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tii-racing / drone-racing-dataset

A fully-annotated, open-design dataset of autonomous and piloted high-speed flight
https://ieeexplore.ieee.org/document/10452776
MIT License
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What is the coordinate system for accelerations? #6

Open shisoft opened 3 hours ago

shisoft commented 3 hours ago

From your data, the accel_z starts with a positive gravity, which is the opposite of the direction to the ground. In my use case, MAVlink is in the NED body frame, and its acceleration at the z-axis starts with negative gravity.

I am having trouble converting this dataset for my case. What coordinate system is it using?

Thank you

shisoft commented 3 hours ago

Ah, I see your paper at https://arxiv.org/pdf/2311.02667. It seems like I need to invert z and y axis to get NED body frame.