Function navtk::navutils::lat_lon_wander_to_C_n_to_e

Function Documentation

Matrix3 navtk::navutils::lat_lon_wander_to_C_n_to_e(double lat, double lon, double wander = 0.0)

Generates a DCM \(\textbf{C}_\text{N}^\text{E}\) that can be used to rotate a vector from the N frame to the E frame given a specified latitude, longitude, and wander angle.

When wander = 0 this is equivalent to \(\textbf{C}_\text{ENU}^\text{E}\). When wander = 0 and lat = 0 and lon = 0, this is equivalent to the identity matrix.

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 N and E frames, and how the wander angle is defined.

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

ecef_wander_to_C_n_to_e_h()

Parameters

  • lat – latitude (radians)

  • lon – longitude (radians)

  • wander – Wander angle (radians)

Returns

The DCM that rotates a vector from the N to E frame: \(\textbf{C}_\text{N}^\text{E}\).