The latLonToEcef
method is an implementation of the algorithm outlined in the Geographic coordinate conversion - From geodetic to ECEF coordinates wikipedia page:
where
Φ is latitude, λ is longitude, and
Likewise the ecefToEnu
method is an implementation of the ECEF to ENU algorithm:
If you need further references, they can be found at the bottom of that Wikipedia page. You might also refer to the World Geodetic System 1984 spec.