Function navtk::navutils::wander_to_C_enu_to_n

Function Documentation

Matrix3 navtk::navutils::wander_to_C_enu_to_n(double wander)

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

When wander = 0 this is equivalent to the identity matrix.

An arbitrary vector \(\textbf{w}\) expressed in the ENU frame can be rotated to the N frame according to

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

See also

Coordinate Frames for the definitions of the ENU and N frames, and how the wander angle is defined.

See also

wander_to_C_ned_to_n()

See also

wander_to_C_ned_to_l()

Parameters

wander – Wander angle (radians)

Returns

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