Advanced Navigation GNSS Compass - Page 8

10.5.6.1 Ports 116
10.5.6.2 Transmit and Receive Functions 116
10.5.7 Set Zero Orientation Alignment Packet 116
10.5.8 Reference Point Offsets Packet 118
10.5.9 Port Output Configuration Packet 119
10.5.9.1 NMEA Fix Behaviour 119
10.5.9.2 Port Output Rates 119
10.5.9.3 Output Rates Index 120
10.5.10 User Data Packet 120
11 Reference Information 121
11.1 Technology Overview 121
11.1.1 GNSS 121
11.1.2 AHRS 121
11.1.3 INS 121
11.1.4 GNSS/INS 121
11.2 The Sensor Co-ordinate Frame 122
11.3 The Body Co-ordinate Frame 123
11.4 Roll, Pitch and Heading 123
11.4.1 Second Right Hand Rule 124
11.4.2 Rotation Order 124
11.5 Geodetic Co-ordinate System 124
11.6 NED Co-ordinate Frame 126
11.7 ECEF Co-ordinate Frame 127
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