User Manual Part 1

IS-900 User Guide Page 62 of 159
Sets the coordinate frame with respect to which outputs for
that station will be reported. The coordinate frame is
defined by a set of three points. Ox,Oy,Oz defines the
origin of the new coordinate system, Xx,Xy,Xz defines a
point on the positive x-axis and Yx,Yy,Yz defines a point
on the positive y-axis. The effect of this command is
incremental, or relative to any current alignment reference
frame already in place. If optional parameters are omitted,
current values are returned. Units are centimeters.
Default Fusion Mode: X=North, Y=East, Z=Down,
position origin is defined by
SoniStrip Constellation Array
horizontally leveled. See
Section 3.1.
Reset Alignment Reference Frame
R{stationNum}<>
Resets reference frame to the default.
Boresight Reference Angles
G{stationNum},[yawref, pitchref, rollref]<>
Sets the boresight reference angles for the specified
station. If set, these values are then used by the next
Boresight command instead of current orientation. If
optional parameters are omitted, current reference angles
are returned. Units are degrees.
Default 0,0,0
Boresight Compatibility Mode
MBF<> Switch system to Fastrak Compatible mode.
MBI<> Switch system to Firmware Version 2.x Compatible
mode.
In firmware versions prior to 3.00 the B{stationNum}<>
command was implemented as the Heading Boresight (see
below) and full boresight was not available. To maintain
compatibility with the user software written at that time, two
Boresight Compatibility modes are available. In Fastrak
Compatible mode B{stationNum}<> command executes full
3-DOF boresight and MB{stationNum}<> effects heading
only. In the Firmware Version 2.x Compatible mode the
meanings of these commands are reversed.
Default Firmware Version 2.x Compatible, MBI<>