How do I transform between ECI and ECEF? Is it using the rotational matrices? Can you give me an example in MATLAB or by hand?

Automotive Technology: A Systems Approach (MindTap Course List)
6th Edition
ISBN:9781133612315
Author:Jack Erjavec, Rob Thompson
Publisher:Jack Erjavec, Rob Thompson
Chapter44: Four- And All-wheel Drive
Section: Chapter Questions
Problem 5RQ: What is the primary purpose of a transfer case?
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How do I transform between ECI and ECEF? Is it using the rotational matrices? Can you give me an example in MATLAB or by hand?

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