earth acceleration direction convention_enu
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Hello, I would like to confirm if my understanding of the direction of earth acceleration is correct. If I specify CONVENTION_ENU, then x corresponds to the north, y corresponds to the east, and z corresponds to downwards?
I am setting different heading values in ahrs. Will this affect x, y and z of earth acceleration?
The complete scenario for which I am consulting this question is for a car-mounted inertial navigation system. I can obtain position, heading and velocity data through GNSS:
- Set the initial position and velocity through GNSS data, including heading if necessary.
- Calculate the vehicle’s acceleration through ahrs’ earth acceleration, then speed, and then new position. This can achieve the scenario of car-mounted inertial navigation.
- If there is a need for calibration during parking or uniform straight-line motion, GNSS data can be used to calibrate the inertial navigation system.
I am eagerly waiting for your reply
ENU means East = X, North = Y, and Up = Z. The three letters correspond to XYZ, in order. The heading will determine how accelerometer measurements map onto the Earth's XY plane.
I read that in the Earth coordinate frame, the z-axis points to the North Pole and the x and y are in the equatorial plane. However, ENU that you mentioned earlier seems more like a navigation coordinate system, so I’m a bit confused.
Axes Conventions describe how the XYZ directions are assigned to the Earth coordinate frame. Fusion supports three different axes conventions: North-West-Up (NWU), East-North-Up (ENU), and North-East-Down (NED). If you are confused then I suggest you either ask a specific question, or search online to fill the gaps in your knowledge.
thanks!