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ECEF-to-NED initial latitude? #30

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katiska opened this issue Jul 6, 2017 · 0 comments
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ECEF-to-NED initial latitude? #30

katiska opened this issue Jul 6, 2017 · 0 comments

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@katiska
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katiska commented Jul 6, 2017

In GeodeticConverter::initializeReference() the ecef_to_ned_matrix_ is defined using double phiP = atan2(initial_ecef_z_, sqrt(pow(initial_ecef_x_, 2) + pow(initial_ecef_y_, 2))); as the latitude.

Doesn't this imply a geocentric latitude instead of geodetic latitude? Why isn't the geodetic initial_latitude_ used, like in the reverse ned_to_ecef_matrix_?
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@katiska @marija-p