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I am trying to write a C++ code to convert from ECEF format to a local radar reference format but struggling regarding how to go about it I am new to these things and have almost no idea about GIS.

This is a sample of ECEF data which I receive

time        x           y           z               vx          vy              vz          ax          ay      az  
1596825195  882133.0625 6502618     1310634.125     1470.909546 -1591.770264    512.281555  0           0       0   
1596825195  882133.0625 6502618     1310634.125     1470.909546 -1591.770264    512.281555  0           0       0
1596855557  883521      6501689.5   1311091.375     1496.017334 -1573.115234    499.075745  -0.031277   -0.3276 0.155413

here x, y, z are the position coordinates of the target

vx, vy, vz are speed components of the target

ax, ay, az are the acceleration components of the target

The same converted to Local reference, when provided with the radar coordinates, gives the following sample

Time        Range       Azimuth     Evelat  Height      Velocity    Range_Rate
1596825195  591.705     113.96      29.788  314.47      2227.047    -2227.047
1596825195  591.705     113.96      29.788  314.47      2227.047    -2227.047
1596855557  590.02      113.97      29.825  313.842     2227.518    -2227.249

Can anyone help me with the C++ or C# or Java code of the conversion please.

Dev_S
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  • here almost duplicate QA [Representing Points on a Circular Radar Math approach](https://stackoverflow.com/a/24404784/2521214) also note that positions are converted using `w=1` and direction vectors like speed and acceleration with `w=0` – Spektre Jul 18 '21 at 05:30

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