7
10-0003-R3
Copyright © 2019 VectorNav Technologies, LLC
VN-200 Setup
Reference Frame Rotation
The VN-200 may be mounted in
any
orientation on the vehicle or
platform. The Refence Frame Rotation is a 3 x 3 rigid rotation matrix
that will map the sensor axes to the vehicle axes, this will enable the
VN-200 to output attitude, angular rates, acceleration, and other data in
the vehicle reference frame.
Sensor Orientation
Reference Frame Rotation
[
1 0 0
0 1 0
0 0 1
]
[
−1
0
0
0
−1 0
0
0
1
]
[
0
−1 0
0
0
1
−1
0
0
]
[
0
0 1
0
1 0
−1 0 0
]
Vehicle Frame
Sensor Frame