Function navtk::navutils::d_cne_wrt_k

• Defined in File derivatives.hpp

Function Documentation

Matrix3 navtk::navutils::d_cne_wrt_k(const Vector3 &dk, const Vector3 &llh)

Derivative of ECEF to NED DCM wrt one element of ECEF vector.

Parameters

• dk – Derivative of ecef_to_llh() with respect to ecef x, y or z; obtainable by selecting the correct column of d_ecef_to_llh_wrt_ecef() return value (0 for x, 1, for y, 2 for z).

• llh – Latitude, longitude and HAE (rad, rad, meters).

Returns

Derivative of ECEF to NED DCM wrt ECEF x, y or z coordinate, depending on the value of dk.