Novatel SMART7 Installation And Operation Manual page 60

SMART7 with SPAN Operation
Z Rotation:
Since the Y axis of the IMU Body frame is collinear with vehicle Y axis, a Z rotation is not
required.
X Rotation:
Since the Y axis of the IMU Body frame is collinear with the vehicle Y axis, an X rotation is also
not required
Y Rotation:
Observe that if a 180 degree rotation is performed about the IMU Body frame Y axis, the rotated
IMU Z axis is now collinear with the Vehicle Z axis, and the rotated IMU X axis is also collinear
with the Vehicle X axis.
This solution is not unique. Due to the properties of Euler Angles, there are usually mul-
tiple sets of equivalent rotations.
The rotational offsets are entered using the SETINSROTATION command. For this example,
the command to enter the rotations for the previous example is:
SETINSROTATION RBV 0 180 0
SMART7 Installation and Operation User Manual 0C 60