Using the SDF Configurator, PolySync sensor nodes can be configured to specify the active coordinate frame.
When working on a sensor node in the SDF Configurator you will find the Active Coordinate Fame Identifier as the top parameter in the *Node Configuration* parameters panel.
2 - Not Available
Coordinate frame not available. This is typically used for nodes that don't have or don't need a coordinate frame.
3 - Local (Sensor)
Standard right handed PolySync local coordinate frame, also known as the vehicle coordinate frame.
4 - Platform
Standard right handed PolySync platform coordinate frame. Fixed in the platform body, i.e. a fixed body coordinate system.
PolySync vehicle coordinates conform to ISO8855:1991 and SAE J670:JAN2008 and follow the conventions shown below. Axis and angle of rotation are right handed.
For the Vehicle Centered Reference Coordinate Frame (VCRF), the origin is the **center of the rear axle on the ground**.
5 - Relative
Standard right handed PolySync relative coordinate frame. Typically based on a dead-reckoned navigation solution.
6 - Absolute
Standard right handed PolySync absolute coordinate frame. Typically based on an absolute or world navigation solution like WGS84 UTM coordinate Frame in a given zone.