Function navtk::navutils::llh_to_cen

Defined in File navigation.hpp

Function Documentation

Matrix3 navtk::navutils::llh_to_cen(const Vector3 &Pwgs)

Computes the DCM that rotates a vector from the NED frame to the ECEF frame ( \(\textbf{C}_\text{NED}^\text{ECEF}\)).

This DCM varies as a function of position, which in this function is provided as a (lat, lon, height) vector.

See also

Coordinate Frames for definitions of NED and ECEF frames.

See also

Parameters: Pwgs – Geodetic position defined relative to WGS-84 ellipsoid: length three vector consisting of latitude, longitude, and ellipsoidal height (radians, radians, meters)
Returns: NED-to-ECEF DCM ( \(\textbf{C}_\text{NED}^\text{ECEF}\)).