Hi UWM,
Assuming the correct rotation has already been made, then calling the resulting vector u, and making sure it is normalized by using u/norm(u), suppose the three components of u are given in the order (north,east, up) in an appropriate coordinate system. Assuming elevation is measured up from the horizon and azimuth is measured clockwise from north (as with a compass rose), u has the form
cos(el)*cos(az)
cos(el)*sin(az)
sin(el)
then you can divide the second expression by the first to arrive at
el = asin(u(3))
az = atan2(u(2)/u(1)
There are a lot of variations on this theme depending on how the vector components and the angles are defined, but the basic idea will be the same.
Best Answer