Intertial ECI

[arf20]

public double [] rotateEcef2Eci(double[] PosEcef, double dT) {
 /* Compensate for Earth Rotation
 PosEcef:  array [3x1] containing ECEF x,y,z in meters
 dT: RX Time - SV TX Time in s */

   final double omegaE = 7.2921151467e-5; // WGS-84 value of the earth rotation rate [rad/s]
   double theta = (omegaE * dT);
   double [] posEci = new double[3];

   posEci[0] = Math.cos(theta)*PosEcef[0] + Math.sin(theta)*PosEcef[1];
   posEci[1] = -Math.sin(theta)*PosEcef[0] + Math.cos(theta)*PosEcef[1];
   posEci[2] = PosEcef[2];

   return posEci;
 }