4.5 HARK standard coordinate system

The center of the coordinate system used in HARK is the origin specified by a user (usually the center of a microphone array). The positive direction of the x axis indicates the front, the positive y axis indicates the left side and the positive z axis indicates the upwards direction. The unit for the coordinate system is meters. Moreover, for angles, the counter clockwise is assumed to be positive rotation with the front side as 0[deg] (the left direction is 90[deg], for example).

$\includegraphics[width=.7\textwidth ]{fig/types/coordinate.eps}$

Figure 4.3: HARK standard coordinate system