# enu2ecefv

Rotate local east-north-up vector to geocentric Earth-centered Earth-fixed

## Syntax

``````[U,V,W] = enu2ecefv(uEast,vNorth,wUp,lat0,lon0)``````
``[___] = enu2ecefv(___,angleUnit)``

## Description

example

``````[U,V,W] = enu2ecefv(uEast,vNorth,wUp,lat0,lon0)``` returns vector components `U`, `V`, and `W` in a geocentric Earth-centered Earth-fixed (ECEF) system corresponding to vector components `uEast`, `vNorth`, and `wUp` in a local east-north-up (ENU) system. Specify the origin of the system with the geodetic coordinates `lat0` and `lon0`. Each coordinate input argument must match the others in size or be scalar.```
````[___] = enu2ecefv(___,angleUnit)` specifies the units for latitude and longitude. Specify `angleUnit` as `'degrees'` (the default) or `'radians'`.```

## Examples

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Find the ECEF velocity components of a ground vehicle using its ENU velocity components.

Specify the geodetic coordinates of the vehicle in degrees and the ENU velocity components in kilometers per hour.

```lat0 = 17.41; lon0 = 78.27; uEast = -27.6190; vNorth = -16.4298; wUp = -0.3186;```

Calculate the ECEF components of the vehicle. The units for the ECEF components match the units for the ENU components. Thus, the ECEF components are returned in kilometers per hour. The rotation performed by `enu2ecefv` does not affect the speed of the vehicle.

`[U,V,W] = enu2ecefv(uEast,vNorth,wUp,lat0,lon0)`
```U = 27.9798 ```
```V = -1.0993 ```
```W = -15.7724 ```

Reverse the rotation using the `ecef2enuv` function.

`[uEast,vNorth,wUp] = ecef2enuv(U,V,W,lat0,lon0)`
```uEast = -27.6190 ```
```vNorth = -16.4298 ```
```wUp = -0.3186 ```

## Input Arguments

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ENU x-components of one or more vectors, specified as a scalar value, vector, matrix, or N-D array.

Data Types: `single` | `double`

ENU y-components of one or more vectors, specified as a scalar value, vector, matrix, or N-D array.

Data Types: `single` | `double`

ENU z-components of one or more vectors, specified as a scalar value, vector, matrix, or N-D array.

Data Types: `single` | `double`

Geodetic latitude of the local origin, specified as a scalar, vector, matrix, or N-D array. The local origin can refer to one point or a series of points (for example, a moving platform). Specify the values in degrees. To use values in radians, specify the `angleUnit` argument as `'radians'`.

Data Types: `single` | `double`

Geodetic longitude of the local origin, specified as a scalar, vector, matrix, or N-D array. The local origin can refer to one point or a series of points (for example, a moving platform). Specify the values in degrees. To use values in radians, specify the `angleUnit` argument as `'radians'`.

Data Types: `single` | `double`

Angle units, specified as `'degrees'` (the default) or `'radians'`.

## Output Arguments

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ECEF x-components of one or more vectors, returned as a scalar value, vector, matrix, or N-D array. Values are returned in the units specified by `uEast`, `vNorth`, and `wUp`.

ECEF y-components of one or more vectors, returned as a scalar value, vector, matrix, or N-D array. Values are returned in the units specified by `uEast`, `vNorth`, and `wUp`.

ECEF z-components of one or more vectors, returned as a scalar value, vector, matrix, or N-D array. Values are returned in the units specified by `uEast`, `vNorth`, and `wUp`.

## Tips

To transform coordinate locations instead of vectors, use the `enu2ecef` function.

## Version History

Introduced in R2012b

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