EE 570: Location and Navigation: Theory &

Practice
Navigation Mathematics

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 1 of 15
Navigation Mathematics :
Coordinate Frame Transformations

Determine the detailed kinematic relationships

between the 4 major frames of interest
The Earth-Centered Inertial (ECI) Coordinate Frame (i-
frame)
The Earth-Centered Earth-Fixed (ECEF) Coordinate Frame
(e-frame)
The Local Navigation (Nav) Coordinate Frame (n-frame)
The Body Coordinate Frame (b-frame)

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 2 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECI/ECEF

Relationship Between the ECI and ECEF Frames

ECI & ECEF have co-located origins

The x, y, and z axes of the ECI & ECEF

frames are coincident at time t0
The ECEF frame rotates about the
common z-axis at a fixed rate ()
o Ignoring minor speed variations
(precession & nutation)

(WGS84) which is 15/hr

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 3 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECI/ECEF
The angular velocity and acceleration are:
0 0

ri r&i
wie = 0 wie =
0
wie


0

The angle of rotation is
qie = wie ( t - t0 ) GMST: Greenwich Mean
Sidereal time
= wiet + qGMST
The orientation of frame {e} wrt frame {i} becomes
Cos(qie ) -Sin(qie ) 0

Cei = R( zr ,qie ) =
Sin(
q ie ) Cos(q ie ) 0

NOTE:
=

0 0 1
Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 4 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECEF/Nav

Descriptions wrt the Navigation frame

Orientation of the n-frame the e-frame
Cne = R( zr ,lb ) R( yr , - Lb -90)
Geodetic
Lat and Geodetic
cos ( lb )
- sin ( lb ) 0 - sin ( Lb ) 0 - cos ( Lb ) Lon

sin ( lb )
= cos ( lb ) 0 0 1 0

0 0 1 cos ( Lb )
0 - sin ( Lb )

- sin ( Lb
)-cossLb(cllbb ) --slsin (-lcbL)b clb-cos ( Lb ) cos ( lb )

b

- sin ( L=b
= ) -sinsLb( sllbb ) clcos
b
( l
- c
b ) s
Lb lb -cos ( Lb ) sin ( lb )

cos (
Lb c) L
b
0 0 - sL - sin ( Lb )
b

lb
Lb

Compact Notation:
&

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 5 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECEF/Nav

Angular velocity of the n-frame wrt the e-frame resolved in

the e-frame as a Skew-Symmetric matrix
&
W = Cn
e e
e T
Cn C&ne = Cne Wen
n
= Ween Cne
en
T
& & & &
sLb slb lb - cLb clb Lb -clb lb clb sLb Lb + cLb slb lb & -clb sLb - slb -cLb clb

= -cLb slb L&b - clb sLb l&
b - s & s s L& - c c l&
l
lb b Lb lb b Lb lb b - s s
Lb lb c lb -c s
Lb lb
& &
- s L
Lb b 0 - c L
Lb b c
Lb 0 - s Lb

0 -l& b - cos ( lb ) L&b

&
= l& ( )
0 -w3 w2
b 0 - sin l b Lb

W = w3 0

-w1

cos ( l b ) L& sin ( l ) L&
b b b 0


-w2 w1 0

sin ( lb ) L&b cos ( Lb ) l& b

r r e T re
wene = - cos ( lb ) L&b wenn =
C w =
n en - L&

The angular velocity
l& vector

b

- sin ( Lb ) l&
b b

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 6 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECI/ECEF/Nav
Hence the orientation of the n-frame wrt the i-frame
becomes
cqie -sqie - sLb clb
0 - slb -cLb clb

Cn = Ce Cn =
i i e
sqie cqie - sLb slb
0 clb -cLb slb
0
0 1 cLb 0 - sLb

- sin ( Lb ) cos ( q ie + lb )
- sin ( qie + lb ) - cos ( Lb ) cos ( q ie + lb )

- sin ( Lb ) sin ( qie + lb )
= cos ( qie + lb ) - cos ( Lb ) sin ( q ie + lb )

cos ( Lb ) 0 - sin ( Lb )

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 7 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECI/ECEF/Nav
The angular velocity of the n-frame wrt the i-frame
resolved in the i-frame is:
rr rr r r
wwiniin? ==w weien?wene
wieiie? ++C

0 Cos(qie ) -Sin(qie ) 0 sin ( lb ) L&b

= + &
0
Sin(q ie ) Cos(q ie ) 0 -
cos ( l b ) Lb
&
wie

0 0 1
l b

sin ( qie + lb ) L&b

=- cos ( qie + lb ) L&b
wie + l&
b

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 8 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECEF/Nav

The vector from origin of the e-frame to the n-frame

org resolved in the e-frame (from the last lecture)

(RE + hb ) Cos( Lb )Cos(lb )
re re Origins of the {n} and
reb = ( RE + hb ) Cos( Lb )Sin(lb ) = ren {b} frames are the same

( RE (1 - e ) + hb ) Sin( Lb )
2

The velocity of the n-frame wrt the e-frame resolved

in the e-frame (see handout#1 for proof)
re d re re re re
d r d r
ven = ren = en L&b + en l& d ren &
b + hb
dt d Lb dlb d hb
( RN + hb ) L&b
-Cos(lb )Sin ( Lb ) -Sin (lb ) -Cos( Lb )Cos(lb )

&
= -Sin ( Lb )Sin (lb ) Cos(lb ) -Cos( Lb )Sin (lb )
Cos ( Lb ) ( RE + hb ) lb
Cos( L ) 0 -Sin ( Lb )
-h&
b
b

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 9 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECEF/Nav

Recalling the form of suggests that

( RN + hb ) L&b
re e
Cos( Lb ) ( RE + hb ) lb
ven = Cn &
- &
h
b
rn
= C v?en
e
n

and hence,
( RN + hb ) L&b
rn
Cos( Lb ) ( RE + hb ) lb
ven = &
- &
h
b

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 10 of 15
Navigation Mathematics :
Coordinate Frame Transformations - ECEF/Nav

Restating as
r
( RN + hb ) L&b venn , N
r rn
Cos( Lb ) ( RE + hb ) l&
venn = = v
b en , E
& rn

- hb v
en , D
and recalling that
cos ( Lb ) l&b

r
wenn = - L&b

- sin ( Lb ) lb
&

Suggests that
r
venn , E ( RE + hb )
r r
wenn = -venn , N ( RN + hb )
r
- tan ( Lb ) ven , E ( RE + hb )


n

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 11 of 15
Navigation Mathematics :
Coordinate Frame Transformations Body Frame

Descriptions wrt the Body frame

Orientation of the b-frame the n-frame in terms of relative
yaw(), pitch(q), then roll() angles

Cbn = R( zr , ) R( yr ,q ) R( xr , )

c - s 0 cq 0 sq
1 0 0

=
s c 0 0
1 0 0 c
- s

0 0 1
- sq
0 cq 0 s
c

cq c c sq s - c s c c sq + s s

=cq s c c + sq s s c sq s - c s
- sq cq s cq c

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 12 of 15
Navigation Mathematics :
Coordinate Frame Transformations Body Frame

The angular velocity of the b-frame wrt the i-frame

resolved/coordinatized in the i-frame
ri ri i rn
wib = win + Cn wnb
ri i re i rn
= wie + Ce wen + Cn wnb

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 13 of 15
Navigation Mathematics :
Coordinate Frame Transformations Body Frame

Position vectors to the origin of the body frame

The origins of the body and Nav frames are co-incident
r r
rnb = 0

The origins of the ECI and ECEF frames are co-incident

r r r r
reb = rib = ren = rin

Velocity of the b-frame wrt the i-frame resolved in the i-

frame
o Case #2: A moving point in a rotating frame
r d r d r
vibi = ribi = Cei rebe
dt dt
r r
= Cei Wiee rebe + Cei vebe
r r
= Cei ( Wiee rebe + vebe )

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 14 of 15
Navigation Mathematics :
Coordinate Frame Transformations Body Frame
Acceleration of the b-frame wrt the i-frame resolved in the
i-frame
o Case #2: A moving point in a rotating frame
r d r
aibi = vibi
dt
=
d
dt
( r r
Cei ( Wiee rebe + vebe ))
r r
(
= C&ei ( Wiee reeb + veeb ) + Cei W &e rr e + W e rr&e + vr&e
ie eb ie eb eb )
r r r
= Cei ( Wiee Wiee rebe + 2Wiee vebe + aebe )

Thursay 7 Feb 2013 NMT EE 570: Location and Navigation: Theory & Practice Slide 15 of 15