Welcome to the nvector’s documentation!

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This is the documentation of nvector version 1.0.6 for Python released Dec 02, 2025.

Bleeding edge available at: https://github.com/pbrod/nvector.

Official releases are available at: http://pypi.python.org/pypi/nvector.

Official homepage are available at: http://www.navlab.net/nvector/

Contents:

• 1. Introduction
  • 1.1. What is nvector?
    • 1.1.1. Description
  • 1.2. How the documentation is organized
• 2. Tutorials
  • 2.1. Install guide
    • 2.1.1. Install nvector
    • 2.1.2. Verifying installation
  • 2.2. Getting Started
    • 2.2.1. Example 1: “A and B to delta”
    • 2.2.2. Example 2: “B and delta to C”
    • 2.2.3. Example 3: “ECEF-vector to geodetic latitude”
    • 2.2.4. Example 4: “Geodetic latitude to ECEF-vector”
    • 2.2.5. Example 5: “Surface distance”
    • 2.2.6. Example 6 “Interpolated position”
    • 2.2.7. Example 7: “Mean position”
    • 2.2.8. Example 8: “A and azimuth/distance to B”
    • 2.2.9. Example 9: “Intersection of two paths”
    • 2.2.10. Example 10: “Cross track distance”
  • 2.3. Functional examples
    • 2.3.1. Example 1: “A and B to delta”
    • 2.3.2. Example 2: “B and delta to C”
    • 2.3.3. Example 3: “ECEF-vector to geodetic latitude”
    • 2.3.4. Example 4: “Geodetic latitude to ECEF-vector”
    • 2.3.5. Example 5: “Surface distance”
    • 2.3.6. Example 6 “Interpolated position”
    • 2.3.7. Example 7: “Mean position”
    • 2.3.8. Example 8: “A and azimuth/distance to B”
    • 2.3.9. Example 9: “Intersection of two paths”
    • 2.3.10. Example 10: “Cross track distance”
  • 2.4. What to read next
    • 2.4.1. Finding documentation
    • 2.4.2. How the documentation is organized
    • 2.4.3. How documentation is updated
• 3. How-to guides
  • 3.1. Contributing
    • 3.1.1. Short version
    • 3.1.2. Bug reports
    • 3.1.3. Feature requests and feedback
    • 3.1.4. Development Prerequisites
    • 3.1.5. Development Steps
    • 3.1.6. Commit message guidelines
    • 3.1.7. Pull Request Guidelines
    • 3.1.8. Project Style Guidelines
• 4. Topics guides
  • 4.1. n-vector explained
    • 4.1.1. What is n-vector?
    • 4.1.2. Why is n-vector needed?
    • 4.1.3. n-vector
    • 4.1.4. Converting between n-vector and lat/lon
    • 4.1.5. Many position calculations can be solved with only two functions
  • 4.2. Vector symbols explained
    • 4.2.1. Coordinate frame
    • 4.2.2. General vector
    • 4.2.3. Position vector
    • 4.2.4. Properties of the position vector
    • 4.2.5. Rotation matrix
    • 4.2.6. Properties of the rotation matrix
    • 4.2.7. n-vector
• 5. Reference nvector package
  • 5.1. Object-oriented interface to geodesic functions
    • 5.1.1. Classes in module
    • 5.1.2. Functions in module
  • ECEFvector
    • ECEFvector.pvector
    • ECEFvector.frame
    • ECEFvector.scalar
    • ECEFvector.change_frame()
    • ECEFvector.delta_to()
    • ECEFvector.pvector
    • ECEFvector.to_ecef_vector()
    • ECEFvector.to_geo_point()
    • ECEFvector.to_nvector()
  • FrameB
    • FrameB.nvector
    • FrameB.R_EN
    • FrameB.from_point()
  • FrameE
    • FrameE.a
    • FrameE.f
    • FrameE.name
    • FrameE.axes
    • FrameE.ECEFvector()
    • FrameE.GeoPoint()
    • FrameE.GeoPointFromDegrees()
    • FrameE.Nvector()
    • FrameE.R_Ee
    • FrameE.direct()
    • FrameE.inverse()
  • FrameL
    • FrameL.nvector
    • FrameL.wander_azimuth
    • FrameL.R_EN
    • FrameL.from_point()
  • FrameN
    • FrameN.nvector
    • FrameN.R_EN
    • FrameN.from_point()
  • GeoPath
    • GeoPath.closest_point_on_great_circle()
    • GeoPath.closest_point_on_path()
    • GeoPath.cross_track_distance()
    • GeoPath.ecef_vectors()
    • GeoPath.geo_points()
    • GeoPath.interpolate()
    • GeoPath.intersect()
    • GeoPath.nvector_normals()
    • GeoPath.nvectors()
    • GeoPath.on_great_circle()
    • GeoPath.on_path()
    • GeoPath.track_distance()
  • GeoPoint
    • GeoPoint.z
    • GeoPoint.frame
    • GeoPoint.delta_to()
    • GeoPoint.displace()
    • GeoPoint.distance_and_azimuth()
    • GeoPoint.from_degrees()
    • GeoPoint.latitude_deg
    • GeoPoint.latlon
    • GeoPoint.latlon_deg
    • GeoPoint.longitude_deg
    • GeoPoint.scalar
    • GeoPoint.to_ecef_vector()
    • GeoPoint.to_geo_point()
    • GeoPoint.to_nvector()
  • Nvector
    • Nvector.normal
    • Nvector.z
    • Nvector.frame
    • Nvector.__mul__()
    • Nvector.__rmul__()
    • Nvector.__truediv__()
    • Nvector.course_over_ground()
    • Nvector.delta_to()
    • Nvector.interpolate()
    • Nvector.mean()
    • Nvector.scalar
    • Nvector.to_ecef_vector()
    • Nvector.to_geo_point()
    • Nvector.to_nvector()
    • Nvector.unit()
  • Pvector
    • Pvector.pvector
    • Pvector.frame
    • Pvector.scalar
    • Pvector.pvector
    • Pvector.to_ecef_vector()
    • Pvector.to_geo_point()
    • Pvector.to_nvector()
  • delta_E()
  • delta_L()
  • delta_N()
  • 5.2. Core geodesic functions
    • 5.2.1. Functions in module
  • closest_point_on_great_circle()
  • course_over_ground()
  • cross_track_distance()
  • euclidean_distance()
  • geodesic_distance()
  • geodesic_reckon()
  • great_circle_distance()
  • great_circle_distance_rad()
  • great_circle_normal()
  • interp_nvectors()
  • interpolate()
  • intersect()
  • lat_lon2n_E()
  • mean_horizontal_position()
  • n_E2lat_lon()
  • n_EA_E_and_n_EB_E2azimuth()
  • n_EA_E_and_n_EB_E2p_AB_E()
  • n_EA_E_and_n_EB_E2p_AB_N()
  • n_EA_E_and_p_AB_E2n_EB_E()
  • n_EA_E_and_p_AB_N2n_EB_E()
  • n_EA_E_distance_and_azimuth2n_EB_E()
  • n_EB_E2p_EB_E()
  • on_great_circle()
  • on_great_circle_path()
  • p_EB_E2n_EB_E()
  • 5.3. Module related to rotation matrices and angles
    • 5.3.1. Functions in module
  • E_rotation()
  • R2xyz()
  • R2zyx()
  • R_EL2n_E()
  • R_EN2n_E()
  • change_axes_to_E()
  • n_E2R_EN()
  • n_E_and_wa2R_EL()
  • xyz2R()
  • zyx2R()
  • 5.4. Utility functions
    • 5.4.1. Functions in module
  • allclose()
  • array_to_list_dict()
  • deg()
  • degrees2dm()
  • dm2degrees()
  • eccentricity2()
  • get_ellipsoid()
  • isclose()
  • mdot()
  • nthroot()
  • polar_radius()
  • rad()
  • third_flattening()
  • unit()

• Changelog
  • [1.0.6] - 2025-12-02
    • 🐛 Bug Fixes
    • 📚 Documentation
    • ⚙️ Miscellaneous Tasks
  • [1.0.3] - 2025-12-01
    • 🐛 Bug Fixes
    • 📚 Documentation
    • 🧪 Testing
    • ⚙️ Miscellaneous Tasks
  • [1.0.2] - 2024-10-04
    • 📚 Documentation
    • ⚙️ Miscellaneous Tasks
  • [1.0.1] - 2024-10-03
    • 📚 Documentation
    • ⚙️ Miscellaneous Tasks
    • ◀️ Revert
  • [1.0.0] 2024-10-02
  • [0.7.7] 2021-06-03
  • [0.7.6] 2020-12-18
  • [0.7.5] 2020-12-12
  • [0.7.4] 2019-06-04
  • [0.7.3] 2019-06-04
  • [0.7.0] 2019-06-02
  • [0.6.0] 2018-12-09
  • [0.5.2] 2017-03-07
  • [0.5.1] 2017-03-05
  • [0.4.1] 2016-01-19
  • [0.1.3] 2016-01-01
  • [0.1.1] 2016-01-01
• Developers
• License
• Acknowledgments
• Indices and tables
• Bibliography