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+/*
+ * Partial C port of Greg Miller's public domain astro library (gmiller@gregmiller.net) 2019
+ * https://github.com/gmiller123456/astrogreg
+ *
+ * Ported by Joey Castillo for Sensor Watch
+ * https://github.com/joeycastillo/Sensor-Watch/
+ *
+ * Public Domain
+ *
+ * THIS 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.
+ */
+
+#include <math.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include "astrolib.h"
+#include "vsop87a_milli.h"
+
+double astro_convert_utc_to_tt(double jd) ;
+double astro_get_GMST(double ut1);
+astro_cartesian_coordinates_t astro_subtract_cartesian(astro_cartesian_coordinates_t a, astro_cartesian_coordinates_t b);
+astro_cartesian_coordinates_t astro_rotate_from_vsop_to_J2000(astro_cartesian_coordinates_t c);
+astro_matrix_t astro_get_x_rotation_matrix(double r);
+astro_matrix_t astro_get_y_rotation_matrix(double r);
+astro_matrix_t astro_get_z_rotation_matrix(double r);
+astro_matrix_t astro_transpose_matrix(astro_matrix_t m);
+astro_matrix_t astro_dot_product(astro_matrix_t a, astro_matrix_t b);
+astro_matrix_t astro_get_precession_matrix(double jd);
+astro_cartesian_coordinates_t astro_matrix_multiply(astro_cartesian_coordinates_t v, astro_matrix_t m);
+astro_cartesian_coordinates_t astro_convert_geodedic_latlon_to_ITRF_XYZ(double lat, double lon, double height);
+astro_cartesian_coordinates_t astro_convert_ITRF_to_GCRS(astro_cartesian_coordinates_t r, double ut1);
+astro_cartesian_coordinates_t astro_convert_coordinates_from_meters_to_AU(astro_cartesian_coordinates_t c);
+astro_cartesian_coordinates_t astro_get_observer_geocentric_coords(double jd, double lat, double lon);
+astro_cartesian_coordinates_t astro_get_body_coordinates(astro_body_t bodyNum, double et);
+astro_cartesian_coordinates_t astro_get_body_coordinates_light_time_adjusted(astro_body_t body, astro_cartesian_coordinates_t origin, double t);
+astro_equatorial_coordinates_t astro_convert_cartesian_to_polar(astro_cartesian_coordinates_t xyz);
+
+//Special "Math.floor()" function used by convertDateToJulianDate()
+static double _astro_special_floor(double d) {
+ if(d > 0) {
+ return floor(d);
+ }
+ return floor(d) - 1;
+}
+
+double astro_convert_date_to_julian_date(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) {
+ if (month < 3){
+ year = year - 1;
+ month = month + 12;
+ }
+
+ double b = 0;
+ if (!(year < 1582 || (year == 1582 && (month < 10 || (month == 10 && day < 5))))) {
+ double a = _astro_special_floor(year / 100.0);
+ b = 2 - a + _astro_special_floor(a / 4.0);
+ }
+
+ double jd = _astro_special_floor(365.25 * (year + 4716)) + _astro_special_floor(30.6001 * (month + 1)) + day + b - 1524.5;
+ jd += hour / 24.0;
+ jd += minute / 24.0 / 60.0;
+ jd += second / 24.0 / 60.0 / 60.0;
+
+ return jd;
+}
+
+//Return all values in radians.
+//The positions are adjusted for the parallax of the Earth, and the offset of the observer from the Earth's center
+//All input and output angles are in radians!
+astro_equatorial_coordinates_t astro_get_ra_dec(double jd, astro_body_t body, double lat, double lon, bool calculate_precession) {
+ double jdTT = astro_convert_utc_to_tt(jd);
+ double t = astro_convert_jd_to_julian_millenia_since_j2000(jdTT);
+
+ // Get current position of Earth and the target body
+ astro_cartesian_coordinates_t earth_coords = astro_get_body_coordinates(ASTRO_BODY_EARTH, t);
+ astro_cartesian_coordinates_t body_coords = astro_get_body_coordinates_light_time_adjusted(body, earth_coords, t);
+
+ // Convert to Geocentric coordinate
+ body_coords = astro_subtract_cartesian(body_coords, earth_coords);
+
+ //Rotate ecliptic coordinates to J2000 coordinates
+ body_coords = astro_rotate_from_vsop_to_J2000(body_coords);
+
+ astro_matrix_t precession;
+ // TODO: rotate body for precession, nutation and bias
+ if(calculate_precession) {
+ precession = astro_get_precession_matrix(jdTT);
+ body_coords = astro_matrix_multiply(body_coords, precession);
+ }
+
+ //Convert to topocentric
+ astro_cartesian_coordinates_t observerXYZ = astro_get_observer_geocentric_coords(jdTT, lat, lon);
+
+ if(calculate_precession) {
+ //TODO: rotate observerXYZ for precession, nutation and bias
+ astro_matrix_t precessionInv = astro_transpose_matrix(precession);
+ observerXYZ = astro_matrix_multiply(observerXYZ, precessionInv);
+ }
+
+ body_coords = astro_subtract_cartesian(body_coords, observerXYZ);
+
+ //Convert to topocentric RA DEC by converting from cartesian coordinates to polar coordinates
+ astro_equatorial_coordinates_t retval = astro_convert_cartesian_to_polar(body_coords);
+
+ retval.declination = M_PI/2.0 - retval.declination; //Dec. Offset to make 0 the equator, and the poles +/-90 deg
+ if(retval.right_ascension < 0) retval.right_ascension += 2*M_PI; //Ensure RA is positive
+
+ return retval;
+}
+
+//Converts a Julian Date in UTC to Terrestrial Time (TT)
+double astro_convert_utc_to_tt(double jd) {
+ //Leap seconds are hard coded, should be updated from the IERS website for other times
+
+ //TAI = UTC + leap seconds (e.g. 32)
+ //TT=TAI + 32.184
+
+ //return jd + (32.0 + 32.184) / 24.0 / 60.0 / 60.0;
+ return jd + (37.0 + 32.184) / 24.0 / 60.0 / 60.0;
+
+ /*
+ https://data.iana.org/time-zones/tzdb-2018a/leap-seconds.list
+ 2272060800 10 # 1 Jan 1972
+ 2287785600 11 # 1 Jul 1972
+ 2303683200 12 # 1 Jan 1973
+ 2335219200 13 # 1 Jan 1974
+ 2366755200 14 # 1 Jan 1975
+ 2398291200 15 # 1 Jan 1976
+ 2429913600 16 # 1 Jan 1977
+ 2461449600 17 # 1 Jan 1978
+ 2492985600 18 # 1 Jan 1979
+ 2524521600 19 # 1 Jan 1980
+ 2571782400 20 # 1 Jul 1981
+ 2603318400 21 # 1 Jul 1982
+ 2634854400 22 # 1 Jul 1983
+ 2698012800 23 # 1 Jul 1985
+ 2776982400 24 # 1 Jan 1988
+ 2840140800 25 # 1 Jan 1990
+ 2871676800 26 # 1 Jan 1991
+ 2918937600 27 # 1 Jul 1992
+ 2950473600 28 # 1 Jul 1993
+ 2982009600 29 # 1 Jul 1994
+ 3029443200 30 # 1 Jan 1996
+ 3076704000 31 # 1 Jul 1997
+ 3124137600 32 # 1 Jan 1999
+ 3345062400 33 # 1 Jan 2006
+ 3439756800 34 # 1 Jan 2009
+ 3550089600 35 # 1 Jul 2012
+ 3644697600 36 # 1 Jul 2015
+ 3692217600 37 # 1 Jan 2017
+ */
+}
+
+double astro_convert_jd_to_julian_millenia_since_j2000(double jd) {
+ return (jd - 2451545.0) / 365250.0;
+}
+
+astro_cartesian_coordinates_t astro_subtract_cartesian(astro_cartesian_coordinates_t a, astro_cartesian_coordinates_t b) {
+ astro_cartesian_coordinates_t retval;
+
+ retval.x = a.x - b.x;
+ retval.y = a.y - b.y;
+ retval.z = a.z - b.z;
+
+ return retval;
+}
+
+// Performs the rotation from ecliptic coordinates to J2000 coordinates for the given vector x
+astro_cartesian_coordinates_t astro_rotate_from_vsop_to_J2000(astro_cartesian_coordinates_t c) {
+ /* From VSOP87.doc
+ X +1.000000000000 +0.000000440360 -0.000000190919 X
+ Y = -0.000000479966 +0.917482137087 -0.397776982902 Y
+ Z FK5 0.000000000000 +0.397776982902 +0.917482137087 Z VSOP87A
+ */
+ astro_cartesian_coordinates_t t;
+ t.x = c.x + c.y * 0.000000440360 + c.z * -0.000000190919;
+ t.y = c.x * -0.000000479966 + c.y * 0.917482137087 + c.z * -0.397776982902;
+ t.z = c.y * 0.397776982902 + c.z * 0.917482137087;
+
+ return t;
+}
+
+double astro_get_GMST(double ut1) {
+ double D = ut1 - 2451545.0;
+ double T = D/36525.0;
+ double gmst = fmod((280.46061837 + 360.98564736629*D + 0.000387933*T*T - T*T*T/38710000.0), 360.0);
+
+ if(gmst<0) {
+ gmst+=360;
+ }
+
+ return gmst/15;
+}
+
+static astro_matrix_t _astro_get_empty_matrix() {
+ astro_matrix_t t;
+ for(uint8_t i = 0; i < 3 ; i++) {
+ for(uint8_t j = 0 ; j < 3 ; j++) {
+ t.elements[i][j] = 0;
+ }
+ }
+ return t;
+}
+
+//Gets a rotation matrix about the x axis. Angle R is in radians
+astro_matrix_t astro_get_x_rotation_matrix(double r) {
+ astro_matrix_t t = _astro_get_empty_matrix();
+
+ t.elements[0][0]=1;
+ t.elements[0][1]=0;
+ t.elements[0][2]=0;
+ t.elements[1][0]=0;
+ t.elements[1][1]=cos(r);
+ t.elements[1][2]=sin(r);
+ t.elements[2][0]=0;
+ t.elements[2][1]=-sin(r);
+ t.elements[2][2]=cos(r);
+
+ return t;
+}
+
+//Gets a rotation matrix about the y axis. Angle R is in radians
+astro_matrix_t astro_get_y_rotation_matrix(double r) {
+ astro_matrix_t t = _astro_get_empty_matrix();
+
+ t.elements[0][0]=cos(r);
+ t.elements[0][1]=0;
+ t.elements[0][2]=-sin(r);
+ t.elements[1][0]=0;
+ t.elements[1][1]=1;
+ t.elements[1][2]=0;
+ t.elements[2][0]=sin(r);
+ t.elements[2][1]=0;
+ t.elements[2][2]=cos(r);
+
+ return t;
+}
+
+//Gets a rotation matrix about the z axis. Angle R is in radians
+astro_matrix_t astro_get_z_rotation_matrix(double r) {
+ astro_matrix_t t = _astro_get_empty_matrix();
+
+ t.elements[0][0]=cos(r);
+ t.elements[0][1]=sin(r);
+ t.elements[0][2]=0;
+ t.elements[1][0]=-sin(r);
+ t.elements[1][1]=cos(r);
+ t.elements[1][2]=0;
+ t.elements[2][0]=0;
+ t.elements[2][1]=0;
+ t.elements[2][2]=1;
+
+ return t;
+}
+
+void astro_print_matrix(char * title, astro_matrix_t matrix);
+void astro_print_matrix(char * title, astro_matrix_t matrix) {
+ printf("%s\n", title);
+ for(uint8_t i = 0; i < 3 ; i++) {
+ printf("\t");
+ for(uint8_t j = 0 ; j < 3 ; j++) {
+ printf("%12f", matrix.elements[i][j]);
+ }
+ printf("\n");
+ }
+ printf("\n");
+}
+
+astro_matrix_t astro_dot_product(astro_matrix_t a, astro_matrix_t b) {
+ astro_matrix_t retval;
+
+ for(uint8_t i = 0; i < 3 ; i++) {
+ for(uint8_t j = 0 ; j < 3 ; j++) {
+ double temp = 0;
+ for(uint8_t k = 0; k < 3 ; k++) {
+ temp += a.elements[i][k] * b.elements[k][j];
+ }
+ retval.elements[i][j]=temp;
+ }
+ }
+
+ return retval;
+}
+
+astro_matrix_t astro_transpose_matrix(astro_matrix_t m) {
+ astro_matrix_t retval;
+ for(uint8_t i = 0; i < 3 ; i++) {
+ for(uint8_t j = 0 ; j < 3 ; j++) {
+ retval.elements[i][j] = m.elements[j][i];
+ }
+ }
+ return retval;
+}
+
+astro_matrix_t astro_get_precession_matrix(double jd) {
+ //2006 IAU Precession. Implemented from IERS Technical Note No 36 ch5.
+ //https://www.iers.org/SharedDocs/Publikationen/EN/IERS/Publications/tn/TechnNote36/tn36_043.pdf?__blob=publicationFile&v=1
+
+ double t = (jd - 2451545.0) / 36525.0; //5.2
+ const double Arcsec2Radians = M_PI/180.0/60.0/60.0; //Converts arc seconds used in equations below to radians
+
+ double e0 = 84381.406 * Arcsec2Radians; //5.6.4
+ double omegaA = e0 + ((-0.025754 + (0.0512623 + (-0.00772503 + (-0.000000467 + 0.0000003337*t) * t) * t) * t) * t) * Arcsec2Radians; //5.39
+ double psiA = ((5038.481507 + (-1.0790069 + (-0.00114045 + (0.000132851 - 0.0000000951*t) * t) * t) * t) * t) * Arcsec2Radians; //5.39
+ double chiA = ((10.556403 + (-2.3814292 + (-0.00121197 + (0.000170663 - 0.0000000560*t) * t) * t) * t) * t) * Arcsec2Radians; //5.40
+ //Rotation matrix from 5.4.5
+ //(R1(−e0) · R3(psiA) · R1(omegaA) · R3(−chiA))
+ //Above eq rotates from "of date" to J2000, so we reverse the signs to go from J2000 to "of date"
+ astro_matrix_t m1 = astro_get_x_rotation_matrix(e0);
+ astro_matrix_t m2 = astro_get_z_rotation_matrix(-psiA);
+ astro_matrix_t m3 = astro_get_x_rotation_matrix(-omegaA);
+ astro_matrix_t m4 = astro_get_z_rotation_matrix(chiA);
+
+ astro_matrix_t m5 = astro_dot_product(m4, m3);
+ astro_matrix_t m6 = astro_dot_product(m5, m2);
+ astro_matrix_t precessionMatrix = astro_dot_product(m6, m1);
+
+ return precessionMatrix;
+}
+
+astro_cartesian_coordinates_t astro_matrix_multiply(astro_cartesian_coordinates_t v, astro_matrix_t m) {
+ astro_cartesian_coordinates_t t;
+
+ t.x = v.x*m.elements[0][0] + v.y*m.elements[0][1] + v.z*m.elements[0][2];
+ t.y = v.x*m.elements[1][0] + v.y*m.elements[1][1] + v.z*m.elements[1][2];
+ t.z = v.x*m.elements[2][0] + v.y*m.elements[2][1] + v.z*m.elements[2][2];
+
+ return t;
+}
+
+//Converts cartesian XYZ coordinates to polar (e.g. J2000 xyz to Right Accention and Declication)
+astro_equatorial_coordinates_t astro_convert_cartesian_to_polar(astro_cartesian_coordinates_t xyz) {
+ astro_equatorial_coordinates_t t;
+
+ t.distance = sqrt(xyz.x * xyz.x + xyz.y * xyz.y + xyz.z * xyz.z);
+ t.declination = acos(xyz.z / t.distance);
+ t.right_ascension = atan2(xyz.y, xyz.x);
+
+ if(t.declination < 0) t.declination += 2 * M_PI;
+
+ if(t.right_ascension < 0) t.right_ascension += 2 * M_PI;
+
+ return t;
+}
+
+//Convert Geodedic Lat Lon to geocentric XYZ position vector
+//All angles are input as radians
+astro_cartesian_coordinates_t astro_convert_geodedic_latlon_to_ITRF_XYZ(double lat, double lon, double height) {
+ //Algorithm from Explanatory Supplement to the Astronomical Almanac 3rd ed. P294
+ const double a = 6378136.6;
+ const double f = 1 / 298.25642;
+
+ const double C = sqrt(((cos(lat)*cos(lat)) + (1.0-f)*(1.0-f) * (sin(lat)*sin(lat))));
+
+ const double S = (1-f)*(1-f)*C;
+
+ double h = height;
+
+ astro_cartesian_coordinates_t r;
+ r.x = (a*C+h) * cos(lat) * cos(lon);
+ r.y = (a*C+h) * cos(lat) * sin(lon);
+ r.z = (a*S+h) * sin(lat);
+
+ return r;
+}
+
+//Convert position vector to celestial "of date" system.
+//g(t)=R3(-GAST) r
+//(Remember to use UT1 for GAST, not ET)
+//All angles are input and output as radians
+astro_cartesian_coordinates_t astro_convert_ITRF_to_GCRS(astro_cartesian_coordinates_t r, double ut1) {
+ //This is a simple rotation matrix implemenation about the Z axis, rotation angle is -GMST
+
+ double GMST = astro_get_GMST(ut1);
+ GMST =- GMST * 15.0 * M_PI / 180.0;
+
+ astro_matrix_t m = astro_get_z_rotation_matrix(GMST);
+ astro_cartesian_coordinates_t t = astro_matrix_multiply(r, m);
+
+ return t;
+}
+
+astro_cartesian_coordinates_t astro_convert_coordinates_from_meters_to_AU(astro_cartesian_coordinates_t c) {
+ astro_cartesian_coordinates_t t;
+
+ t.x = c.x / 1.49597870691E+11;
+ t.y = c.y / 1.49597870691E+11;
+ t.z = c.z / 1.49597870691E+11;
+
+ return t;
+}
+
+astro_cartesian_coordinates_t astro_get_observer_geocentric_coords(double jd, double lat, double lon) {
+ astro_cartesian_coordinates_t r = astro_convert_geodedic_latlon_to_ITRF_XYZ(lat, lon,0);
+ r = astro_convert_ITRF_to_GCRS(r, jd);
+ r = astro_convert_coordinates_from_meters_to_AU(r);
+
+ return r;
+}
+
+//Returns a body's cartesian coordinates centered on the Sun.
+//Requires vsop87a_milli_js, if you wish to use a different version of VSOP87, replace the class name vsop87a_milli below
+astro_cartesian_coordinates_t astro_get_body_coordinates(astro_body_t body, double et) {
+ astro_cartesian_coordinates_t retval = {0};
+ double coords[3];
+ switch(body) {
+ case ASTRO_BODY_SUN:
+ return retval; //Sun is at the center for vsop87a
+ case ASTRO_BODY_MERCURY:
+ vsop87a_milli_getMercury(et, coords);
+ break;
+ case ASTRO_BODY_VENUS:
+ vsop87a_milli_getVenus(et, coords);
+ break;
+ case ASTRO_BODY_EARTH:
+ vsop87a_milli_getEarth(et, coords);
+ break;
+ case ASTRO_BODY_MARS:
+ vsop87a_milli_getMars(et, coords);
+ break;
+ case ASTRO_BODY_JUPITER:
+ vsop87a_milli_getJupiter(et, coords);
+ break;
+ case ASTRO_BODY_SATURN:
+ vsop87a_milli_getSaturn(et, coords);
+ break;
+ case ASTRO_BODY_URANUS:
+ vsop87a_milli_getUranus(et, coords);
+ break;
+ case ASTRO_BODY_NEPTUNE:
+ vsop87a_milli_getNeptune(et, coords);
+ break;
+ case ASTRO_BODY_EMB:
+ vsop87a_milli_getEmb(et, coords);
+ break;
+ case ASTRO_BODY_MOON:
+ {
+ double earth_coords[3];
+ double emb_coords[3];
+ vsop87a_milli_getEarth(et, earth_coords);
+ vsop87a_milli_getEmb(et, emb_coords);
+ vsop87a_milli_getMoon(earth_coords, emb_coords, coords);
+ }
+ break;
+ }
+
+ retval.x = coords[0];
+ retval.y = coords[1];
+ retval.z = coords[2];
+
+ return retval;
+}
+
+astro_cartesian_coordinates_t astro_get_body_coordinates_light_time_adjusted(astro_body_t body, astro_cartesian_coordinates_t origin, double t) {
+ //Get current position of body
+ astro_cartesian_coordinates_t body_coords = astro_get_body_coordinates(body, t);
+
+ double newT = t;
+
+ for(uint8_t i = 0 ; i < 2 ; i++) {
+ //Calculate light time to body
+ body_coords = astro_subtract_cartesian(body_coords, origin);
+ double distance = sqrt(body_coords.x*body_coords.x + body_coords.y*body_coords.y + body_coords.z*body_coords.z);
+ distance *= 1.496e+11; //Convert from AU to meters
+ double lightTime = distance / 299792458.0;
+
+ //Convert light time to Julian Millenia, and subtract it from the original value of t
+ newT -= lightTime / 24.0 / 60.0 / 60.0 / 365250.0;
+ //Recalculate body position adjusted for light time
+ body_coords = astro_get_body_coordinates(body, newT);
+ }
+
+ return body_coords;
+}
+
+astro_horizontal_coordinates_t astro_ra_dec_to_alt_az(double jd, double lat, double lon, double ra, double dec) {
+ double GMST = astro_get_GMST(jd) * M_PI/180.0 * 15.0;
+ double h = GMST + lon - ra;
+
+ double sina = sin(dec)*sin(lat) + cos(dec)*cos(h)*cos(lat);
+ double a = asin(sina);
+
+ double cosAz = (sin(dec)*cos(lat) - cos(dec)*cos(h)*sin(lat)) / cos(a);
+ double Az = acos(cosAz);
+
+ if(sin(h) > 0) Az = 2.0*M_PI - Az;
+
+ astro_horizontal_coordinates_t retval;
+ retval.altitude = a;
+ retval.azimuth = Az;
+
+ return retval;
+}
+
+double astro_degrees_to_radians(double degrees) {
+ return degrees * M_PI / 180;
+}
+
+double astro_radians_to_degrees(double radians) {
+ return radians * 180.0 / M_PI;
+}
+
+astro_angle_dms_t astro_radians_to_dms(double radians) {
+ astro_angle_dms_t retval;
+ int8_t sign = (radians < 0) ? -1 : 1;
+ double degrees = fabs(astro_radians_to_degrees(radians));
+
+ retval.degrees = (uint16_t)degrees;
+ double temp = 60.0 * (degrees - retval.degrees);
+ retval.minutes = (uint8_t)temp;
+ retval.seconds = (uint8_t)round(60.0 * (temp - retval.minutes));
+
+ if (retval.seconds > 59) {
+ retval.seconds = 0.0;
+ retval.minutes++;
+ }
+
+ if (retval.minutes > 59) {
+ retval.minutes = 0;
+ retval.degrees++;
+ }
+
+ degrees *= sign;
+
+ return retval;
+}
+
+astro_angle_hms_t astro_radians_to_hms(double radians) {
+ astro_angle_hms_t retval;
+ double degrees = astro_radians_to_degrees(radians);
+ double temp = degrees / 15.0;
+
+ retval.hours = (uint8_t)temp;
+ temp = 60.0 * (temp - retval.hours);
+ retval.minutes = (uint8_t)temp;
+ retval.seconds = (uint8_t)round(60.0 * (temp - retval.minutes));
+
+ if (retval.seconds > 59) {
+ retval.seconds = 0;
+ retval.minutes++;
+ }
+
+ if (retval.minutes > 59) {
+ retval.minutes = 0;
+ retval.hours++;
+ }
+
+ return retval;
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-11 02:04:02 +0000