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rodralez / NaveGo

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.
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Definition of body frame XYZ? #13

Closed xelmirage closed 5 years ago

xelmirage commented 6 years ago

Hi~I'm working with your wonderful work to process the data from my own UAV autopilot. But Now I am confused with the relation of the Body frame XYZ and the roll/pitch/yaw of the UAV. I tried to found the general relationship and there are many possibilities existing. So I'm wondering if there is any further definition of the relation of the Body frame XYZ and the roll/pitch/yaw of the UAV?

rodralez commented 6 years ago

El mar., 31 jul. 2018 12:49 PM, xelmirage notifications@github.com escribió:

Hi~I'm working with your wonderful work to process the data from my own UAV autopilot. But Now I am confused with the relation of the Body frame XYZ and the roll/pitch/yaw of the UAV. I tried to found the general relationship and there are many possibilities existing. So I'm wondering if there is any further definition of the relation of the Body frame XYZ and the roll/pitch/yaw of the UAV?

Hello,

Body frame in Navego is positive X-forward, Y-right, and Z-down.

Regards.

Rodrigo Gonzalez

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xelmirage commented 6 years ago

Thank you for your explanation. There is another issue. The navego_example.m seems to have some mixing use of radian and degree in the IMU error profile section. So I am a little confused about the actual unit of every parameter. Now I am guessing the correct units. if you don't mind, later I may create a pull request to fix this problem...

rodralez commented 6 years ago

2018-08-04 23:45 GMT-03:00 xelmirage notifications@github.com:

Thank you for your explanation. There is another issue. The navego_example.m seems to have some mixing use of radian and degree in the IMU error profile section. So I am a little confused about the actual unit of every parameter. Now I am guessing the correct units. if you don't mind, later I may create a pull request to fix this problem...

Hello,

NaveGo works internally using SI units. So, angles must be represented in radians and turn rates in radians per second.

Then, you can choose to show the attitude errors between NaveGo and a reference (true) dataset in radians or degree. I choose degrees because is a more familiar unit for me.

I strongly recommend you to read my two articles cited in the Publications section at NaveGo repository:

(Gonzalez et al., 2015) R. Gonzalez, J.I. Giribet, and H.D. Patiño. NaveGo: a simulation framework for low-cost integrated navigation systems, Journal of Control Engineering and Applied Informatics, vol. 17, issue 2, pp. 110-120, 2015.

(Gonzalez et al., 2015a) R. Gonzalez, J.I. Giribet, and H.D. Patiño. An approach to benchmarking of loosely coupled low-cost navigation systems. Mathematical and Computer Modelling of Dynamical Systems, vol. 21, issue 3, pp. 272-287, 2015.

Regards. -- Rodrigo Gonzalez

xelmirage commented 6 years ago

Now I see，I had some misunderstanding of the code, thank you for your explanation.