Function navtk::navutils::d_ecef_to_llh_wrt_ecef

• Defined in File derivatives.hpp

Function Documentation

Matrix3 navtk::navutils::d_ecef_to_llh_wrt_ecef(const Vector3 &ecef)

Derivative of the ecef_to_llh() navutils function wrt ecef.

Since ecef_to_llh() is an iterative function and not directly invertible, this isn’t a true deterministic derivative (it is derived from the ecef_to_llh() function) and tends to be inaccurate along the bottom row (alt term), but the effective error is low (about < 1e-6 m/m).

Parameters

ecef – XYZ ECEF coordinates, in meters.

Returns

Derivative of ecef_to_llh() wrt and evaluated at ecef.