ECEF坐标转WGS84坐标（C++实现）

直接看代码吧

static constexpr double A = 6378137.0;
static constexpr double ONE_F = 298.257223563;
static constexpr double B = A * (1.0 - 1.0 / ONE_F);
static constexpr double E2 = (1.0 / ONE_F) * (2 - (1.0 / ONE_F));
static constexpr double ED2 = E2 * A * A / (B * B);
static constexpr double PI_180 = M_PI / 180.0;
	
std::vector<double> ecef2blh(double x, double y, double z)
{
	auto n = [this](double x) {
		return A / std::sqrt(1.0 - E2 * std::sin(x * PI_180) * std::sin(x * PI_180));
	};
	double p = std::sqrt(x * x + y * y);
	double theta = std::atan2(z * A, p * B) / PI_180;
	double lat = std::atan2(
		z + ED2 * B * std::sin(theta * PI_180) * std::sin(theta * PI_180) * std::sin(theta * PI_180),
		p - E2 * A * std::cos(theta * PI_180) * std::cos(theta * PI_180) * std::cos(theta * PI_180)
	) / PI_180;
	double lon = std::atan2(y, x) / PI_180;
	double ht = (p / std::cos(lat * PI_180)) - n(lat);
	return { lat, lon, ht };
}

调用ecef2blh函数即可，参数为ECEF的x、y、z坐标，返回值为WGS84的x、y、z坐标。