Function navtk::navutils::local_level_to_ecef

Function Documentation

Vector3 navtk::navutils::local_level_to_ecef(const Vector3 &P0e, const Vector3 &Pn)

Convert fixed local-level NED frame location to ECEF location.

In general, an NED frame is defined as a local-level frame at a specified location. In this function, the location of the origin of the NED frame is expressed in ECEF coordinates as \(\textbf{p}_0^{\text{ECEF}}\). Specifying \(\textbf{p}_0^{\text{ECEF}}\) creates a local-level NED frame at that location, which we will call the \(\text{NED}_{\textbf{p}_0}\) frame.

This function converts the position of an arbitrary point in the NED frame ( \(\textbf{p}^{\text{NED}_{\textbf{p}_0}}\)) to a representation of that same point coordinatized in the ECEF frame ( \(\textbf{p}^{\text{ECEF}}\)). Note that this more than just a rotation from NED to ECEF. There is also a translation to accommodate the different origins of the two coordinate frames ( \(\text{ECEF}\) and \(\text{NED}_{\textbf{p}_0}\)).

See also

Coordinate Frames for more definitions of NED and ECEF frames.

See also

ecef_to_local_level() for the companion function that converts in the opposite direction.

Parameters

  • P0e – \(\text{NED}_{\textbf{p}_0}\) frame origin expressed in ECEF coordinates (meters) = \(\textbf{p}_0^{\text{ECEF}}\)

  • Pn – Location of point in NED frame (meters) = \(\textbf{p}^{\text{NED}_{\textbf{p}_0}}\)

Returns

Location of Pn expressed in the ECEF frame ( \(\textbf{p}_0^{\text{ECEF}}\)).