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Figure 34: LVX Reference and IMU Body Frame
4.6.11.1.
Tait-Bryan Sequence:
Locate the X1, Y1 and Z1 axis and the XY, YZ, ZX planes of the IMU reference frame.
Locate the user frame axis X2, Y2, Z2 (Figure 20). To bring the IMU into alignment with
the user frame, rotate the user frame about its Z2 axis until the Y2 axis is in the YZ plane
of the IMU (Figure 21). Rotate the user frame about its Y2 axis (already once rotated),
until the X2 axis direction is parallel to the X1 axis direction. Rotate the user frame about
its X2 axis (already twice rotated) until the Y2 axis is parallel to the Y1 axis.
Figure 35: Tait-Bryan Planes and Axis
