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Figure 11: OxTS NED navigation frame definition
ISO 8855 ENU earth-fixed system
The ISO earth-fixed system is attached to the vehicle but does not rotate with it. The north and east axes are
perpendicular to the gravity vector and north always points north.
Table 17: ISO 8855 ENU earth-fixed system
East
The east axis (E) is perpendicular to gravity, perpendicular to the north axis and
is in the east direction
North
The north axis (N) is perpendicular to the gravity vector and in the direction of
the North Pole along the earth’s surface
Up The up axis (U) is co-axial with the gravity vector, and positive in the up direction
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