Function ecef2lla 

pub fn ecef2lla(
    ecef_vec: &Vector3<f64>,
    ellipsoid: &geo_ellipsoid,
) -> Vector3<f64>

Converts 3-d ECEF coordinates to 3-d LLA coordinates

Arguments

• ecef_vec - Vector3 reference to the ECEF vector (x, y, z)
• ellipsoid - geo_ellipsoid reference to the ellipsoid

Return Value

• nalgebra::Vector3<f64> - lat, long, alt (radians, radians, meters)

Formula

• x = arctan((z + e’^2 * b * sin^3 (theta)) / (p - e^2 * a * cos^3 (theta)))
• y = arctan(y / x)
• z = (p / cos(lat)) - N