User's Manual

InterSense Doc. No. 072-00105-0I07 Rev. 4.2
IS-900 User Guide Page 169 of 177
AngularVelBodyFrame
rad/sec, in sensor body coordinate frame. Reported as rates about X, Y and Z
axes, corresponding to Roll, Pitch, Yaw order. This is the processed angular rate,
with current biases removed. This is the angular rate used to produce orientation
updates.
AngularVelNavFrame
rad/sec, in world coordinate frame, with boresight and other transformations
applied. Reported as rates about X, Y and Z axes, corresponding to Roll, Pitch,
Yaw order.
AccelBodyFrame
meter/sec^2, in sensor body coordinate frame. These are the accelerometer
measurements in the sensor body coordinate frame. Only factory calibration is
applied to this data, gravity component is not removed. Reported as
accelerations along X, Y and Z axes.
AccelNavFrame
meters/sec^2, in the navigation (earth) coordinate frame. This is the
accelerometer measurements with calibration, current sensor orientation applied,
and gravity subtracted. This is the best available estimate of tracker acceleration.
Reported as accelerations along X, Y and Z axes.
VelocityNavFrame
meters/sec, 6-DOF systems only. Reported as velocity along X, Y and Z axes.
AngularVelRaw
Raw gyro output, only factory calibration is applied. Some errors due to
temperature dependant gyro bias drift will remain.
MeasQuality
Ultrasonic Measurement Quality (IS-900 only, firmware >= 4.26)
TimeStampSeconds
Time Stamp in whole seconds.
TimeStampMicroSec
Fractional part of the Time Stamp in micro-seconds.
OSTimeStampSeconds
OSTimeStampMicroSec
Data record arrival time stamp based on OS time,
reserved for future use, not
implemented.
MagBodyFrame
3DOF sensors only. Magnetometer data along the X, Y, and Z axes. Units are
nominally in Gauss, and factory calibration is applied. Note, however, that most
sensors are not calibrated precisely since the absolute field strength is not