Document MT0605P.E
© Xsens Technologies B.V.
MTi User Manual
46
NED is a reference coordinate system often used in aerospace applications. NED is also a reference
coordinate system available in the third generation MTi and MTi-G. In order to configure the MTi in
NED, apply the following rotation matrix in RotLocal:
RotLocal
𝑁𝐸𝐷
: [
0 1
0
1 0
0
0 0 −1
]
Arbitrary alignment
If the measured kinematics is required in a frame S’ and/or a frame L’ with known orientations with
respect to standard sensor coordinate frames S and L, the alignment matrices can be set with an
arbitrary but known orientation. This can be useful if for mechanical reasons the MT can only be
fastened in some specific orientation. The alignment matrices
L’L
R or
SS’
R are applied to the output
data according to the equations above. Refer to the MT Manager User Manual on how to use these
alignment matrices.
The different orientation resets can be summarized as follows
-
Inclination reset: Applying
SS’
R only
-
Heading reset: Applying
L’L
R only
-
Alignment reset: Applying both
L’L
R, and
SS’
R
NOTE
: when applying SS’R and outputting dq/dv only will result in double applying of SS’R when
outputting orientation from XDA. To prevent this, output orientation directly from the MTi.
