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The formulas involved can be complex and in some cases, such as in the ECEF to geodetic conversion above, the conversion has no closed-form solution and approximate methods must be used. References such as the DMA Technical Manual 8358.1 [15] and the USGS paper Map Projections: A Working Manual [16] contain formulas for conversion of map ...
The Earth-centered, Earth-fixed coordinate system (acronym ECEF), also known as the geocentric coordinate system, is a cartesian spatial reference system that represents locations in the vicinity of the Earth (including its surface, interior, atmosphere, and surrounding outer space) as X, Y, and Z measurements from its center of mass.
In many targeting and tracking applications the local East, North, Up (ENU) Cartesian coordinate system is far more intuitive and practical than ECEF or Geodetic coordinates. The local ENU coordinates are formed from a plane tangent to the Earth's surface fixed to a specific location and hence it is sometimes known as a "Local Tangent" or ...
Examination of the ENU to ECEF transformation reveals that the ECEF coordinates of a unit vector pointing east at any point on the ellipsoid is: ^ = (, ,), a unit vector pointing north is ^ = ( , , ), and a unit vector pointing up is ^ = ( , , ).
A geodetic datum or geodetic system (also: geodetic reference datum, geodetic reference system, or geodetic reference frame, or terrestrial reference frame) is a global datum reference or reference frame for unambiguously representing the position of locations on Earth by means of either geodetic coordinates (and related vertical coordinates) or geocentric coordinates. [1]
ECEF: not inertial, accelerated, rotating with respect to the stars; useful to describe motion of objects on Earth surface. The extent to which an ECI frame is actually inertial is limited by the non-uniformity of the surrounding gravitational field.
GNSS systems: [2] Galileo Terrestrial Reference Frame (GTRF), ITRF2005; own implementation using IGS sites.; GPS just uses WGS 84, ITRF2020 since January 2024 (but used many versions of WGS 84 before), a little modified with International GNSS Service (IGS) implementation, IGS20.
In case of land vehicles like cars, tanks etc., which use the ENU-system (East-North-Up) as external reference (World frame), the vehicle's (body's) positive y- or pitch axis always points to its left, and the positive z- or yaw axis always points up. World frame's origin is fixed at the center of gravity of the vehicle.