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Quaternions given relative to NED but I want to orientate my sensor relative to Down only

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Adam Levschuk
Adam Levschuk on 4 Sep 2020
Commented: James Tursa on 11 Sep 2020
Hello all, i am using the Bosch BNO055 IMU to do gait analysis. The quaternions outlutted from the sensor are relative to the NED (or ENU, im not sure) global refernece frame. I would like to keep the DOWN part of this so the sensor is aligned with gravity, but the X and Y axis stay in the orginal body frame.
the quaternion is in w,x,y,z form where the z quaternion aligns the sensor relative to north (and therefor east). If i reset this to 0 then will it not longer aligned the sensor with North and East, but still down? Also does anyone know what i will have to do to the W term if i do this?
Thank you for your help and suggestions

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James Tursa
James Tursa on 11 Sep 2020
I don't understand your request. If you have a DOWN vector and two BODY vectors they will not form an orthogonal set of axes. What is your purpose in trying to do this?

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