Function navtk::navutils::wander_to_C_ned_to_l

Function Documentation

Matrix3 navtk::navutils::wander_to_C_ned_to_l(double wander)

Generates a DCM \(\textbf{C}_\text{NED}^\text{L}\) that can be used to rotate a vector from the NED frame to the L frame given a specified wander angle.

When wander = 0 this is equivalent to the identity matrix.

An arbitrary vector \(\textbf{w}\) expressed in the NED frame can be rotated to the L frame according to

\(\textbf{w}^\text{L}=\textbf{C}_\text{NED}^\text{L}\textbf{w}^\text{NED}\)

See also

Coordinate Frames for the definitions of the NED and L frames, and how the wander angle is defined.

See also

wander_to_C_ned_to_n()

See also

wander_to_C_enu_to_n()

Parameters

wander – Wander angle (radians)

Returns

The DCM that rotates a vector from the NED to L frame: \(\textbf{C}_\text{NED}^\text{L}\),