34
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Z-axis is parallel to the vertical plane and extends down - called the vehicle
vertical axis (vertically through the center of gravity when the vehicle is level),
any rotation about this axis is called ‘yaw’.
Figure 33: Vehicle Body Frame
4.6.9.
DMI Frame Definition:
The DMI Frame is defined as the right-handed orthogonal coordinate system with its
origin at the Instrumented Wheel’s point of contact with the road (located at the centre of
the tread). The DMI Frame is co-located with the DMI sensing centre. The frame’s axes
coincide with the Vehicle Frame’s orientation (i.e. the x-axis point towards the front of
the vehicle, the y-axis points towards the right and the z-axis points down).
DMI Body Frame
4.6.10.
Lever Arm Definitions:
4.6.10.1.
Reference to IMU Lever Arm
The Reference to IMU Lever Arm is a three-dimensional vector defining the
displacement of the IMU Body Frame (i.e. the sensing centre of the IMU) origin from the
