Quick math question here involving coordinate frame transformations: Lets say I have a terrestrial robot with instrument coordinate frame in ENU, and it has angular misalignments (let’s say theta, gamma, beta) around all axises (E,N,and U). So essentially, we can describe this new misaligned frame as ENU’.

How can I take those theta, gamma, beta misalignments in the ENU frame and correlate them to local azimuth, elevation, and roll frame misalignments?

I have worked through this problem several times and have reached two different conclusions using two different methods- not sure which one is right. I’d like to hear someone else’s thoughts on this. In my mind it is either super simple or super complicated.


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