Advanced Navigation Boreas D90 - Page 11

11.5.12.2 Trimble BD992 GNSSReceiver 171
11.5.12.3 GNSSFrequency Bitfields 172
11.5.12.4 L Band Modes 173
11.5.12.5 L Band Satellite IDs 174
11.5.13 User Data Packet 174
11.5.14 GPIO Input Configuration Packet 175
11.5.15 IP Dataports Configuration Packet 175
11.5.15.1 IP Dataport Mode 175
11.5.16 CAN Configuration Packet 176
11.5.16.1 CAN Protocol 176
12 Reference Information 177
12.1 Technology Overview 177
12.1.1 GNSS 177
12.1.2 AHRS 177
12.1.3 INS 177
12.1.4 GNSS/INS 177
12.2 The Sensor Co-ordinate Frame 178
12.2.1 Right Hand Rule 178
12.3 The Body Co-ordinate Frame 179
12.4 Roll, Pitch and Heading 179
12.4.1 Second Right Hand Rule 179
12.4.2 Rotation Order 180
12.5 Geodetic Co-ordinate System 180
12.5.1 Latitude and Longitude 180
12.5.2 Height 182
12.6 NED Co-ordinate Frame 183
12.7 ECEF Co-ordinate Frame 184
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