MATLAB
```G = ecf2LLA(Gecf)
[R, V] = ecf2LLA(Recf,[Vecf],[EarthModel])```

Converts coordinate frame from earth-centered fixed (ECF), in which the coordinate frame is fixed to the rotating earth, to a latitude, longitude, altitude (LLA), heading, velocity description.

 Parameters Description Gecf [struct/list] Geometry parameters. Can be a structure (or array of structures) from GeomStruct or a comma separated list of (Recf,[Vecf],[EarthModel]) Recf [Nx3 matrix] N 3-element ecf position vectors (m) Vecf [Nx3 matrix] (Optional) N 3-element ecf velocity vectors (m/s) EarthModel [string/numeric] (Optional) If string, Geometric (default) or Geodetic. Use Geometric for a spherical earth and Geodetic for an oblate earth. If numeric and scalar - spherical earth radius, if vector - [a b], where a is the equatorial radius and b is the polar radius. Must pass in Vecf (can be []) to specify earth model.
 Return Values Description G [struct] If Gecf is a structure, G will be a structure with position and velocity vectors in LLA coordinates. R [Nx3 matrix] If Gecf is a list, R is an LLA 3-element position vector, i.e. [Lat (deg) Long (deg) Alt (m)] V [Nx3 matrix] If Gecf is a list, V is an LLA 3-element velocity vector, i.e. [xy-Velocity (m/s) Heading (deg) vertical Velocity (m/s)]

• B. Bowring, "Transformation from spatial to geographical coordinates," Survey Review, XXIII: pg. 323-327, 1976
• K. M. Borkowski, "Accurate algorithms to transform geocentric to geodetic coordinates," Bulletin Geodesique, vol. 63, pp. 50-56, 1989.