Expand description
Reference ellipsoids, geodetic and Earth-centered Earth-fixed (ECEF) coordinates.
Formulas and sources are in docs/physics/geodesy.md; frame conventions in
docs/physics/frames.md.
- Geodetic to ECEF: NGA.STND.0036_1.0.0_WGS84 (2014), eqs. 4-14 and 4-15.
- ECEF to geodetic: C. F. F. Karney, Geodesics on an ellipsoid of revolution,
arXiv:1102.1215v1 (2011), appendix B, eqs. B1 to B5: Vermeille’s closed form, extended by
Karney to be valid everywhere except in the equatorial plane within
a e²(about 43 km) of the Earth’s center.
Structs§
- Ellipsoid
- A reference ellipsoid of revolution, oblate or spherical.
- Geodetic
- A geodetic position on an ellipsoid.
Functions§
- ecef_
from_ enu_ rotation - The rotation whose columns are the East, North and Up unit vectors at
point, resolved in ECEF. It maps ENU components to ECEF components; its transpose maps back.