ENU to body and NED to body

PHOTO EMBED

Wed Jul 12 2023 20:10:54 GMT+0000 (Coordinated Universal Time)

Saved by @zerix #python

//ENU to body frame

[[cos(theta)*cos(psi), cos(theta)*sin(psi), -sin(theta)],
 [-sin(phi)*sin(theta)*cos(psi) + cos(phi)*sin(psi), sin(phi)*sin(theta)*sin(psi) + cos(phi)*cos(psi), sin(phi)*cos(theta)],
 [cos(phi)*sin(theta)*cos(psi) + sin(phi)*sin(psi), -cos(phi)*sin(theta)*sin(psi) + sin(phi)*cos(psi), cos(phi)*cos(theta)]]


//NED to body frame

[[cos(theta)*cos(psi), -cos(theta)*sin(psi), sin(theta)],
 [sin(phi)*sin(theta)*cos(psi) + cos(phi)*sin(psi), -sin(phi)*sin(theta)*sin(psi) + cos(phi)*cos(psi), -sin(phi)*cos(theta)],
 [-cos(phi)*sin(theta)*cos(psi) + sin(phi)*sin(psi), cos(phi)*sin(theta)*sin(psi) + sin(phi)*cos(psi), cos(phi)*cos(theta)]]
content_copyCOPY