vibeproj.helmert¶

Helmert 7-parameter datum transformation.

Transforms geodetic coordinates between two ellipsoids via geocentric (ECEF) intermediate using the Position Vector convention (EPSG method 9606).

Pipeline: geodetic(src) -> ECEF -> Helmert rotate/translate/scale -> ECEF -> geodetic(dst)

Attributes¶

`DEG_TO_RAD`
`RAD_TO_DEG`

Classes¶

HelmertParams

Helmert 7-parameter datum transformation (Position Vector convention).

Functions¶

`geodetic_to_ecef`(lat_rad, lon_rad, a, es, xp[, h])	Convert geodetic (lat, lon in radians) to ECEF (X, Y, Z) in meters.
`ecef_to_geodetic`(X, Y, Z, a, es, xp[, return_height])	Convert ECEF (X, Y, Z) to geodetic (lat, lon in radians).
`apply_helmert`(lat_deg, lon_deg, params, xp[, h])	Apply Helmert 7-parameter datum shift.

Module Contents¶

vibeproj.helmert.DEG_TO_RAD = 0.017453292519943295¶

vibeproj.helmert.RAD_TO_DEG = 57.29577951308232¶

class vibeproj.helmert.HelmertParams¶

Helmert 7-parameter datum transformation (Position Vector convention).

Parameters are always stored in Position Vector convention. Coordinate Frame convention rotations are negated at extraction time.

tx: float¶

ty: float¶

tz: float¶

rx: float¶

ry: float¶

rz: float¶

ds: float¶

src_ellipsoid: vibeproj.ellipsoid.Ellipsoid¶

dst_ellipsoid: vibeproj.ellipsoid.Ellipsoid¶

dtx: float = 0.0¶

dty: float = 0.0¶

dtz: float = 0.0¶

drx: float = 0.0¶

dry: float = 0.0¶

drz: float = 0.0¶

dds: float = 0.0¶

t_epoch: float = 0.0¶

property has_rates: bool¶: True if time-dependent rate parameters are present.

at_epoch(epoch: float) → HelmertParams¶

Compute effective 7-parameter transformation at a given epoch.

Folds the rate terms into the base parameters:: param_eff = param + rate * (epoch - t_epoch)

Returns a standard (non-time-dependent) HelmertParams with rates zeroed.

inverted() → HelmertParams¶: Return the inverse transformation (swap src/dst, negate params).

vibeproj.helmert.geodetic_to_ecef(lat_rad, lon_rad, a, es, xp, h=None)¶

Convert geodetic (lat, lon in radians) to ECEF (X, Y, Z) in meters.

Parameters¶

lat_rad, lon_radarray_like: Geodetic coordinates in radians.
afloat: Semi-major axis.
esfloat: First eccentricity squared.
xpmodule: Array module (numpy or cupy).
harray_like, optional: Ellipsoidal height in meters. When None, height=0 (exact current behavior).

Returns¶

X, Y, Zarrays: ECEF coordinates in meters.

vibeproj.helmert.ecef_to_geodetic(X, Y, Z, a, es, xp, return_height=False)¶

Convert ECEF (X, Y, Z) to geodetic (lat, lon in radians).

Uses iterative Bowring method (converges in ~3 iterations for sub-mm).

Parameters¶

X, Y, Zarray_like: ECEF coordinates in meters.
afloat: Semi-major axis.
esfloat: First eccentricity squared.
xpmodule: Array module (numpy or cupy).
return_heightbool, optional: When True, recover and return ellipsoidal height. Default False.

Returns¶

lat_rad, lon_rad, htuple: Geodetic coordinates in radians and ellipsoidal height in meters. h is None when return_height is False.

vibeproj.helmert.apply_helmert(lat_deg, lon_deg, params: HelmertParams, xp, h=None)¶

Apply Helmert 7-parameter datum shift.

Parameters¶

lat_deg, lon_degarray_like: Geodetic coordinates in degrees on the source ellipsoid.
paramsHelmertParams: Transformation parameters (Position Vector convention).
xpmodule: Array module (numpy or cupy).
harray_like, optional: Ellipsoidal height in meters. When provided, height is transformed through the ECEF intermediate and recovered on the destination ellipsoid.

Returns¶

lat_deg_out, lon_deg_outarrays: Geodetic coordinates in degrees on the destination ellipsoid.
h_outarrays (only when h is not None): Transformed ellipsoidal height in meters.