Roll, Pitch And Heading; Roll - Advanced Navigation Spatial OEM Reference Manual

Illustration 1: Bird's eye
view of Spatial showing
axes marked on top
When installed in an application the X axis should be aligned such that it points forwards and the Z
axis aligned so that it points down when level. A good way to remember the sensor axes is the right
hand rule, which is visualised in Illustration 2. You take your right hand and extend your thumb,
index and middle. Your thumb then denotes the X axis, your index denotes the Y axis and your
middle denotes the Z axis.
2.6

Roll, Pitch and Heading

Orientation can be described by the three angles roll, pitch and heading, these are known as the
euler angles. They are best described visually through the Illustrations below.
2.6.1

Roll

Roll is the angle around the X axis. See Illustration 3 for the positive direction of roll and Illustration
4 for an example of a roll of 90 degrees.
Spatial OEM Reference Manual
Page 11 of 88
Version 2.7
Illustration 2: First right hand rule