Function navtk::navutils::ecef_wander_to_C_n_to_e_h

Function Documentation

std::pair<Matrix3, double> navtk::navutils::ecef_wander_to_C_n_to_e_h(const Vector3 &ecef_pos, double wander = 0.0)

Generates position expressed as \(\textbf{C}_\text{N}^\text{E}\), \( h\) given an ECEF position and (optional) wander angle.

The height \( h\) is the height above the WGS-84 ellipsoid, and an arbitrary vector \(\textbf{w}\) expressed in the N frame can be rotated to the E frame according to

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

See also

Coordinate Frames for the definitions of the ECEF, N and E frames and how the wander angle is defined. This tutorial also describes how position is espressed as \(\textbf{C}_\text{N}^\text{E}\) \(, h\).

See also

C_n_to_e_h_to_llh()

See also

C_n_to_e_h_to_ecef()

See also

C_n_to_e_to_wander()

See also

C_n_to_e_to_lat_lon_wander()

See also

lat_lon_wander_to_C_n_to_e()

Parameters

  • ecef_pos – ECEF position vector (meters)

  • wander – (optional) Wander angle (radians)

Returns

A pair containing \(\textbf{C}_\text{N}^\text{E}\) (unitless) and \( h\) (meters).