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22 SPAN-CPT User Manual Rev 8
Chapter 3 SPAN-CPT Operation
3.1.3 Enclosure Frame
The definition of the enclosure frame is defined on the SPAN-CPT and represents how the sensors are
mounted in the enclosure. If the SPAN-CPT is mounted with the z-axis (as marked on the SPAN-CPT)
pointing up, the enclosure frame is the same as the SPAN frame.
The origin of this frame is not the enclosure center, but the Center of Navigation (sensor center).
Figure 9: SPAN-CPT Center of Navigation
3.1.4 Vehicle Frame
The definition of the vehicle frame is as follows:
• z-axis points up through the roof of the vehicle perpendicular to the ground
• y-axis points out the front of the vehicle in the direction of travel
• x-axis completes the right-handed system (out the right-hand side of the vehicle when facing
forward)
Use the VEHICLEBODYROTATION command to enter the rotation into the system and use the
RVBCALIBRATE command to calculate this rotation. See the SPAN on OEM6 Firmware Reference
Manual (OM-20000144) for information about these commands.
Figure 10: Vehicle Frame
Although the SPAN-CPT is a rugged product, the gyros inside are sensitive and can be
damaged by environmental shocks such as vibration, bumps and rapid temperature
changes.
+X
+Y
+X
+Z
Center of Navigation indicators
Z
Y
X