Function navtk::navutils::C_n_to_e_to_lat_lon_wander
Defined in File navigation.hpp
Function Documentation
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Vector3 navtk::navutils::C_n_to_e_to_lat_lon_wander(const Matrix &C_n_to_e)
Extract the latitude, longitude and wander angle from the N frame to E frame DCM \(\textbf{C}_\text{N}^\text{E}\).
When latitude is at or very close to +/- pi/2, both longitude and wander angle are set to 0 (as they become undefined). Latitude will be between -pi/2 and pi/2.
See also
Coordinate Frames for the definitions of the N and E frames, and how the wander angle is defined. This tutorial also shows how the latitude, longitude, and wander angle are calculated from the \(\textbf{C}_\text{N}^\text{E}\) DCM.
See also
lat_lon_wander_to_C_n_to_e() for the companion function that converts in the opposite direction.
See also
See also
See also
See also
- Parameters
C_n_to_e – The DCM that rotates a vector from the N to E frame: \(\textbf{C}_\text{N}^\text{E}\)
- Returns
A 3-length vector that contains the latitude, longitude and wander angle (radians).