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asgbook's Introduction

(1) Unzip and place the software somewhere. Let's say you have it in 
INSTALL_DIR/autospatialgrids/lakshmanok-asgbook-xyz

(2) Do a web search and install the following software on your computer:
  (2.1) Java 1.6.0_18 or higher
  (2.2) Eclipse 3.5 or higher     [Optional]
  (2.3) Apache Ant 1.6 or higher  [Optional]

From Eclipse:
  (1) Launch Eclipse.  Set its workspace to be $INSTALL_DIR/autospatialgrids
  (2) In Eclipse, File | New | Project | Java Project from Ant build file
        Browse to and select $INSTALL_DIR/autospatialgrids/lakshmanok-asgbook-xyz/build.xml
  (3) Now you can right-click on any file with a "main" method and run it
      as a Java application

From Ant (on command-line):
  (1) Compile the software by typing:
             ant build
  (2) Run any class with a "main" method as follows (shown for the KalmanFilter as an example):
       java -cp build:lib/Jama-1.0.2.jar edu.ou.asgbook.motion.KalmanFilter

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asgbook's Issues

Question about effective earth radius in distanceInKms

At line

double R=a * (1-esq)/Math.pow(sq(1-esq*(Math.sin(lat0))),1.5);

of the function distanceInKms, the effective earth radius is computed as:

R = a * (1-esq)/Math.pow(sq(1-esq*(Math.sin(lat0))),1.5);

where sq is the squared number (sq(x) = x*x), lat0 is the mean of the two input latitude, a is the semi major axis of the ellipsoid model WGS-84.

I am expecting the radius to be equal to a = 6378.137 when lat0 = 0, i.e. when both points are on the equator. Or I am expecting the denominator to be equal to (1-esq). With the sin dependency factor, this is not the case, and so when both points are on the equators, the effective radius is 6335.439

How is that possible?
Also where is the formula coming from? The resource cited is the Snyder 1987, though it would help to know the page where this formula is taken.

Thanks

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