Calculate the rotation matrix (direction cosine matrix)
n_E) and the wander azimuth angle.
wander_azimuth = 0, we have that N = L (See Table 2 in Gade (2010) for
n-vector decomposed in E (3x1 vector) (no unit)
The angle between L's x-axis and north, positive about L's z-axis (rad)
The resulting rotation matrix (3x3) (no unit)
Kenneth Gade A Nonsingular Horizontal Position Representation. The Journal of Navigation, Volume 63, Issue 03, pp 395-417, July 2010.
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