Chapter 3 SPAN Operation
OEM7 SPAN Installation and Operation User Manual v14
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Figure 21: Local-Level Frame (ENU)
3.1.2 The IMU Body Frame
The definition of the IMU Body frame is given by the physical axes of the IMU and represents how the sensors
are mounted inside the IMU. If your IMU is enclosed, both the IMU Body frame axes and center of navigation are
marked on the enclosure. Refer to
on page 134 for illustrations of the IMU Body
frame axes.
The origin of this frame is not the enclosure center, but the center of navigation (sensor center).
Figure 22: IMU Body Frame Marking
3.1.3 The Vehicle Frame
The definition of the vehicle frame is as follows:
l
z-axis – points up through the roof of the vehicle perpendicular to the ground
l
y-axis – points out the front of the vehicle in the direction of travel
l
x-axis – completes the right-handed system (out the right-hand side of the vehicle when facing forward)
