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a-series_ie_orientation_example

# A-Series IE Orientation Explained

The following images correspond to a single system in its different positions and rotations based on how it is mounted during collection. Examples of Inertial Explorer settings are below each image.

## System A

### Position#1: back-of-vehicle.snoopy-a

```
----------GPS to IMU------------
Rotations(degrees)
Rot X: 0
Rot Y: 0
Rot Z: 0

Lever arm(meters)
Offset X: 1
Offset Y: 1
Offset Z: 1

----------IMU to Sensor----------
Rotations(degrees)
Rot X:
Rot Y:
Rot Z:

Lever arm(meters)
Offset X: 1
Offset Y: 1
Offset Z: 1
```

—-

### Position #2: front-of-vehicle.snoopy-a The scanner is rotated 180 degrees about the Z-axis from Position #1. VALUES ARE EXAMPLE ONLY.

```
----------GPS to IMU------------
Rotations(degrees)
Rot X: Position #1 degrees = 0
Rot Y: Position #1 degrees = 0
Rot Z: Position #1 degrees + 180 = 180

Lever arm(meters)
Offset X: -(Position #1 meters) = -1
Offset Y: -(Position #1 meters) = -1
Offset Z: Position #1 meters = 1

----------IMU to Sensor----------
Rotations(degrees)
Rot X:
Rot Y:
Rot Z:

Lever arm(meters)
Offset X: -(Position #1 meters) = -1
Offset Y: -(Position #1 meters) = -1
Offset Z: Position #1 meters = 1

```

—-

### Position #3: front-of-uav.snoopy-a The scanner has rotated -180 degrees about X axis from Position #1 (or 180 in Y from Position #2). VALUES ARE EXAMPLE ONLY.

```
----------GPS to IMU------------
Rotations(degrees)
Rot X: Position #1 - 180 = -180
Rot Y: Position #1 = 0
Rot Z: Position #1 = 0

Lever arm(meters)
Offset X: Variable on UAV (+right)
Offset Y: Variable on UAV (+forward)
Offset Z: Variable on UAV (+up)

----------IMU to Sensor----------
Rotations(degrees)
Rot X:
Rot Y:
Rot Z:

Lever arm(meters)
Offset X: 1
Offset Y: -1
Offset Z: -1

```  