Heading; Second Right Hand Rule - Advanced Navigation Spatial OEM Reference Manual

2.6.3

Heading

Heading is the angle around the Z axis. See Illustration 7 for the positive direction of heading and
Illustration 8 for an example of a heading change of 90 degrees. 0 degrees heading is when the
positive X axis points North and 180 degrees heading is when the positive X axis points South.
Illustration 7: Spatial with black arrow
indicating positive direction of heading
2.6.4

Second Right Hand Rule

The two right hand rules are often the best way to memorise the sensor axes and directions of
positive rotation. The first right hand rule gives the positive axis directions and is described in
section 2.5. The second right hand rule shown in Illustration 9 provides the direction of positive
rotation. To use it, point your thumb in the positive direction of that axis, then the direction that your
fingers curl over is the positive rotation on that axis.
Spatial OEM Reference Manual
Page 13 of 88
Version 2.7
Illustration 8: Spatial after a heading change of 90
degrees