CodaOctopus F180R - Reference Frames

Hardware
Copyright © 2015 Coda Octopus Products Ltd
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F180R MOTION Sensor User and Reference Guide
3.2.3 Reference Frames
Global Reference System
Horizontal Domain
WGS84 Latitude, Longitude
Vertical Domain
WGS84 Ellipsoidal Height
OSU89B Geoid Height
User Defined
Time Domain
Coordinated Universal Time (UTC)
Local Reference System - F180R System Standard Orientation
Figure 23: Local Reference System
NOTE: The IMU frame for the F180R System wetpod are defined with positive y-axis
through connector plate and positive x and z-axis according to marking on the unit
itself.
Lever Arm Convention
If you have specified a Remote Lever Arm then the position, velocity, heading, heave and
attitude data are for the remote lever arm location.
If you have not set a Remote Lever Arm, the position, velocity, heave, attitude data are
relative the IMU and the heading data are for the vessel.