52 min

Intermediate

Video

Theory

Link to External Site

In this video we show how to compute the inertial velocity of a rigid body in the vehicle-carried North, East, Down (NED) frame. This is achieved by rotating the velocity expressed in the body frame through the Euler rotation sequence using the direction cosine matrix (DCM). This allows us to compute the position North, East, and down of the vehicle which is useful for navigation or other applications (such as determining the altitude of the vehicle which can in turn be used to more accurately model air density).