enu2ecef

ahrs.common.frames.enu2ecef(east: float, north: float, up: float, lat: float, lon: float, h: float, a: float = 6378137.0, b: float = 6356752.3142) → ndarray

Transforms the local east-north-up (ENU) Cartesian coordinates specified by east, north, and up to the geocentric Earth-centered Earth-fixed (ECEF) Cartesian coordinates.

Parameters:

• east (float) – East.

• north (float) – North.

• up (float) – Up.

• lat (float) – Latitude.

• lon (float) – Longitude.

• h (float) – Height above ellipsoidal surface, in kilometers.

• a (float, default: 6378137.0) – Ellipsoid’s equatorial radius (semi-major axis), in meters. Defaults to Earth’s.

• ecc (float, default: 8.1819190842622e-2) – Ellipsoid’s first eccentricity. Defaults to Earth’s.

Returns:

ecef – ECEF cartesian coordinates.

Return type:

numpy.ndarray