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Oxford Technical Solutions
Up The up axis (U) is co-axial with the gravity vector, and positive in the up direction.
Figure 8. 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.
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 23 and shown in
Figure 9.
Table 23. OxTS Horizontal frame definition
Axis Description
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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