Table 3.

Elements of the rotation matrix (unity values) of the inertial measurement unit (IMU) axes when rotated 360° around its axes.

		R 11	R 21	R 31	R 12	R 22	R 23	R 31	R 32	R 33
Rotation around XIMU axis	1	−0.9677	−0.2519	0.0075	0.2520	−0.9677	0.0016	0.0069	0.0034	1.0000
	2	−0.9666	−0.2564	0.0047	0.2043	−0.7588	0.6184	−0.1550	0.5987	0.7858
	3	−0.9712	−0.2379	0.0100	0.0324	−0.0907	0.9953	−0.2359	0.9670	0.0958
	4	−0.9648	−0.2629	0.0087	−0.1361	0.5273	0.8387	−0.2251	0.8080	−0.5446
	5	−0.9658	−0.2592	0.0089	−0.2592	0.9658	−0.0031	−0.0078	−0.0053	−1.0000
	6	−0.9621	−0.2724	−0.0124	−0.2100	0.7690	−0.6038	0.1740	−0.5783	−0.7971
	7	−0.9678	−0.2516	0.0068	−0.0076	0.0021	−1.0000	0.2516	−0.9678	−0.0040
	8	−0.9609	−0.2767	0.0093	0.1981	−0.7106	−0.6751	0.1934	−0.6469	0.7376
Rotation around YIMU axis	1	−0.9781	−0.2078	0.0101	0.2079	−0.9782	−0.0007	0.0100	0.0014	0.9999
	2	−0.7457	−0.1457	0.6501	0.1863	−0.9825	−0.0065	0.6397	0.1163	0.7598
	3	−0.0274	−0.0149	0.9995	0.2218	−0.9751	−0.0085	0.9747	0.2214	0.0300
	4	0.5493	0.0849	0.8313	0.1682	−0.9857	−0.0105	0.8185	0.1456	−0.5557
	5	0.9734	0.2285	0.0137	0.2287	−0.9735	−0.0088	0.0113	0.0117	−0.9999
	6	0.6635	0.1952	−0.7223	0.2716	−0.9624	−0.0107	−0.6972	−0.1891	−0.6915
	7	−0.0141	0.0002	−0.9999	0.2889	−0.9574	−0.0042	−0.9573	−0.2889	0.0134
	8	−0.7845	−0.1990	−0.5873	0.2443	−0.9697	0.0022	−0.5700	−0.1418	0.8094
Rotation around ZIMU axis	1	−0.9722	−0.2340	0.0077	0.2340	−0.9722	−0.0020	0.0080	−0.0001	1.0000
	2	−0.8729	0.4878	0.0108	−0.4878	−0.8730	0.0022	0.0105	−0.0034	0.9999
	3	−0.3076	0.9515	0.0100	−0.9515	−0.3076	−0.0037	−0.0005	−0.0107	0.9999
	4	0.4668	0.8841	0.0221	−0.8842	0.4671	−0.0087	−0.0180	−0.0154	0.9997
	5	0.9621	0.2717	0.0233	−0.2718	0.9624	0.0025	−0.0218	−0.0088	0.9997
	6	0.8910	−0.4536	0.0194	0.4537	0.8912	0.0014	−0.0179	0.0075	0.9998
	7	0.3463	−0.9380	0.0186	0.9380	0.3464	0.0072	−0.0132	0.0150	0.9998
	8	−0.4209	−0.9071	0.0099	0.9071	−0.4208	0.0092	−0.0042	0.0128	0.9999