In all measurements the sensors were aligned to gravity and north as much as possible.
Right-handed coordinate system with:
- X: forward direction
- Y: left direction
- Z: up direction
- Accelerometer:
- X: forward (same as reference)
- Y: left (same as reference)
- Z: up (same as reference)
- Magnetometer:
- X: ...
- Y: ...
- Z: up (same as reference)
- Gyroscope:
- X: positive is clockwise, negative is counter-clockwise - flipped sign
- Y: positive is counter-clockwise, negative is clockwise
- Z: positive is counter-clockwise, negative is clockwise
Normal orientation. This should give a negative accelerometer reading on the Z axis, as it points upwards.
See unmoved-with-x-pointing-forward-10min or nmoved-with-x-pointing-forward.
| Sensor | X | Y | Z |
|---|---|---|---|
| Accel | 0 | 0 | -1 |
| Gyro | 5 | 0 | 1 |
| Mag | 0.2 | -0.1 | -0.3 |
Rotated clockwise around y, "bringing the nose up". This should give a negative accelerometer reading on the X axis, as it points upwards.
See unmoved-with-z-pointing-front-and-x-up.
| Sensor | X | Y | Z |
|---|---|---|---|
| Accel | -1 | 0 | 0 |
| Gyro | 5 | 0 | 1 |
| Mag | -0.5 | -0.1 | 0.3 |
Rotated 90 degree to the left (CCW around Z), then 180 degree around the left "on the head". This should give a positive accelerometer reading on the Y axis, as it points downwards.
See unmoved-with-z-pointing-front-and-y-down.
| Sensor | X | Y | Z |
|---|---|---|---|
| Accel | 0 | 1 | 0 |
| Gyro | 5 | 0 | 1 |
| Mag | 0 | 0.4 | 0.3 |
- measured at 100Hz
- Accelerometer
- Gyroscope
- Temperature
- measured at 75Hz
- Magnetometer