ZED-F9R-Integration manual
• The origin (O) is a point on the Earth's surface;
• The x-axis points to north;
• The y-axis points to east;
• The z-axis completes the right-handed reference system by pointing down.
The frame is referred to as North-East-Down (NED) since its axes are aligned with the North, East
and down directions.
3.2.7.4.2 Vehicle frame
The vehicle frame is a right-handed 3D Cartesian frame rigidly connected with the vehicle and is
used to determine the attitude of the vehicle with respect to the local-level frame. It has the following
features:
• The origin (O) is the VRP;
• The x-axis points towards the front of the vehicle;
• The y-axis points towards the right of the vehicle;
• The z-axis completes the right-handed reference system by pointing down.
3.2.7.4.3 Vehicle position and velocity output
The position and velocity information is output in several messages, for example, UBX-NAV-PVT.
Position and velocity computed by the HPS navigation filter are referenced to the IRP.
3.2.7.4.4 Vehicle attitude output
The transformation between the vehicle frame and the local-level frame is described by three
attitude angles about the local-level axes denoted as vehicle roll, vehicle pitch and vehicle heading.
All three angles are referred to as vehicle attitude and are illustrated in the figure below:
UBX-20039643 - R06
3 Receiver functionality Page 36 of 119
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