8
2010-05/MU/ROVINS-001-B
9
2010-05/MU/ROVINS-001-B
The roll is defined as the angle of
rotation perform around the vessel
XV1 so that the vessel axis XV2 lies
in the local horizontal plane. This
angle is default defined positive in
the direction of axis XV1, i.e., when
the boat port side is up. It varies
between -180 and + 180°. The figure
above is an illustration of the roll
angle with null pitch.
Once the axes XV2 and XV1 lie in
the local horizontal plane, the true
heading is the angle between the
vertical plane oriented in the North
direction and the vertical plane pas-
sing through the vessel. Heading is
counted positive from North, va-
rying from 0 to 360°. The orientation
of this angle is given above in case
of null pitch and roll.
Once the axis XV2 lies in the local ho-
rizontal plane, the pitch is the angle
between the axis XV1 of the vessel
and its projection in the local plane.
This angle is default defined positive
in the direction of the axis XV2, i.e.,
when the boat bow is down.. It varies
from -90 to +90°. The figure above is
an illustration of the pitch angle in
case of null roll.
Vessel reference frame
TRUE HEADING, ROLL AND PITCH DEFINITIONS
X
up
X
N
X
W
North pole
X
N
in the horizontal plane pointing towards geographical North
X
up
, parallel to the local vertical, pointing up
X
W
in the horizontal plane, pointing towards West
Standard case defined as follows:
External sensor connected to the ethernet stream A of ROVINS:
GPS Output protocol on stream A: GPS like
PPS time synchronization pulse from the GPS cabled on the Pulse input B of ROVINS
Electrical Connections: GPS + PPS (optional for Time synchonization)
Standard Ethernet Link Case
