iXBlue Octans, Руководство пользователя по настройке

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AHRS - Advanced Configuration - User Guide
MU-AHRS-AN-002 Ed. E November 2015 27
B O
RIENTATION AND SIGN CONVENTIONS RECALL
This page recaps orientation conventions for lever arms and misalignments.
Please refer to OCTANS user manuals for more details on frame transfer conventions.
Axis direction and sign conventions for lever arms:
•
XV1 lever arm is counted positive in direction of vehicle bow and negative in direction
of vehicle stern.
•
XV2 lever arm is counted positive in direction of port side and negative in direction of
starboard side.
•
XV3 lever arm is counter positive upward, negative downward.
Misalignments conventions:
Roll misalignment angle Pitch misalignment angle Heading misalignment angle
The above figures are an example to recap how can be estimated the sign of the angular
offsets.
Note: the roll misalignment is positive from X2 in direction to XV2, where pitch and
heading misalignments are positive from XV1 to X1.
XV1
XV2
Stern
Bow
Starboard
Port
XV3
XV3
XV2
X2
+mR
XV3
XV1
XV2
+mH
X1
X1
+mP
XV1