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Figure 12: ISO 8855 ENU earth-fixed system
OxTS horizontal frame
The OxTS horizontal frame (sometimes called the level frame) is attached to the vehicle but does not rotate
with the roll and pitch of the vehicle. It rotates by the heading of the vehicle. The definition of the OxTS
Horizontal frame is listed in Table 18 and shown in Figure 13.
Table 18: OxTS Horizontal frame definition
Forward
This is the longitudinal (forward) direction of the vehicle, projected in to the
horizontal plane
Lateral
This is the lateral direction of the vehicle, pointing to the right, projected in to
the horizontal plane
Down This is the vertical (down) direction of the vehicle, along the gravity vector
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