Table 14. OxTS Horizontal frame definition
Forward This is the longitudinal (forward) direction of the vehicle, projected in to the
horizontal plane.
Down This is the vertical (down) direction of the vehicle, along the gravity vector.
Figure 7. OxTS horizontal frame definition
The OxTS horizontal frame is attached to the vehicle. The longitudinal and lateral axes remain parallel to
a horizontal plane. The longitudinal axis is also parallel to the vehicle’s heading when viewed from above.
ISO 8855 intermediate system
The ISO 8855 intermediate system is attached to the vehicle but the X- and Y-axis both
remain parallel to the ground plane. The X-axis is also aligned with the vertical projection
of the vehicle heading. The definition of the ISO 8855 intermediate system is listed in
Table 15. ISO 8855 intermediate system and shown in Figure 8.
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