Figure 21: Smart7-S Installed With Orientation Not Aligned With Vehicle Frame - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation

Figure 21: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame

In this example, the Euler Angles to rotate from the IMU Body frame (Figure 19: SMART7-S IMU
Body Frame on page 57) to the Vehicle frame (RBV) are:
X: 0
l
Y: 180
l
Z: 0
l
To reach this answer, keep in mind the following rules:
You must rotate from the IMU Body frame to the Vehicle frame.
l
You must rotate in the order Z, X, Y. Specifically Z, X', Y"
l
Positive rotation is defined according to the right hand rule.
l
The following diagram shows the IMU Body frame of the SMART7-S and the Vehicle frame for
the example installation shown in Figure 21: SMART7-S Installed with Orientation Not Aligned
with Vehicle Frame above.
SMART7 Installation and Operation User Manual 0C 59