geodetic.cc

Go to the documentation of this file.

/* Copyright (C) 2012
   Patrick Eriksson <Patrick.Eriksson@chalmers.se>
 
   This program is free software; you can redistribute it and/or modify it
   under the terms of the GNU General Public License as published by the
   Free Software Foundation; either version 2, or (at your option) any
   later version.
 
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
 
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
   USA. */
 
/*===========================================================================
  === File description 
  ===========================================================================*/
 
/*===========================================================================
  === External declarations
  ===========================================================================*/
 
#include "geodetic.h"
#include <cmath>
#include <stdexcept>
#include "arts_conversions.h"
#include "math_funcs.h"
#include "ppath.h"
 
inline constexpr Numeric DEG2RAD=Conversion::deg2rad(1);
inline constexpr Numeric RAD2DEG=Conversion::rad2deg(1);
 
/*===========================================================================
  === 2D functions
  ===========================================================================*/
 
// The 2D case is treated as being the 3D x/z-plane. That is, y-coordinate is
// skipped. For simplicity, the angle coordinate is denoted as latitude.
// However, the latitude is here not limited to [-90,90]. It is cyclic and can
// have any value. The input *lat0* is used to shift the output from atan2 with
// n*360 to return what should be the expected latitude. That is, it is assumed
// that no operation moves the latitude more than 180 degrees from the initial
// value *lat0*. Negative zeniath angles are handled, following ARTS definition
// of 2D geometry.
 
 
void cart2pol(Numeric& r,
              Numeric& lat,
              const Numeric& x,
              const Numeric& z,
              const Numeric& lat0,
              const Numeric& za0) {
  r = sqrt(x * x + z * z);
 
  // Zenith and nadir cases
  const Numeric absza = abs(za0);
  if (absza < ANGTOL || absza > 180 - ANGTOL) {
    lat = lat0;
  }
 
  else {  // Latitude inside [0,360]
    lat = RAD2DEG * atan2(z, x);
    // Shift with n*360 to get as close as possible to lat0
    lat = lat - 360.0 * Numeric(round((lat - lat0) / 360.0));
  }
}
 
 
void cart2poslos(Numeric& r,
                 Numeric& lat,
                 Numeric& za,
                 const Numeric& x,
                 const Numeric& z,
                 const Numeric& dx,
                 const Numeric& dz,
                 const Numeric& ppc,
                 const Numeric& lat0,
                 const Numeric& za0) {
  r = sqrt(x * x + z * z);
 
  // Zenith and nadir cases
  const Numeric absza = abs(za0);
  if (absza < ANGTOL || absza > 180 - ANGTOL) {
    lat = lat0;
    za = za0;
  }
 
  else {
    lat = RAD2DEG * atan2(z, x);
 
    const Numeric latrad = DEG2RAD * lat;
    const Numeric coslat = cos(latrad);
    const Numeric sinlat = sin(latrad);
    const Numeric dr = coslat * dx + sinlat * dz;
 
    // Use ppc for max accuracy, but dr required to resolve if up-
    // and downward cases.
 
    // Another possibility to obtain (absolute value of) za is
    // RAD2DEG*acos(dr).
    // It is checked that the two ways give consistent results, but
    // occasionally deviate with 1e-4 deg (due to numerical issues).
 
    za = RAD2DEG * asin(ppc / r);
    if (za0 > 0) {
      if (std::isnan(za)) {
        za = 90;
      } else if (dr < 0) {
        za = 180.0 - za;
      }
    } else {
      if (std::isnan(za)) {
        za = -90;
      } else if (dr < 0) {
        za = -180.0 + za;
      } else {
        za = -za;
      }
    }
  }
}
 
 
void distance2D(Numeric& l,
                const Numeric& r1,
                const Numeric& lat1,
                const Numeric& r2,
                const Numeric& lat2) {
  ARTS_ASSERT(abs(lat2 - lat1) <= 180);
 
  Numeric x1, z1, x2, z2;
  pol2cart(x1, z1, r1, lat1);
  pol2cart(x2, z2, r2, lat2);
 
  const Numeric dx = x2 - x1;
  const Numeric dz = z2 - z1;
  l = sqrt(dx * dx + dz * dz);
}
 
 
/*
void geomtanpoint2d( 
             Numeric&    r_tan,
             Numeric&    lat_tan,
     ConstVectorView    refellipsoid,
       const Numeric&    r,
       const Numeric&    lat,
       const Numeric&    za )
{
  ARTS_ASSERT( refellipsoid.nelem() == 2 );
  ARTS_ASSERT( refellipsoid[0] > 0 );
  ARTS_ASSERT( refellipsoid[1] >= 0 );
  ARTS_ASSERT( refellipsoid[1] < 1 );
  ARTS_ASSERT( r > 0 );
  ARTS_ASSERT( za >= 90 );
                                // e=1e-7 corresponds to that polar radius
  if( refellipsoid[1] < 1e-7 )  // less than 1 um smaller than equatorial 
    {                           // one for the Earth
      r_tan = geometrical_ppc( r, za );
      if( za > 0 )
        { lat_tan = geompath_lat_at_za( za, lat, 90 ); }
      else
        { lat_tan = geompath_lat_at_za( za, lat, -90 ); }
    }
 
  else
    {
      ARTS_ASSERT( 0 );  // To be implemented
    }  
}  
*/
 
 
void line_circle_intersect(Numeric& x,
                           Numeric& z,
                           const Numeric& xl,
                           const Numeric& zl,
                           const Numeric& dx,
                           const Numeric& dz,
                           const Numeric& xc,
                           const Numeric& zc,
                           const Numeric& r) {
  const Numeric a = dx * dx + dz * dz;
  const Numeric b = 2 * (dx * (xl - xc) + dz * (zl - zc));
  const Numeric c =
      xc * xc + zc * zc + xl * xl + zl * zl - 2 * (xc * xl + zc * zl) - r * r;
 
  Numeric d = b * b - 4 * a * c;
  ARTS_ASSERT(d > 0);
 
  const Numeric a2 = 2 * a;
  const Numeric b2 = -b / a2;
  const Numeric e = sqrt(d) / a2;
 
  const Numeric l1 = b2 + e;
  const Numeric l2 = b2 - e;
 
  Numeric l;
  if (l1 < 0) {
    l = l2;
  } else if (l2 < 0) {
    l = l1;
  } else {
    l = min(l1, l2);
    ARTS_ASSERT(l >= 0);
  }
 
  x = xl + l * dx;
  z = zl + l * dz;
}
 
 
void pol2cart(Numeric& x, Numeric& z, const Numeric& r, const Numeric& lat) {
  ARTS_ASSERT(r > 0);
 
  const Numeric latrad = DEG2RAD * lat;
 
  x = r * cos(latrad);
  z = r * sin(latrad);
}
 
 
void poslos2cart(Numeric& x,
                 Numeric& z,
                 Numeric& dx,
                 Numeric& dz,
                 const Numeric& r,
                 const Numeric& lat,
                 const Numeric& za) {
  ARTS_ASSERT(r > 0);
  ARTS_ASSERT(za >= -180 && za <= 180);
 
  const Numeric latrad = DEG2RAD * lat;
  const Numeric zarad = DEG2RAD * za;
 
  const Numeric coslat = cos(latrad);
  const Numeric sinlat = sin(latrad);
  const Numeric cosza = cos(zarad);
  const Numeric sinza = sin(zarad);
 
  // This part as pol2cart but uses local variables
  x = r * coslat;
  z = r * sinlat;
 
  const Numeric dr = cosza;
  const Numeric dlat = sinza;  // r-term cancel out below
 
  dx = coslat * dr - sinlat * dlat;
  dz = sinlat * dr + coslat * dlat;
}
 
/*===========================================================================
  === 3D functions
  ===========================================================================*/
 
 
void cart2poslos(Numeric& r,
                 Numeric& lat,
                 Numeric& lon,
                 Numeric& za,
                 Numeric& aa,
                 const Numeric& x,
                 const Numeric& y,
                 const Numeric& z,
                 const Numeric& dx,
                 const Numeric& dy,
                 const Numeric& dz,
                 const Numeric& ppc,
                 const Numeric& x0,
                 const Numeric& y0,
                 const Numeric& z0,
                 const Numeric& lat0,
                 const Numeric& lon0,
                 const Numeric& za0,
                 const Numeric& aa0) {
  // Radius of new point
  r = sqrt(x * x + y * y + z * z);
 
  // Zenith and nadir cases
  if (za0 < ANGTOL || za0 > 180 - ANGTOL) {
    lat = lat0;
    lon = lon0;
    za = za0;
    aa = aa0;
  }
 
  else {
    lat = RAD2DEG * asin(z / r);
    lon = RAD2DEG * atan2(y, x);
 
    bool ns_case = false;
    bool lon_flip = false;
 
    // Make sure that lon is maintained for N-S cases (if not
    // starting on a pole)
    if ((abs(aa0) < ANGTOL || abs(180 - aa0) < ANGTOL) &&
        abs(lat0) <= POLELAT) {
      ns_case = true;
      // Check that not lon changed with 180 deg
      if (abs(abs(lon - lon0) - 180) < 5) {
        lon_flip = true;
        if (lon0 > 0) {
          lon = lon0 - 180;
        } else {
          lon = lon0 + 180;
        }
      } else {
        lon = lon0;
      }
    }
 
    const Numeric latrad = DEG2RAD * lat;
    const Numeric lonrad = DEG2RAD * lon;
    const Numeric coslat = cos(latrad);
    const Numeric sinlat = sin(latrad);
    const Numeric coslon = cos(lonrad);
    const Numeric sinlon = sin(lonrad);
 
    // Set za by ppc for max accuracy, but this does not resolve
    // za and 180-za. This was first resolved by dr, but using l and lmax was
    // found to be more stable.
    za = RAD2DEG * asin(ppc / r);
 
    // Correct and check za
    if (std::isnan(za)) {
      za = 90;
    }
    // If za0 > 90, then correct za could be 180-za. Resolved by checking if
    // the tangent point is passed or not
    if (za0 > 90) {
      const Numeric l =
          sqrt(pow(x - x0, 2.0) + pow(y - y0, 2.0) + pow(z - z0, 2.0));
      const Numeric r0 = sqrt(x0 * x0 + y0 * y0 + z0 * z0);
      const Numeric ltan = geompath_l_at_r(ppc, r0);
      if (l < ltan) {
        za = 180.0 - za;
      }
    }
 
    // For lat = +- 90 the azimuth angle gives the longitude along which
    // the LOS goes
    if (abs(lat) >= POLELAT) {
      aa = RAD2DEG * atan2(dy, dx);
    }
 
    // N-S cases, not starting at a pole
    else if (ns_case) {
      if (!lon_flip) {
        aa = aa0;
      } else {
        if (abs(aa0) < ANGTOL) {
          aa = 180;
        } else {
          aa = 0;
        }
      }
    }
 
    else {
      const Numeric dlat = -sinlat * coslon / r * dx -
                           sinlat * sinlon / r * dy + coslat / r * dz;
      const Numeric dlon = -sinlon / coslat / r * dx + coslon / coslat / r * dy;
 
      aa = RAD2DEG * acos(r * dlat / sin(DEG2RAD * za));
 
      if (std::isnan(aa)) {
        if (dlat >= 0) {
          aa = 0;
        } else {
          aa = 180;
        }
      } else if (dlon < 0) {
        aa = -aa;
      }
    }
  }
}
void cart2poslos_plain(Numeric& r,
                       Numeric& lat,
                       Numeric& lon,
                       Numeric& za,
                       Numeric& aa,
                       const Numeric& x,
                       const Numeric& y,
                       const Numeric& z,
                       const Numeric& dx,
                       const Numeric& dy,
                       const Numeric& dz) {
  cart2sph_plain(r, lat, lon, x, y, z);
 
 
  const Numeric latrad = DEG2RAD * lat;
  const Numeric lonrad = DEG2RAD * lon;
  const Numeric coslat = cos(latrad);
  const Numeric sinlat = sin(latrad);
  const Numeric coslon = cos(lonrad);
  const Numeric sinlon = sin(lonrad);
 
  const Numeric dr = coslat*coslon*dx + sinlat*dz + coslat*sinlon*dy;
  const Numeric dlat = -sinlat*coslon/r*dx + coslat/r*dz - sinlat*sinlon/r*dy;
  const Numeric dlon = -sinlon/coslat/r*dx + coslon/coslat/r*dy;
 
  za = acos( dr );
  aa = RAD2DEG * acos( r * dlat / sin( za ) );
  za *= RAD2DEG;
 
  // Corrections of aa
  if (std::isnan(aa)) {
    if (dlat >= 0)
      aa = 0;
    else
      aa = 180;
  } else if (dlon < 0) {
      aa = -aa;
  }
}
 
 
void cart2sph(Numeric& r,
              Numeric& lat,
              Numeric& lon,
              const Numeric& x,
              const Numeric& y,
              const Numeric& z,
              const Numeric& lat0,
              const Numeric& lon0,
              const Numeric& za0,
              const Numeric& aa0) {
  r = sqrt(x * x + y * y + z * z);
 
  // Zenith and nadir cases
  if (za0 < ANGTOL || za0 > 180 - ANGTOL) {
    lat = lat0;
    lon = lon0;
  }
 
  else {
    lat = RAD2DEG * asin(z / r);
    lon = RAD2DEG * atan2(y, x);
 
    // Make sure that lon is maintained for N-S cases (if not
    // starting on a pole)
    if ((abs(aa0) < ANGTOL || abs(180 - aa0) < ANGTOL) &&
        abs(lat0) <= POLELAT) {
      // Check that not lon changed with 180 deg
      if (abs(lon - lon0) < 1) {
        lon = lon0;
      } else {
        if (lon0 > 0) {
          lon = lon0 - 180;
        } else {
          lon = lon0 + 180;
        }
      }
    }
  }
}
void cart2sph_plain(Numeric& r,
                    Numeric& lat,
                    Numeric& lon,
                    const Numeric& x,
                    const Numeric& y,
                    const Numeric& z) {
  r = sqrt(x * x + y * y + z * z);
  lat = RAD2DEG * asin(z / r);
  lon = RAD2DEG * atan2(y, x);
}
 
 
 
 
void distance3D(Numeric& l,
                const Numeric& r1,
                const Numeric& lat1,
                const Numeric& lon1,
                const Numeric& r2,
                const Numeric& lat2,
                const Numeric& lon2) {
  Numeric x1, y1, z1, x2, y2, z2;
  sph2cart(x1, y1, z1, r1, lat1, lon1);
  sph2cart(x2, y2, z2, r2, lat2, lon2);
 
  const Numeric dx = x2 - x1;
  const Numeric dy = y2 - y1;
  const Numeric dz = z2 - z1;
  l = sqrt(dx * dx + dy * dy + dz * dz);
}
 
 
void geompath_tanpos_3d(Numeric& r_tan,
                        Numeric& lat_tan,
                        Numeric& lon_tan,
                        Numeric& l_tan,
                        const Numeric& r,
                        const Numeric& lat,
                        const Numeric& lon,
                        const Numeric& za,
                        const Numeric& aa,
                        const Numeric& ppc) {
  ARTS_ASSERT(za >= 90);
  ARTS_ASSERT(r >= ppc);
 
  Numeric x, y, z, dx, dy, dz;
 
  poslos2cart(x, y, z, dx, dy, dz, r, lat, lon, za, aa);
 
  l_tan = sqrt(r * r - ppc * ppc);
 
  cart2sph(r_tan,
           lat_tan,
           lon_tan,
           x + dx * l_tan,
           y + dy * l_tan,
           z + dz * l_tan,
           lat,
           lon,
           za,
           aa);
}
 
 
/*
void geomtanpoint( 
             Numeric&    r_tan,
             Numeric&    lat_tan,
             Numeric&    lon_tan,
     ConstVectorView    refellipsoid,
       const Numeric&    r,
       const Numeric&    lat,
       const Numeric&    lon,
       const Numeric&    za,
       const Numeric&    aa )
{
  ARTS_ASSERT( refellipsoid.nelem() == 2 );
  ARTS_ASSERT( refellipsoid[0] > 0 );
  ARTS_ASSERT( refellipsoid[1] >= 0 );
  ARTS_ASSERT( refellipsoid[1] < 1 );
  ARTS_ASSERT( r > 0 );
  ARTS_ASSERT( za >= 90 );
 
  if( refellipsoid[1] < 1e-7 )        // e=1e-7 corresponds to that polar radius
    {                                 // less than 1 um smaller than equatorial 
      Numeric   x, y, z, dx, dy, dz;   // one for the Earth
 
      poslos2cart( x, y, z, dx, dy, dz, r, lat, lon, za, aa );
   
      const Numeric ppc   = r * sin( DEG2RAD * abs(za) );
      const Numeric l_tan = sqrt( r*r - ppc*ppc );
   
      cart2sph( r_tan, lat_tan, lon_tan, x+dx*l_tan, y+dy*l_tan, z+dz*l_tan );
    }
 
  else
    {
      // Equatorial and polar radii squared:
      const Numeric a2 = refellipsoid[0]*refellipsoid[0];
      const Numeric b2 = a2 * ( 1 - refellipsoid[1]*refellipsoid[1] ); 
 
      Vector X(3), xunit(3), yunit(3), zunit(3);
 
      poslos2cart( X[0], X[1], X[2], xunit[0], xunit[1], xunit[2], 
                                                         r, lat, lon, za, aa );
      cross( zunit, xunit, X );
      unitl( zunit );                // Normalisation of length to 1
 
      cross( yunit, zunit, xunit );
      unitl( yunit );                // Normalisation of length to 1
 
            Numeric x   = X[0];
            Numeric y   = X[1];
      const Numeric w11 = xunit[0];
      const Numeric w12 = yunit[0];
      const Numeric w21 = xunit[1];
      const Numeric w22 = yunit[1];
      const Numeric w31 = xunit[2];
      const Numeric w32 = yunit[2];
 
      const Numeric yr = X * yunit;
      const Numeric xr = X * xunit;
 
      const Numeric A = (w11*w11 + w21*w21)/a2 + w31*w31/b2;
      const Numeric B = 2.0*((w11*w12 + w21*w22)/a2 + (w31*w32)/b2);
      const Numeric C = (w12*w12 + w22*w22)/a2 + w32*w32/b2;
 
      if( B == 0.0 )
        { x = 0.0; }
      else 
        { 
          const Numeric K      = -2.0*A/B; 
          const Numeric factor = 1.0/(A+(B+C*K)*K);
          x = sqrt(factor);
          y = K*x;
        }
 
      const Numeric dist1 = (xr-X[0])*(xr-X[0]) + (yr-y)*(yr-y);
      const Numeric dist2 = (xr+X[0])*(xr+X[0]) + (yr+y)*(yr+y);
        
      if( dist1 > dist2 )
        { x = -x; }
 
      cart2sph( r_tan, lat_tan, lon_tan, w11*x + w12*yr, w21*x + w22*yr,
                                                         w31*x + w32*yr );
    }
}
*/
 
 
void line_refellipsoid_intersect(Numeric& l,
                                 const Vector& refellipsoid,
                                 const Numeric& x,
                                 const Numeric& y,
                                 const Numeric& z,
                                 const Numeric& dx,
                                 const Numeric& dy,
                                 const Numeric& dz) {
  // Code taken from Atmlab's ellipsoid_intersection
 
  // Spherical case
  if (refellipsoid[1] < 1e-7) {
    const Numeric p  = x*dx + y*dy + z*dz;
    const Numeric pp = p*p;
    const Numeric q = x*x + y*y + z*z - refellipsoid[0]*refellipsoid[0];
    if (q>pp)
      l = -1.0;
    else {
      const Numeric sq = sqrt(pp - q);
      if (-p > sq)
        l = -p - sq;
      else
        l = -p + sq;
    }
  }
 
  // Ellipsoid case
  else {
    // Based on https://medium.com/@stephenhartzell/satellite-line-of-sight-intersection-with-earth-d786b4a6a9b6
    const Numeric a = refellipsoid[0];
    const Numeric b = refellipsoid[0];
    const Numeric c = refellipsoid[0] * sqrt(1-refellipsoid[1]*refellipsoid[1]);
    const Numeric a2 = a*a;
    const Numeric b2 = b*b;
    const Numeric c2 = c*c;
    const Numeric x2 = x*x;
    const Numeric y2 = y*y;
    const Numeric z2 = z*z;
    const Numeric dx2 = dx*dx;
    const Numeric dy2 = dy*dy;
    const Numeric dz2 = dz*dz;
    const Numeric rad = a2*b2*dz2 + a2*c2*dy2 - a2*dy2*z2 + 2*a2*dy*dz*y*z -
                        a2*dz2*y2 + b2*c2*dx2 - b2*dx2*z2 + 2*b2*dx*dz*x*z -
                        b2*dz2*x2 - c2*dx2*y2 + 2*c2*dx*dy*x*y - c2*dy2*x2;
    if (rad<0)
      l = -1.0;
    else {
      const Numeric val = -a2*b2*dz*z - a2*c2*dy*y - b2*c2*dx*x;
      const Numeric mag = a2*b2*dz2 + a2*c2*dy2 + b2*c2*dx2;
      const Numeric abc = a*b*c*sqrt(rad);
      if (val > abc)
        l = (val - abc) / mag;
      else
        l = (val + abc) / mag;
    }
  }
}
 
 
void line_sphere_intersect(Numeric& x,
                           Numeric& y,
                           Numeric& z,
                           const Numeric& xl,
                           const Numeric& yl,
                           const Numeric& zl,
                           const Numeric& dx,
                           const Numeric& dy,
                           const Numeric& dz,
                           const Numeric& xc,
                           const Numeric& yc,
                           const Numeric& zc,
                           const Numeric& r) {
  const Numeric a = dx * dx + dy * dy + dz * dz;
  const Numeric b = 2 * (dx * (xl - xc) + dy * (yl - yc) + dz * (zl - zc));
  const Numeric c = xc * xc + yc * yc + zc * zc + xl * xl + yl * yl + zl * zl -
                    2 * (xc * xl + yc * yl + zc * zl) - r * r;
 
  Numeric d = b * b - 4 * a * c;
  ARTS_ASSERT(d > 0);
 
  const Numeric a2 = 2 * a;
  const Numeric b2 = -b / a2;
  const Numeric e = sqrt(d) / a2;
 
  const Numeric l1 = b2 + e;
  const Numeric l2 = b2 - e;
 
  Numeric l;
  if (l1 < 0) {
    l = l2;
  } else if (l2 < 0) {
    l = l1;
  } else {
    l = min(l1, l2);
    ARTS_ASSERT(l >= 0);
  }
 
  x = xl + l * dx;
  y = yl + l * dy;
  z = zl + l * dz;
}
 
 
void latlon_at_aa(Numeric& lat2,
                  Numeric& lon2,
                  const Numeric& lat1,
                  const Numeric& lon1,
                  const Numeric& aa,
                  const Numeric& ddeg) {
  // Code from http://www.movable-type.co.uk/scripts/latlong.html
  // (but with short-cuts, such as asin(sin(lat2)) = lat2)
  // Note that lat1 here is another latitude
 
  const Numeric dang = DEG2RAD * ddeg;
  const Numeric cosdang = cos(dang);
  const Numeric sindang = sin(dang);
  const Numeric latrad = DEG2RAD * lat1;
  const Numeric coslat = cos(latrad);
  const Numeric sinlat = sin(latrad);
  const Numeric aarad = DEG2RAD * aa;
 
  lat2 = sinlat * cosdang + coslat * sindang * cos(aarad);
  lon2 = lon1 + RAD2DEG * (atan2(sin(aarad) * sindang * coslat,
                                 cosdang - sinlat * lat2));
  lat2 = RAD2DEG * asin(lat2);
}
 
 
void los2xyz(Numeric& za,
             Numeric& aa,
             const Numeric& r1,
             const Numeric& lat1,
             const Numeric& lon1,
             const Numeric& x1,
             const Numeric& y1,
             const Numeric& z1,
             const Numeric& x2,
             const Numeric& y2,
             const Numeric& z2) {
  Numeric dx = x2 - x1, dy = y2 - y1, dz = z2 - z1;
  const Numeric ldxyz = sqrt(dx * dx + dy * dy + dz * dz);
  dx /= ldxyz;
  dy /= ldxyz;
  dz /= ldxyz;
 
  // All below extracted from 3D version of cart2poslos:
  const Numeric latrad = DEG2RAD * lat1;
  const Numeric lonrad = DEG2RAD * lon1;
  const Numeric coslat = cos(latrad);
  const Numeric sinlat = sin(latrad);
  const Numeric coslon = cos(lonrad);
  const Numeric sinlon = sin(lonrad);
 
  const Numeric dr = coslat * coslon * dx + coslat * sinlon * dy + sinlat * dz;
  const Numeric dlat =
      -sinlat * coslon / r1 * dx - sinlat * sinlon / r1 * dy + coslat / r1 * dz;
  const Numeric dlon = -sinlon / coslat / r1 * dx + coslon / coslat / r1 * dy;
 
  za = RAD2DEG * acos(dr);
  aa = RAD2DEG * acos(r1 * dlat / sin(DEG2RAD * za));
  if (std::isnan(aa)) {
    if (dlat >= 0) {
      aa = 0;
    } else {
      aa = 180;
    }
  } else if (dlon < 0) {
    aa = -aa;
  }
}
 
 
void poslos2cart(Numeric& x,
                 Numeric& y,
                 Numeric& z,
                 Numeric& dx,
                 Numeric& dy,
                 Numeric& dz,
                 const Numeric& r,
                 const Numeric& lat,
                 const Numeric& lon,
                 const Numeric& za,
                 const Numeric& aa) {
  ARTS_ASSERT(r > 0);
  ARTS_ASSERT(abs(lat) <= 90);
  //ARTS_ASSERT( abs( lon ) <= 360 );
  ARTS_ASSERT(za >= 0 && za <= 180);
 
  // lat = +-90
  // For lat = +- 90 the azimuth angle gives the longitude along which the
  // LOS goes
  if (abs(lat) > POLELAT) {
    const Numeric s = sign(lat);
 
    x = 0;
    y = 0;
    z = s * r;
 
    dz = s * cos(DEG2RAD * za);
    dx = sin(DEG2RAD * za);
    dy = dx * sin(DEG2RAD * aa);
    dx = dx * cos(DEG2RAD * aa);
  }
 
  else {
    const Numeric latrad = DEG2RAD * lat;
    const Numeric lonrad = DEG2RAD * lon;
    const Numeric zarad = DEG2RAD * za;
    const Numeric aarad = DEG2RAD * aa;
 
    const Numeric coslat = cos(latrad);
    const Numeric sinlat = sin(latrad);
    const Numeric coslon = cos(lonrad);
    const Numeric sinlon = sin(lonrad);
    const Numeric cosza = cos(zarad);
    const Numeric sinza = sin(zarad);
    const Numeric cosaa = cos(aarad);
    const Numeric sinaa = sin(aarad);
 
    // This part as sph2cart but uses local variables
    x = r * coslat;  // Common term for x and y
    y = x * sinlon;
    x = x * coslon;
    z = r * sinlat;
 
    const Numeric dr = cosza;
    const Numeric dlat = sinza * cosaa;  // r-term cancel out below
    const Numeric dlon = sinza * sinaa / coslat;
 
    dx = coslat * coslon * dr - sinlat * coslon * dlat - coslat * sinlon * dlon;
    dz = sinlat * dr + coslat * dlat;
    dy = coslat * sinlon * dr - sinlat * sinlon * dlat + coslat * coslon * dlon;
  }
}
 
 
Numeric pos2refell_r(const Index& atmosphere_dim,
                     ConstVectorView refellipsoid,
                     ConstVectorView lat_grid,
                     ConstVectorView lon_grid,
                     ConstVectorView rte_pos) {
  if (atmosphere_dim == 1) {
    return refellipsoid[0];
  } else {
    ARTS_ASSERT(rte_pos.nelem() > 1);
 
    bool inside = true;
 
    if (rte_pos[1] < lat_grid[0] || rte_pos[1] > last(lat_grid)) {
      inside = false;
    } else if (atmosphere_dim == 3) {
      ARTS_ASSERT(rte_pos.nelem() == 3);
      if (rte_pos[2] < lon_grid[0] || rte_pos[2] > last(lon_grid)) {
        inside = false;
      }
    }
 
    if (inside) {
      GridPos gp_lat;
      gridpos(gp_lat, lat_grid, rte_pos[1]);
      return refell2d(refellipsoid, lat_grid, gp_lat);
    } else {
      return refell2r(refellipsoid, rte_pos[1]);
    }
  }
}
 
 
Numeric refell2r(ConstVectorView refellipsoid, const Numeric& lat) {
  ARTS_ASSERT(refellipsoid.nelem() == 2);
  ARTS_ASSERT(refellipsoid[0] > 0);
  ARTS_ASSERT(refellipsoid[1] >= 0);
  ARTS_ASSERT(refellipsoid[1] < 1);
 
  if (refellipsoid[1] < 1e-7)  // e=1e-7 corresponds to that polar radius
  {                            // less than 1 um smaller than equatorial
    return refellipsoid[0];    // one for the Earth
  }
 
  else {
    const Numeric c = 1 - refellipsoid[1] * refellipsoid[1];
    const Numeric b = refellipsoid[0] * sqrt(c);
    const Numeric v = DEG2RAD * lat;
    const Numeric ct = cos(v);
    const Numeric st = sin(v);
 
    return b / sqrt(c * ct * ct + st * st);
  }
}
 
 
Numeric refell2d(ConstVectorView refellipsoid,
                 ConstVectorView lat_grid,
                 const GridPos gp) {
  if (gp.fd[0] == 0)
    return refell2r(refellipsoid, lat_grid[gp.idx]);
  else if (gp.fd[0] == 1)
    return refell2r(refellipsoid, lat_grid[gp.idx + 1]);
  else
    return gp.fd[1] * refell2r(refellipsoid, lat_grid[gp.idx]) +
           gp.fd[0] * refell2r(refellipsoid, lat_grid[gp.idx + 1]);
}
 
 
Numeric sphdist(const Numeric& lat1,
                const Numeric& lon1,
                const Numeric& lat2,
                const Numeric& lon2) {
  // Equations taken from http://www.movable-type.co.uk/scripts/latlong.html
  const Numeric slat = sin(DEG2RAD * (lat2 - lat1) / 2.0);
  const Numeric slon = sin(DEG2RAD * (lon2 - lon1) / 2.0);
  const Numeric a =
      slat * slat + cos(DEG2RAD * lat1) * cos(DEG2RAD * lat2) * slon * slon;
 
  return RAD2DEG * 2 * atan2(sqrt(a), sqrt(1 - a));
}
 
 
void sph2cart(Numeric& x,
              Numeric& y,
              Numeric& z,
              const Numeric& r,
              const Numeric& lat,
              const Numeric& lon) {
  ARTS_ASSERT(r > 0);
  ARTS_ASSERT(abs(lat) <= 90);
  ARTS_ASSERT(abs(lon) <= 360);
 
  const Numeric latrad = DEG2RAD * lat;
  const Numeric lonrad = DEG2RAD * lon;
 
  x = r * cos(latrad);  // Common term for x and z
  y = x * sin(lonrad);
  x = x * cos(lonrad);
  z = r * sin(latrad);
}
 
 
 
/*===========================================================================
  === Fixes for longitudes
  ===========================================================================*/
 
 
void lon_shiftgrid(Vector& longrid_out,
                   ConstVectorView longrid_in,
                   const Numeric lon) {
  longrid_out = longrid_in;
  if (longrid_in[longrid_in.nelem() - 1] >= lon + 360.)
    longrid_out += -360.;
  else if (longrid_in[0] <= lon - 360.)
    longrid_out += 360.;
}
 
/* This function wraps around the given latitude and longitude coordinates
 *  to the ranges
 * - lat in [-90.0, 90.0]
 * - lon in [0.0, 360.0]
 * Only in the range [-180.0, 180.0] are accepted otherwise an error will
 * be thrown
 *
 * \param[in, out] lat The latitude coordinate.
 * \param[in, out] lon The longitude coordiante.
 *
 * \author Simon Pfreundschuh
 * \date   2018-05-22
*/
void cycle_lat_lon(Numeric& lat, Numeric& lon) {
  ARTS_USER_ERROR_IF (lat < -180.0,
                      "Latitude values < -180.0 are not supported.");
  ARTS_USER_ERROR_IF (lat > 180.0,
                      "Latitude values > 180.0 are not supported.");
 
  if (lat < -90.0) {
    lat = -180.0 - lat;
    lon += 180.0;
  }
  if (lat > 90.0) {
    lat = 180.0 - lat;
    lon += 180.0;
  }
 
  while (lon < 0.0) {
    lon += 360.0;
  }
  while (lon > 360.0) {
    lon -= 360.0;
  }
}
 
 
 
/*===========================================================================
  === Functions involving geodetic latitudes (based on functions in Atmlab)
  ===========================================================================*/
 
/* 
 * \param[out]  h   Geodetic altitude
 * \param[out]  la  Geodetic latitude
 * \param[out]  lon Longitude
 * \param[in] x   x-coordinate (ECEF)
 * \param[in] y   y-coordinate (ECEF)
 * \param[in] z   z-coordinate (ECEF)
 * \param[in]  refellipsoid As the WSV with the same name.
 *
 * \author Patrick Eriksson
 * \date   2020-09-17
*/
void cart2geodetic(Numeric& h,
                   Numeric& lat,
                   Numeric& lon,
                   const Numeric& x,
                   const Numeric& y,
                   const Numeric& z,
                   const Vector& refellipsoid ) {
  // Use geocentric function if geoid is spherical
  if (refellipsoid[1] < 1e-7)
    { Numeric r;
      cart2sph_plain(r, lat, lon, x, y, z);
      h = r - refellipsoid[0];
    }
  else
    {
      lon = RAD2DEG * atan2(y,x);
 
      const Numeric sq = sqrt(x*x+y*y);
      Numeric B0 = atan2(z,sq);
      Numeric B = B0-1, N;
      const Numeric e2 = refellipsoid[1]*refellipsoid[1];
      
      while (abs(B-B0)>1e-10) {
        N = refellipsoid[0] / sqrt(1-e2*sin(B0)*sin(B0));
        h = sq / cos(B0) - N;
        B = B0;
        B0 = atan((z/sq) * 1/(1-e2*N/(N+h)));
      }
      lat = RAD2DEG * B;
    }
}
 
 
 
/* 
 * \param[out] x   x-coordinate (ECEF)
 * \param[out] y   y-coordinate (ECEF)
 * \param[out] z   z-coordinate (ECEF)
 * \param[in]  h   Geodetic altitude
 * \param[in]  lat Geodetic latitude
 * \param[in]  lon Longitude
 * \param[in]  refellipsoid As the WSV with the same name.
 *
 * \author Patrick Eriksson
 * \date   2020-09-17
*/
void geodetic2cart(Numeric& x,
                   Numeric& y,
                   Numeric& z,
                   const Numeric& h,
                   const Numeric& lat,
                   const Numeric& lon,
                   const Vector& refellipsoid ) {
  // Use geocentric function if geoid is spherical
  if (refellipsoid[1] < 1e-7)
    { sph2cart(x, y, z, h+refellipsoid[0], lat, lon); }
  else
    {
      const Numeric a = refellipsoid[0];
      const Numeric e2 = refellipsoid[1]*refellipsoid[1];
      const Numeric sinlat = sin(DEG2RAD*lat);
      const Numeric coslat = cos(DEG2RAD*lat);
      const Numeric N = a / sqrt(1 - e2*sinlat*sinlat);
 
      x = (N + h) * coslat * cos(DEG2RAD*lon);
      y = (N + h) * coslat * sin(DEG2RAD*lon);
      z = (N*(1 - e2) + h) * sinlat;
    }
}
 
 
 
 
void geodeticposlos2cart(Numeric& x,
                         Numeric& y,
                         Numeric& z,
                         Numeric& dx,
                         Numeric& dy,
                         Numeric& dz,
                         const Numeric& h,
                         const Numeric& lat,
                         const Numeric& lon,
                         const Numeric& za,
                         const Numeric& aa,
                         const Vector& refellipsoid ) {
  ARTS_ASSERT(abs(lat) <= 90);
  ARTS_ASSERT(za >= 0 && za <= 180);
 
  // lat = +-90
  // For lat = +- 90 the azimuth angle gives the longitude along which the
  // LOS goes
  // At the poles, no difference between geocentric and geodetic zenith
  if (abs(lat) > POLELAT) {
    const Numeric s = sign(lat);
 
    x = 0;
    y = 0;
    z = s * (h + refellipsoid[0]*sqrt(1-refellipsoid[1]*refellipsoid[1]));
 
    dz = s * cos(DEG2RAD * za);
    dx = sin(DEG2RAD * za);
    dy = dx * sin(DEG2RAD * aa);
    dx = dx * cos(DEG2RAD * aa);
  }
 
  else {      
    const Numeric coslat = cos(DEG2RAD * lat);
    const Numeric sinlat = sin(DEG2RAD * lat);
    const Numeric coslon = cos(DEG2RAD * lon);
    const Numeric sinlon = sin(DEG2RAD * lon);
 
    geodetic2cart(x, y, z, h, lat, lon, refellipsoid);
 
    Numeric de, dn, du;
    zaaa2enu(de, dn, du, za, aa);  
 
    // See
    // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_ECEF_to_ENU
    dx = -sinlon*de - sinlat*coslon*dn + coslat*coslon*du;  
    dy =  coslon*de - sinlat*sinlon*dn + coslat*sinlon*du;  
    dz =              coslat*       dn + sinlat*       du;  
  }
}
 
 
 
 
void cart2geodeticposlos(Numeric& h,
                         Numeric& lat,
                         Numeric& lon,
                         Numeric& za,
                         Numeric& aa,
                         const Numeric& x,
                         const Numeric& y,
                         const Numeric& z,
                         const Numeric& dx,
                         const Numeric& dy,
                         const Numeric& dz,
                         const Vector& refellipsoid ) {
 
  cart2geodetic(h, lat, lon, x, y, z, refellipsoid );
  
  const Numeric latrad = DEG2RAD * lat;
  const Numeric lonrad = DEG2RAD * lon;
  const Numeric coslat = cos(latrad);
  const Numeric sinlat = sin(latrad);
  const Numeric coslon = cos(lonrad);
  const Numeric sinlon = sin(lonrad);
 
  // See
  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_ECEF_to_ENU
  const Numeric de =        -sinlon*dx +        coslon*dy;  
  const Numeric dn = -sinlat*coslon*dx - sinlat*sinlon*dy + coslat*dz;  
  const Numeric du =  coslat*coslon*dx + coslat*sinlon*dy + sinlat*dz;  
 
  enu2zaaa(za, aa, de, dn, du);
}