Novatel OM-20000122 user manual Span Body Frame, Full Mapping Definitions

SPAN-CPT Operation Chapter 3

3.1.2SPAN Body Frame

The definition of the SPAN body frame is as follows:

•z-axis pointing up (aligned with gravity)

•y-axis defined by how user has mounted the IMU

•x-axis defined by how user has mounted the IMU

To determine the SPAN x-axis and y-axis, see Table 3, Full Mapping Definitions on page 21. This frame is also known as the computation frame and is the frame where all the mechanization equations are computed.

		Table 3: Full Mapping Definitions
Mapping	SPAN Frame	SPAN Frame		IMU Enclosure	IMU Enclosure
	Axis			Frame Axis	Frame
	X		Z	Y		X
1	Y			Z
			Y			Z
	Z			X
		X			Y
	X		Z	Z
						Y
2	Y			Y	Z
						X
			Y
	Z			-X
		X
	X		Z	Z		Y
3	Y			X
			Y			X
	Z			Y
		X			Z
	X		Z	X
						Z
4	Y			Z	X
						Y
			Y
	Z			-Y
		X
5	X		Z	X		Z
	Y			Y
(default)
			Y			Y
	Z			Z
		X			X
	X		Z	Y
						X
6	Y			X	Y
						Z
			Y
	Z			-Z
		X

SPAN-CPT User Manual Rev 8 21