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84 Mutibody Systems Approach to Vehicle Dynamics
LPRF
Z z
X n
O n Y n
{ZP } n
{XP } n
{QP } n
Z m
MRF
Y m
O m
Marker m
X m
Body n
Fig. 3.9
method
Orientation of the marker reference frame using the X-point-Z-point
Z
PLANE Y-O
X
Y
PLANE X-O
Fig. 3.10
PLANE Z-O
Ground reference frame for full vehicle models
For the vehicle models described later in this text a consistent approach will
be used for the ground reference frame, as shown in Figure 3.10, where the
X-axis points back along the vehicle, the Y-axis points to the right of the
vehicle and the Z-axis is up. The XZ plane will always be taken to be coincident
with the centre line of the vehicle so as to exploit symmetry when
defining, for example, the Y co-ordinates of left and right suspension systems.