Installation Alignment Packet; Alignment Dcm - Advanced Navigation Motus Reference Manual

16.10.4

Installation Alignment Packet

Packet ID
Length
Field Bytes
# Offset
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 96: Installation alignment packet
16.10.4.1

Alignment DCM

The alignment DCM (direction cosine matrix) is used to represent an alignment offset
of Motus 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
Motus Reference Manual
Page 133 of 146
Version 1.1
29/11/2019
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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 offset X (m)
GNSS antenna offset Y (m)
GNSS antenna offset Z (m)
Odometer offset X (m)
Odometer offset Y (m)
Odometer offset Z (m)
External data offset X (m)
External data offset Y (m)
External data offset Z (m)