There are several coordinate frames considered in a vehicle navigation frame. Greensea employs a north-east-down (NED) coordinate system with the x-axis pointing towards the front of the vehicle along the axis of the heading, the y-axis pointing out the right side of the vehicle, and the z-axis pointing down. This same coordinate frame is defined for your vehicle instrument frame. The frame of reference is located at the geographic center of your vehicle and is to where all the individual aiding sensor frames are referenced through independent transforms. The final navigation solution references the vehicle frame of reference to world coordinates and attitudes through Euler transforms and, if available, geographical reference points.
Article ID:
38
