hi,
How one can transform body coordinate (Roll Pitch Yaw) system to
ENU (east North UP) coordinate system.
I am using HTC mobile sensor accelerometre and orientation
sensors.
I want to transform Acceleration values from mobile Coordinate
system to ENU system, and also after transformation how should i
verify it whether the transformation is ok.
Right now I am using
Ir=[sin(Y)*cos(P);cos(Y)*cos(P);sin(P)]
Ip=[cos(R)*cos(Y)+sin(R)*sin(Y)*sin(P);-cos(R)*sin(Y)
+sin(R)*cos(Y)*sin(P);-sin(R)*cos(P)]
Iy=[-sin(R)*cos(Y)+cos(R)*sin(Y)*sin(P);sin(R)*sin(Y)+c
os(R)*cos(Y)*sin(P);-cos(R)*cos(P)]
R=[Ir Ip Iy];
Ar=R*Ab
where Ab is the acceleration in body coordinate system and Ar is
in ENU system. I want to verify whether is it right ? and if right How
i can verify the results. I mean what would be the value of Ar (its
z component shoud be maximum? or something else)?
regards
ravi
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