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44 SPAN-IGM User Manual Rev 2
Chapter 5 Reference Frames Within SPAN
5.3 The Enclosure Frame
The definition of the enclosure frame is marked on the SPAN-IGM and represents how the sensors are
mounted in the enclosure. If the SPAN-IGM is mounted with the z-axis (as marked on the SPAN-IGM
enclosure) pointing up, the SPAN-IGM 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 10: SPAN-IGM-A1 Enclosure Frame Markings
5.4 The 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
Figure 11: Vehicle Frame
Z
Y
X