Coordinate Systems

Global Coordinate

  • axis (m): [x, y, z]

  • phi (deg): angle on the x-y plane. 0 deg is the positive x-axis, 90 deg is the positive y-axis

  • theta (deg): angle on the z-x plane. 0 deg is the positive z-axis, 90 deg is the x-y plane

Phi Theta Plot

Local Coordinate

  • yaw (deg): rotation along the z-axis. Positive yaw rotates the object from the positive x-axis to the positive y-axis

  • pitch (deg): rotation along the y-axis. Positive pitch rotates the object from the positive x-axis to the positive z-axis

  • roll (deg): rotation along the x-axis. Positive roll rotates the object from the positive y-axis to the positive z-axis

  • origin (m): [x, y, z], the rotation centor of the object. Radar’s origin is always at [0, 0, 0]

Yaw Pitch Roll Plot

  • azimuth (deg): azimuth -90 ~ 90 deg equal to phi -90 ~ 90 deg

  • elevation (deg): elevation -90 ~ 90 deg equal to theta 180 ~ 0 deg

Azimuth Elevation Plot