 1] + rm[3 - 1][3 - 1] * pos[3 - 1] * rd) *
         2.e0;
     *(coef + 10 - 1) = pos[1 - 1] * pos[1 - 1] + pos[2 - 1] * pos[2 - 1] + pos[3 - 1] * pos[3 - 1] * rd -
                        re_const * re_const;
     transpose3d(rm_temp,rm);
 }

crossp_

int crossp_(float *v1, float *v2, float *v3)

computes cross product v3 = v1 x v2

Definition: crossp.c:13

int j

Definition: decode_rs.h:73

ocorient_

void ocorient_(float pos[3], float vel[3], float att[3], float rm[3][3], float coef[10])

c This subroutine performs a simple calculation of the sensor c orientation from the orbit position v...

Definition: ocorient.c:103

transpose3d

void transpose3d(const float inp[3][3], float out[3][3])

Matrix transpose.

Definition: math_utils.c:3

pos

float32 * pos

Definition: l1_czcs_hdf.c:35

matmpy

void matmpy(const float xm1[3][3], const float xm2[3][3], float xm3[3][3])

Definition: ocorient.c:5

ocorient.h

float rd(float x, float y, float z)

hktgen_pace.att

int att

Definition: hktgen_pace.py:28

oceuler

void oceuler(float a[3], float xm[3][3])

c Computes coordinate transformation matrix corresponding to Euler c sequence. The order of angles in...

Definition: ocorient.c:25

float pm[MODELMAX]

Definition: atrem_corl1v2.h:248

nav.h

matmpy_

void matmpy_(const float xm1[3][3], const float xm2[3][3], float xm3[3][3])

Definition: ocorient.c:16

math_utils.h

libnav.h

omf2

#define omf2

Definition: l1_czcs.c:697

int i

Definition: decode_rs.h:71

PGE01 indicating that PGE02 PGE01 V6 for and PGE01 V2 for MOD03 were used to produce the granule By convention adopted in all MODIS Terra PGE02 code versions are The fourth digit of the PGE02 version denotes the LUT version used to produce the granule The source of the metadata environment variable ProcessingCenter was changed from a QA LUT value to the Process Configuration A sign used in error in the second order term was changed to a

Definition: HISTORY.txt:424