sensor orientation R
S
E
pitch
0°
about the sensor's x axis
roll
0°
about the sensor's z axis
yaw
0°
about the vertical, y
E
reading a
S
S
, sensor at rest
x
0
y
9.81
z
0
zero angles
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\(\v{a}_S^S = \v{R}_E^S\left(\v{0} - \v{g}^E\right) =\)
0
9.81
0
m s
−2
|a| = 9.81