Installation Alignment Packet; Alignment Dcm - Advanced Navigation Spatial FOG Reference Manual

13.10.4

Installation Alignment Packet

Packet ID
Length
Field Bytes
# Ofset
1 0
2 1
3 5
4 9
5 13
6 17
7 21
8 25
9 29
10 33
11 37
12 41
13 45
14 49
15 53
16 57
17 61
18 65
19 69
Table 99: Installation alignment packet
13.10.4.1

Alignment DCM

The alignment DCM (direction cosine matrix) is used to represent an alignment ofset
of Spatial FOG from it's standard alignment. A DCM is used rather than euler angles for
accuracy reasons. To convert euler angles to DCM please use the formula below with
angles in radians.
DCM[0][0] = cos(heading) * cos(pitch)
DCM[0][1] = sin(heading) * cos(pitch)
DCM[0][2] = -sin(pitch)
DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)
Installation Alignment Packet
Data Size
Type
u8 1
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
Spatial FOG Reference Manual
Page 132 of 144
Version 2.3
03/05/2018
185
73
Description
Permanent
Alignment DCM[0][0]
Alignment DCM[0][1]
Alignment DCM[0][2]
Alignment DCM[1][0]
Alignment DCM[1][1]
Alignment DCM[1][2]
Alignment DCM[2][0]
Alignment DCM[2][1]
Alignment DCM[2][2]
GNSS antenna ofset X (m)
GNSS antenna ofset Y (m)
GNSS antenna ofset Z (m)
Odometer ofset X (m)
Odometer ofset Y (m)
Odometer ofset Z (m)
External data ofset X (m)
External data ofset Y (m)
External data ofset Z (m)