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function omega_ie_n = earthrate(lat, precision)
% earthrate: turn rate of the Earth in the navigation frame.
%
% Copyright (C) 2014, Rodrigo Gonzalez, all rights reserved.
%
% This file is part of NaveGo, an open-source MATLAB toolbox for
% simulation of integrated navigation systems.
%
% NaveGo is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License (LGPL)
% version 3 as published by the Free Software Foundation.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public
% License along with this program. If not, see
% <http://www.gnu.org/licenses/>.
%
% Reference:
% Titterton, D.H. and Weston, J.L. (2004). Strapdown
% Inertial Navigation Technology (2nd Ed.). Institution
% of Engineering and Technology, USA. Eq. 3.72.
%
% Version: 001
% Date: 2014/09/11
% Author: Rodrigo Gonzalez <rodralez@frm.utn.edu.ar>
% URL: https://github.com/rodralez/navego
if nargin < 2, precision = 'double'; end
if strcmp(precision, 'single')
omega_ie_n = single((7.2921155e-5) .* [ single(cos(lat)); single(0) ; single(-sin(lat)) ]);
else
omega_ie_n = (7.2921155e-5) .* [ (cos(lat)); 0 ; -sin(lat) ];
end
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