Pni SENtral Manual do Utilizador descarregar pdf (Página 43)

PNI Sensor Corporation Doc #1018049 R03

SENtral Technical Data Sheet Page 42

Rotation Vector

The rotation vector is the first three elements of the quaternion output, Qx, Qy, and Qz. The

fourth element, Qw, is not included in the rotation vector. The rotation vector in ENU

convention will be the first three elements of Q

ENU

, discussed above.

Rotation Matrix, or Direction Cosine Matrix (DCM)

The rotation matrix, also known as the direction cosine matrix (DCM), can be established

from the quaternion output using the following conversion. Q

ENU

values can be substituted

to give the rotation matrix with an ENU convention.

+ Qx

– Qy

– Qz

2*(Qx*Qy + Qw*Qz)

2*(Qx*Qz – Qw*Qy)

R =

2*(Qx*Qy – Qw*Qz)

– Qx

+ Qy

– Qz

2*(Qy*Qz + Qw*Qy)

2*(Qx*Qz + Qw*Qy)

2*(Qy*Qz – Qw*Qy)

– Qx

– Qy

+ Qz

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Pni SENtral Manual do Utilizador Página 43