Xsens MTi 1-series, Руководство пользователя

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© Xsens Technologies B.V. User Manual MTi 1-series DK
3.1.6 Frames of reference used in MTi 1-series
The MTi 1-series uses a right-handed coordinate system as the basis of the sensor of frame.
The following data is outputted in corresponding reference coordinate systems:
Data Symbol Reference
coordinate system
Acceleration a
x
, a
y
, a
z
Sensor-fixed
Rate of turn ω
x
, ω
y
, ω
z
Sensor-fixed
Magnetic field m
x
, m
y
, m
z
Sensor-fixed
Free acceleration a Local Tangent Plane
(LTP), default ENU
Velocity increment ∆v
x
, ∆v
y
, ∆v
z
Local Tangent Plane
(LTP), default ENU
Orientation increment ∆q
0
, ∆q
1
, ∆q
2
, ∆q
3
Local Tangent Plane
(LTP), default ENU
Orientation Euler angles, quaternions or
rotation matrix (DCM) Local Tangent Plane
(LTP), default ENU
Local Tangent Plane (LTP) is a local linearization of the Ellipsoidal Coordinates (Latitude, Longitude, Altitude) in the
WGS-84 Ellipsoid.
It is straightforward to apply a rotation matrix to the MTi, so that the velocity and orientation increments, free
acceleration and the orientation output is using that coordinate frame. The default reference coordinate system is
East-North-Up (ENU) and the MTi 1-series has predefined outputs for North-East-Down (NED) and North-West-Up
(NWU). Any arbitrary alignment can be entered. These orientation resets have effect on all outputs that are by default
outputted with an ENU reference coordinate system.
z
x
y
Figure 5: Default sensor fixed system for the MTi 1-series
Development Board with MTi.