Function common::getRotationMatrixEcefToNed

Function Documentation

void common::getRotationMatrixEcefToNed(double lat_rad, double lon_rad, Eigen::Matrix3d *R_NED_ECEF)

Calculate rotation matrix from north-east-down coordinates to earth centered, earth fixed coordiantes. Reference: E.g. European Space Agency http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates.

Parameters
  • [in] lat_rad: Latitude in radian.

  • [in] lon_rad: Longitude in radian.

  • [out] R_NED_ECEF: Rotation matrix from ECEF to NED coordinates.