Function navtk::navutils::C_n_to_e_h_to_llh

Defined in File navigation.hpp

Function Documentation

Vector3 navtk::navutils::C_n_to_e_h_to_llh(const Matrix3 &C_n_to_e, double h)

Generates position expressed as a vector of latitude, longitude, and height ( \(\textbf{llh}\)) given position represented as \(\textbf{C}_\text{N}^\text{E}\) and \( h\).

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 \(\textbf{C}_\text{N}^\text{E}\), \(h\).