(0x80,0x09) Comp Orientation Matrix

3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame. This matrix satisfies the following relationship: More...

Classes
struct	mip::data_sensor::CompOrientationMatrix

Detailed Description

3x3 Direction Cosine Matrix EQSTART M_{ned}^{veh} EQEND describing the orientation of the device with respect to the NED local-level frame. This matrix satisfies the following relationship:

EQSTART v^{veh} = M_{ned}^{veh} v^{ned} EQEND

Where:

EQSTART v^{ned} EQEND is a 3-element vector expressed in the NED frame.
EQSTART v^{veh} EQEND is the same 3-element vector expressed in the vehicle frame.

The matrix elements are stored is row-major order: EQSTART M = \begin{bmatrix} M_{11}, M_{12}, M_{13}, M_{21}, M_{22}, M_{23}, M_{31}, M_{32}, M_{33} \end{bmatrix} EQEND