October 2017 RiverPro and RioPro ADCP Guide
Page 102
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Figure 26. RiverPro/RioPro Coordinate Transformation
The importance of the ship axis is that the attitude angles (pitch, roll, and heading) measure the orienta-
tion of the ship axes relative to the earth axes, regardless of up/down orientation. The sense of internal
sensors Tilt 1 (pitch) and Tilt 2 (roll) is positive for counterclockwise tilts respectively about the S and F
axes, using the right-hand rule (see Figure 27).
Figure 27. RiverPro/RioPro Pitch and Roll
Angle of the RiverPro/RioPro Sign
Beam 3 higher than Beam 4 Positive Pitch
Beam 1 higher than Beam 2 Positive Roll
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