University of Technology

NavigationTheorem Laboratory
Electromechanical Engineering Department
3rd year
)Navigation and GuidanceEngineering Branch (

Experiment No. (2)

Convert ECEF System to Geographic Coordinate System

1.)Object:

The object of this experiment is to Convert Earth Center Earth Fixed (ECEF)
coordinate system given in (X, Y, Z), to Geographic Coordinate System given in
latitude, longitude, and altitude (I, L, H).

1) Thory:
The geographical latitude and longitude of a point on the earth’s surface,
determined by means of geodetic measurement of the distance (mainly by the
method of triangulation) and the bearing (azimuth) from several other points
whose geographic coordinates are known. Geodetic coordinates are calculated on
the surface of a reference ellipsoid, which is a characterization of the shape and
dimensions of the earth. Along with the geodetic coordinates of a point, its
altitude is also considered. It is calculated from the surface of the adopted
reference ellipsoid and differs from its altitude above sea level by the size of its
geoidal deviation from this ellipsoid.

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There are many frames needed in navigation according to the requirements of the
approach problem. These frames are orthogonal (right-handed coordinate frames).
A brief description of these frames and there transformations is given below.

2.1) Inertial Frame:

A frame that has its origin in the mass center of the earth and is nonrotating
relative to the stars can be considered as an inertial frame for the measurements
made in the vicinity of the earth.
Where:
0 : At the center of the earth.
x
:
i Initially through intersection of equator and Greenwich meridian
in the direction of sky at time Go-inertial (close to launch-time).
y
: Completes right-hand triad.
i
z
: Coincident with the earth axis in the direction of north.
i

2.2) Earth Frame:

It is also called ECEF (Earth Center Earth Fixed) frame. This frame is similar to
the inertial frame but it is fixed on the earth and rotates with it.
Where:
0 : At the center of the earth.
x : Through the intersection of the equator and Greenwich meridian
e in the direction of sky.
y
: Completes right-hand triad.
e
z Coincident with the earth axis in the direction of north.
:
e

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 Inertial and ECEF frame
3.) Generalized spherical coordinates:
These coordinates are the nine direction cosines (Cij) of a locally level set 𝑧i(with

arbitrary azimuth) relative to the yi. They are convenient for world _wide
navigation because they exhibit no singularities physically understandable
coordinates such as latitude _ longitude must be derived from the Cij. Many
problems require transformations between two sets or orthogonal there
dimensional coordinate systems. The mathematics of the coordinate's
transformation is illustrated by the relationships between the generalized direction
cosines Cij and the latitude Φ, longitude λ, and wander angle. This transformation
is illustrated in Fig.2.

Fig .2: Angular Transformation

The rectangular coordinates (y1, y2,y3) are rotated through an angle λ in the

y1y2plane, this rotationgenerates the coordinates. These new coordinates

y 1' y 2' y 3' .Are rotated by an angle Φ in the y 1 y3plane and the result is the

coordinates y 1'' y 2' ' y 3'' new one are also rotated by an angle α (The wander angle) in

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the y1y2plane. The result is the z coordinates (z1, z2,z3). The mathematics of the
coordinates transformation is illustrated by the relationship between the
generalized direction cosines Cij and the latitude Φ, longitude λ, and the wander
angle α, any vector V can be resolve into the y or z coordinates frame. The y and
z component of V are related by the equation.

Z₌[C] [V]y……………….. (1) ]V[

Where [C] is the transformation matrix with the elements {Cij} The navigation-
computer calculates in terms of the {Cij} which are usable everywhere on the
earth. The familiar geographic coordinates can be found in terms of {Cij}. In
Polar Regions the navigation systems operates on the basic of the {Cij}.

4.)Procedure:
1-The mathematical equation for Converting ECEF coordinates (X, Y, Z), "given
in meters", into latitude, longitude, and altitude(height) coordinates (I, L, H),
"given in radians and meters", are illustrated in Table (1).
For a given position of Baghdad Airports coordinate in components (X, Y, Z)
which means the CEFC of the Airport:
X= 3813200 Y= 2508700 Z= 4440100
Write MATLAB program to determine latitude, longitude, and altitude(height)
(the geodetic location of the Airport)using these mathematical model:

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 Table (1): Equations of converting ECEF frame to Geodetic frame.
.No Function .No Function
a = 6378137.0(semimajor of earth
N 1(− e 2 )z 2
-1
radius axis (Equatorial radius))
)c-2(b =…6356752.3142(semiminor of earth
radius axis (Polars radius))
a− b
-12 r=
0
eN 2

1+Q
p
√ ( )
2 1
+ 0 .5 a 1+ −
Q Q 1( +Q )
e
− 0 .5pN

2
2

-2 f
=
a
-13 U= √ (p− e r )+ z 2
0 2
e
2
-3 e= √ f (2− f ) -14 V= √ (p− e r )+ (1− e
2
0
2
)z 2
e
2
p= x 2+ y b ze
-4 √ e e2
-15 z=
0
Va
2 2 a
-5 E=
2 a− b
-16 e =' e
b
b2
-6 F=45 b 2 z
e
2 -17 H=U 1− 242
Va
/( )
z e+ (e ')2 z 0
2
(− e 2 )z −
-7 G= p + 1
2
2 e E
e
2 -18 L=nat −1
( p
0∗81 ) i/p
4 2
epF
-8 c= -19 l naat 2 ( y e ,x e0∗
= )81 /ip
G3
1 /3
-9 s= (1+ c+ √ c 2+ 2 c )
F
N= 2
-10 1
(
3 s+ + 1 G
s ) 2

-11 Q= √ 1+ 2 e 4N

2- The MATLAB program has an opportune function to convert the ECEF to

geodic location as shown below, try to find the Airport geodetic location again by
use this instruction:
lla = ecef2lla([X Y Z])

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4- Discussion:
1- Compare between the two results of conversions, mathematical model (1),
and the MATLAB function (2), discuss if there are deference in the results?
Sol:

Matlab Code

clc

clear all

ecef = 1.0e+006 *[ 3.8132 2.5087 4.4401]

;x = ecef(1)

;y = ecef(2)

;z = ecef(3)

;a = 6378137.0 %

;b = 6335439.3273 %

;f = (a - b) / a %

;e = sqrt(f * (2 - f)) %

;p = sqrt(x^2 + y^2) %

;E2 = a^2 - b^2 %

;F = 54 * b^2 * z^2 %

;G = p^2 + (1 - e^2) * z^2 - e^2 * E2 %

;c = e^4 * F * p^2 / G^3 %

;s = (1 + c + sqrt(c^2 + 2 * c))^(1/3) %

;P = F / (3 * (s + 1/s +1)^2 * G^2) %

;Q = sqrt(1 + 2 * e^4 * P) %

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ro = P * e^2 * p / (1 + Q) + sqrt(0.5 * a^2 * (1 + 1/Q) - P * (1 - e^2) * z^2 / (Q * (Q +1)) - 0.5 * P * %
;p^2)

;U = sqrt((p - e^2 * ro)^2 + z^2) %

;V = sqrt((p - e^2 * ro)^2 + (1 - e^2) * z^2) %

;z0 = b^2 * z / (a * V) %

;e_ = a / b * e %

;h1 = U * (1- b^2 / (a * V)) % %

;h1 = U * (1- b^2 / (a * V))/ 240 %

;limda1 = atan((z + (e_)^2 * z0) / p)*180/pi %

;phay1 = atan2(y , x)*180/pi %

lla = 180/pi*(ecef2lla([x y z])) %

'lla =(ecef2lla([x y z]))

'lla = [limda1 phay1 h1 ] %

Simulation Results

= ecef

4440100 2508700 3813200

= lla

44.5931

33.3409

41.4022

2- Discussthe mean differences between the ECEF frame and geodetic frame?

In geodetic coordinates, the Earth's surface is approximated by an ellipsoid,

and locations near the surface are described in terms of Latitude ,Longitude
and height .

In geodesy, conversion among different geographic coordinate systems is

made necessary by the different geographic coordinate systems in use across
the world and over time. Coordinate conversion is composed of a number of

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different types of conversion: format change of geographic coordinates,
conversion of coordinate systems, or transformation to different geodetic
datums. Geographic coordinate conversion has applications in cartography,
surveying, navigation and geographic information systems.

In geodesy, geographic coordinate conversion is defined as translation among

different coordinate formats or map projections all referenced to the same
geodetic datum.[1] A geographic coordinate transformation is a translation
among different geodetic datums. Both geographic coordinate conversion and
transformation will be considered in this article.

(*)Geodetic latitude and geocentric latitude represent similar quantities with

different definitions. Geodetic latitude is defined as the angle between the
equatorial plane and the surface normal at a point on the ellipsoid, whereas
geocentric latitude is defined as the angle between the equatorial plane and a
radial line connecting the centre of the ellipsoid to a point on the surface (see
figure). When used without qualification, the term latitude refers to geodetic
latitude. For example, the latitude used in geographic coordinates is geodetic
latitude. The standard notation for geodetic latitude is φ. There is no
standard notation for geocentric latitude; examples include θ, ψ, φ′.
Similarly, geodetic altitude is defined as the height above the ellipsoid surface, normal to
the ellipsoid; whereas geocentric altitude is defined as the height above the ellipsoid
surface along a line to the center of the ellipsoid (the radius). When used without
qualification, the term altitude refers to geodetic altitude; as is used in aviation. Geocentric
altitude is typically used in orbital mechanics.