Calculate the rotation matrix (direction cosine matrix) R_EL using n-vector (n_E) and the wander azimuth angle. When wander_azimuth = 0, we have that N = L (See Table 2 in Gade (2010) for details)

n_E_and_wa2R_EL(n_E, wander_azimuth)

Arguments

n_E

n-vector decomposed in E (3x1 vector) (no unit)

wander_azimuth

The angle between L's x-axis and north, positive about L's z-axis (rad)

Value

The resulting rotation matrix (3x3) (no unit)

References

Kenneth Gade A Nonsingular Horizontal Position Representation. The Journal of Navigation, Volume 63, Issue 03, pp 395-417, July 2010.

See also

Examples

# Calculates the rotation matrix (direction cosine matrix) R_EL # using n-vector (n_E) and the wander azimuth angle. n_E <- c(1, 0, 0) (R_EL <- n_E_and_wa2R_EL(n_E, wander_azimuth = pi / 2))
#> [,1] [,2] [,3] #> [1,] 0.000000e+00 0.000000e+00 -1 #> [2,] 1.000000e+00 6.123234e-17 0 #> [3,] 6.123234e-17 -1.000000e+00 0