The Imu Body Frame; The Vehicle Frame; Figure 16: Local-Level Frame (Enu) - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation

4.2.2 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. Refer to SMART7 Mechanical Specifications on
page 131 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).

4.2.3 The Vehicle Frame

The definition of the vehicle frame is as follows:
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
l
facing forward)
SMART7 Installation and Operation User Manual 0C

Figure 16: Local-Level Frame (ENU)

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