User Tools
Differences
This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision | Next revision Both sides next revision | ||
|
cs:hydrophones:multilateration:start [2017/09/14 00:23] Brian Moore [Depth Sensor Substitution] |
cs:hydrophones:multilateration:start [2017/09/14 00:29] Brian Moore [Rotation] |
||
|---|---|---|---|
| Line 144: | Line 144: | ||
| In the event the submarine is rotated off of the default orientation $R(\psi,\phi,\theta) = R(0,0,0)$ then the relative estimation of the pinger's position will be off, and a correction must be made to get the absolute coordinates $p_{pinger}=(X,Y,Z)$. | In the event the submarine is rotated off of the default orientation $R(\psi,\phi,\theta) = R(0,0,0)$ then the relative estimation of the pinger's position will be off, and a correction must be made to get the absolute coordinates $p_{pinger}=(X,Y,Z)$. | ||
| - | If the array is rotated by $R$ then the relative position of the pinger has been rotated in the local frame by $R^T$ | + | If the array is rotated by $R$ then the relative position of the pinger has been rotated in the local frame by the inverse $R^T$ |
| $$ | $$ | ||
