ECEF (Earth-Centered, Earth-Fixed) is a Cartesian coordinate system used in inertial navigation and GNSS-based positioning. It represents locations relative to the center of the Earth, rotating with the planet as it moves.
Key Features of ECEF in INS/GNSS
• Origin at Earth’s Center – The (0,0,0) point is located at the Earth’s center of mass.
• Rotates with Earth – Unlike an inertial reference frame, ECEF rotates with the planet.
• XYZ Coordinate System – Locations are represented in meters as (X, Y, Z) coordinates.
How ECEF is Used in Inertial Navigation?
✔ Converts GNSS Data to INS Positioning – GNSS provides latitude, longitude, and altitude, which are transformed into ECEF coordinates for integration with INS.
✔ Accurate Position Tracking – Allows INS to compute vehicle movement relative to Earth’s surface.
✔ Essential for High-Precision Navigation – Used in aerospace, military, and autonomous navigation systems.
ECEF vs. Other Coordinate Systems in INS
