SeaTrac Serial Command Interface Reference
Page 136
9.
Beacon Definitions and Frames Of Reference
The diagrams below show the definitions of the SeaTrac Beacon’s frames-of-reference…
9.1.
Attitudes (Yaw, Pitch and Roll)
For rotation and orientation, the beacon uses the following axis definitions.
These follow the same standard as those used to define aircraft attitudes and rotations,
allowing the “right-hand-rule” to be applied to each axis.
By orienting the positive Z-axis downwards, positive Yaw angles also match compass
headings, with 0° Yaw occurring when the housing “front” marking aligns with
magnetic north.
Pitch and Roll angles are 0° when gravity is perpendicular to (and below) the horizontal
plane, defined by the XY axis pair.
Attitudes are valid where…
0°
Yaw
360°
-90°
Pitch
+90°
-180°
Roll
+180°
