User's Manual

Document MV0319P.N
© Xsens Technologies B.V.
MVN User Manual
108
2 2 2 2
0 1 2 3 1 2 0 3 1 3 0 2
2 2 2 2
1 2 0 3 0 1 2 3 2 3 0 1
2 2 2 2
1 3 0 2 2 3 0 1 0 1 2 3
22
2 3 1 2 0 3 1 3 0 2
22
1 2 0 3 1 3 2 3 0 1
1 3 0
2 2 2 2
2 2 2 2
2 2 2 2
1 2 2 2 2 2 2
2 2 1 2 2 2 2
22
q q q q q q q q q q q q
q q q q q q q q q q q q
q q q q q q q q q q q q
q q q q q q q q q q
q q q q q q q q q q
q q q q

    

    


    

   
    

R=
22
2 2 3 0 1 1 2
2 2 1 2 2q q q q q q




  

For further information on quaternion operations and rotations, refer to the book: J.B. Kuipers.
Quaternions and Rotation Sequences. Princeton University.
19.4 Body planes
Figure 65: Body planes
19.5 Coordinate systems
The MVN Fusion Engine calculates the position and orientation, and other kinematic data of each body
segment, B, with respect to an earth-fixed reference co-ordinate system, G. By default the earth-fixed
reference co-ordinate system used is defined as a right handed Cartesian co-ordinate system with:
Frontal / coronal plane
Transverse plane
Sagittal plane