DAGE-MTI Excel Series Manual do Utilizador descarregar pdf (Página 15)

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 DocumentMT0100P.N

©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation

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Highaccuracyalignment between the (plastic) housing and the sensor‐fixed output coordinate system (S) is

notpossiblefortheMTxforobviousreasons.TheactualalignmentbetweentheSco‐ordinatesystemandthe

bottompartoftheplastichousingisguaranteedto<3°.

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Thenon‐orthogonalitybetweentheaxesofthebody‐fixedco‐ordinatesystem,S,is<0.1°.Thisalsomeansthat

theoutputof3Dlinearacceleration,3Drateofturn(gyro)and3Dmagneticfielddataallwillhaveorthogonal

XYZreadingswithin<0.1°asdefinedinfigure1.

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4.1.2 Orientationco‐ordinatesystem

TheMTiandMTxcalculatetheorientationbetweenthesensor‐fixedco‐ordinatesystem,S, andaearth‐fixed

referenceco‐ordinatesystem,G.Bydefaultthelocalearth‐fixedreferenceco‐ordinatesystemusedisdefined

asarighthandedCartesianco‐ordinatesystemwith:

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• XpositivewhenpointingtothelocalmagneticNorth.

• Yaccordingtorighthandedco‐ordinates(West).

• Zpositivewhenpointingup.

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The 3D orientation output (independent of output mode, see section 4.3) is defined as the orientation

betweenthebody‐fixedco‐ordinatesystem,S,andtheearth‐fixedco‐ordinatesystem,G,usingtheearth‐fixed

co‐ordinatesystem,G,asthereferenceco‐ordinatesystem.ordinatesystem.

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Figure3:MTintheearth‐fixedco‐ordinatesystemFigure3:MTintheearth‐fixedco‐ordinatesystem

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Pleasereferto section 4.5forfurtherdetailsonoutputco‐ordinatesystemsanddifferentoptionstoredefine

theoutputco‐ordinatesystems.

Pleasereferto section 4.5forfurtherdetailsonoutputco‐ordinatesystemsanddifferentoptionstoredefine

theoutputco‐ordinatesystems.

Local

Magnetic North

Local

vertical

Local tangent plane

Z up, default

MTi and MTx default co-ordinate

system

Z up, default

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