TRANSFORMATION FROM BODY TO EARTH AXIS

This is the inverse of the transform given in Equations A.27 and A.28. To transform from body axis to earth axis, the transformation matrix TEB is given by

where

T11 = cos U cos C T12 = sin U sin f cos C — cos f sin C T13 = sin U cos f cos C

+ sin f sin C

T21 = cos U sin C T22 = sin U sin f sin C + cos f cos C T23 = sin U cos f sin C

— sin f cos C

T31 = — sin U T31 = cos U sin f T33 = cos U cos f

(A.35)