Function navtk::navutils::C_ecef_to_e

• Defined in File navigation.hpp

Function Documentation

Matrix3 navtk::navutils::C_ecef_to_e()

Generates a DCM \(\textbf{C}_\text{ECEF}^\text{E}\) that can be used to rotate a vector from the ECEF frame to the E frame.

This matrix is a constant and has the values

\( \textbf{C}_\text{ECEF}^\text{E} = \begin{bmatrix} 0 & 1 & 0\\ 0 & 0 & 1\\ 1 & 0 & 0 \end{bmatrix} \)

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

\(\textbf{w}^\text{E}=\textbf{C}_\text{ECEF}^\text{E}\textbf{w}^\text{ECEF}\)

See also

Coordinate Frames for the definitions of the ECEF and E frames.

Returns

\(\textbf{C}_\text{ECEF}^\text{E}\) DCM.