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measuring_lever_arms_for_dji

Measuring Lever Arms

DJI M600 Reference Frame

  1. The Lever Arms are from the GPS/IMU to the GPS antenna in reference to the vehicle body frame. This reference frame is Y– Forward, X– to the Right, and Z– Up. By being inline with this reference frame the measurements will be positive values and negative values in the opposite directions. So if we were measuring from the IMU to the GPS antenna and Y was Backward and Z was Down and X was Left then our values would be negative.
  2. The DJI M600 has the two RED colored motor mounts that indicate the front of the UAS (inside the green circle is the GPS antenna).
  3. IMU/GPS measuring point. Is the small circle embossed into the Snoopy case.

Lever Arm Measurements

  1. In this example all of our measurements are positive values because all three measurements (X,Y, and Z) are inline with the vehicle body frame Y-Forward, X-to the Right, and Z-Up.
  2. Measuring the Y Lever Arm. We are measuring from the IMU to the the center of the antenna mount (here we are are measuring to the center of the landing gear leg because it is inline with the center of the GPS antenna). So Y is positive 1.5 cm.
  3. Measuring the X Lever Arm. We are measuring from the center of the IMU to the center of the antenna mount (here we are assuming that the center of the IMU is inline with the center of the DJI M600). So X is positive 10.5 cm.
  4. Measuring the Z Lever Arm. We are measuring from the IMU to the the base of the antenna mount. So Z is positive 32.5 cm. (don't let the camera angle confuse you).

measuring_lever_arms_for_dji.txt · Last modified: 2017/04/07 14:27 by robert.graham

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