Function common::ecefToLlh

Function Documentation

void common::ecefToLlh(const Eigen::Vector3d &earth_centered_fixed, Eigen::Vector3d *latitude_longitude_height)

Converts from WGS84 earth centered, earth fixed cartesian (ECEF) coordinates (x, y, z) into WGS84 geodetic coordinates (latitude, longitude and height). Analytically closed approach. Reference: “Integrierte Navigationssysteme: Sensordatenfusion, GPS und Inertiale Navigation”, Jan Wendel, 2007, Oldenbourg.

  • earth_centered_earth_fixed[in] Cartesian coordinates (x, y, z) in meter to be converted.

  • latitude_longitude_height[out] Converted geodetic coordinates, passed as (latitude, longitude, height) in [decimal degree, decimal degree, meter].