Coordinate Systems
Many ways exist to determine autonomous machine coordinates.
Global Coordinate Systems
Danfoss programs their autonomy function blocks and hardware to work in an East-North-Up (ENU)
coordinate system, which follows the right-hand rule. This means that coordinates start at 0° facing East,
move in a positive direction going North, and move in a negative direction going South. Other
coordinate systems such as North-East-Down (NED) start at 0° facing North and rotate the full 360°
instead of the half circle. NED coordinates must be converted to ENU to work with Danfoss hardware and
software. Ouster Studio uses NED, so the readings appear different when looking between the two
programs.
The image above shows the East-North-Up and North-East-Down global coordinate systems. Danfoss
uses ENU.
Turning South in the ENU system, the vehicle passes through -1°, -2°until reaching -180° when facing
West. Turning North, the vehicle passes through positive degrees until facing West at 180°. If the vehicle
kept turning, it would pass through -179° and keep going back in negative degrees until facing East
again.
Local Coordinate Systems
Each vehicle, Danfoss controller, and Ouster LiDAR hardware has its own local coordinate system, and any
additional LiDAR sensors or controllers also have their own local coordinate systems. Local coordinates
are not related to the global East, North, West, and South coordinates. Instead, they are specific for each
device and likely determined by the manufacturer or software programmer. All coordinate systems need
to be adjusted to work together.
User Manual
Ouster LiDAR
Introduction
10 |
©
Danfoss | March 2023
AQ404281942428en-000103
