MAE142_L3_GeoPosition.pdf - Geospatial Position...

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Geospatial Position Earth-Centered Earth-Fixed (ECEF) Frame Local North-East-Down (NED) Frame ECEF to NED Conversion MAE 142
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2 MAE 142 Earth-Centered, Earth-Fixed (ECEF) Frame ECEF (X,Y,Z) has its origin fixed to the center of the Earth. ECEF is fixed to the Earth and rotates with it. X (Prime Meridian) Z Equatorial Plane Latitude Longitude Y
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3 MAE 142 ECEF and Geodetic Conversions Convert from geodetic to ECEF (assuming spherical Earth): Convert from ECEF to geodetic: X = R E h cos cos Y = R E h cos sin Z = R E h sin = latitude = longitude h = altitude (above Earth surface) R E = Earth radius 6367 km tan = Z X 2 Y 2 tan = Y X h = X 2 Y 2 Z 2 R E
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4 MAE 142 North-East-Down (NED) Frame X Y Z N E Local Tangent Plane D
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5 MAE 142 Rotation ECEF to NED Frame The first two rotations have led to the intermediate frame (X', Y', Z') X Y Z Latitude Longitude N = Z' E = Y' D = -X' [ N E D ] = [ 0 0 1 0 1 0 1 0 0 ][ X ' Y ' Z ' ] [ X ' Y ' Z ' ] = T 2 − T 3  [ X Y Z ] = [ cos 0
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