P/N 95P-6001-00 (October 2020)
Wayfinder DVL Guide
Page 8
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Wayfinder Instrument (X, Y, Z) Coordinates
The Wayfinder uses Instrument Coordinates (X, Y, Z). Instrument Coordinate axis are always oriented the
same relative to the Wayfinder. Looking at the end view of the Wayfinder, the beams are labeled clockwise
in the order 3-2-4-1. When you look at the face of the Wayfinder, the beams are labeled clockwise in the
order, 3-1-4-2. The X-axis lies in the direction from Beam 1 towards Beam 2 and the Y-axis lies in the di-
rection from Beam 4 towards Beam 3. The Z-axis lies along the axes of symmetry of the four beams, point-
ing away from the water towards the housing.
The Wayfinder data format assumes the bottom is stationary and that the Wayfinder/vessel is moving.
•
If Beam 3 is going forward, then the Y velocity is positive.
•
If Beam 2 is going forward, then the X velocity is positive.
•
If the bottom is going towards the face of a down facing Wayfinder, then Z is negative.
To compute the DVL physical forward and lateral velocity, rotate the XYZ Instrument Velocities by 45°.
Figure 4.
XYZ Instrument Velocities
