This function returns the axes of the coordinate frame E (Earth-Centered, Earth-Fixed, ECEF).
R_Ee(axes = "e")
Either 'e' or 'E'
rotation matrix defining the axes of the coordinate frame E as described in Table 2 in Gade (2010)
There are two choices of E-axes that are described in Table 2 in Gade (2010):
e: z-axis points to the North Pole and x-axis points to the point where
latitude = longitude = 0. This choice is very common in many fields.
E: x-axis points to the North Pole, y-axis points towards longitude +90deg
(east) and latitude = 0. This choice of axis directions ensures
that at zero latitude and longitude, N (North-East-Down) has the
same orientation as E. If roll/pitch/yaw are zero, also B (Body,
forward, starboard, down) has this orientation. In this manner, the
axes of E is chosen to correspond with the axes of N and B.
Kenneth Gade (2010) A Nonsingular Horizontal Position Representation. The Journal of Navigation, Volume 63, Issue 03, pp 395-417, July 2010.
R_Ee()#> [,1] [,2] [,3] #> [1,] 0 0 1 #> [2,] 0 1 0 #> [3,] -1 0 0