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Driving Range Polygon Approaches How to Get Distance Formulas Let φ1, λ1, φ2, λ2 be the geographical latitude and longitude of two points 1 and 2, and ∆φ, ∆λ their absolute differences; then ∆σ, the central angle between them, is given by the spherical law of cosines: ∆σ=arccossinφ1 ·sinφ2 +cosφ1 ·cosφ2 ·cos(∆λ) The distance d, i.e. the arc length, for a sphere of radius r and ∆σ given in radians d = r ∆σ Figure 5.1: An illustration of the central angle,∆σ, between two points, P and Q. λ and φ are the longitudinal and latitudinal angles of P respectively [Wikipedia, 2016]. This method does not give us accurate results for short distances and we can use a better method where rounding error is smaller. 5.3.2 Haversine Formula With this formula can be obtained the great-circle distance with more accurate result. There is implemented the WGS84 Standard to get better results than mentioned in sub- section 5.3.1.The distance between any two points on the earth can be computed by the following equation. 12PDF Image | Driving Range Estimation and Trajectory Planning
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