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SPAN-CPT Operation Chapter 3
SPAN-CPT User Manual Rev 8 21
3.1.2 SPAN Body Frame
The definition of the SPAN body frame is as follows:
• z-axis pointing up (aligned with gravity)
• y-axis defined by how user has mounted the IMU
• x-axis defined by how user has mounted the IMU
To determine the SPAN x-axis and y-axis, see Table 3, Full Mapping Definitions on page 21. This frame
is also known as the computation frame and is the frame where all the mechanization equations are
computed.
Table 3: Full Mapping Definitions
Mapping
SPAN Frame
Axis
SPAN Frame
IMU Enclosure
Frame Axis
IMU Enclosure
Frame
1
XY
YZ
ZX
2
XZ
YY
Z-X
3
XZ
YX
ZY
4
XX
YZ
Z-Y
5
(default)
XX
YY
ZZ
6
XY
YX
Z-Z
Z
X
Y
X
Y
Z
Z
X
Y
Z
Y
X
Z
X
Y
Y
Z
X
Z
X
Y
X
Z
Y
Z
X
Y
Z
X
Y
Z
X
Y
Y
X
Z