ISO/TS 21002:2021

TECHNICAL ISO/TS
SPECIFICATION 21002
First edition
2021-07
Road vehicles — Multidimensional
measurement and coordinate systems
definition
Véhicules routiers — Mesurage multidimensionnel et définition des
systèmes de coordination
Reference number
©
ISO 2021
© ISO 2021
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ii © ISO 2021 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols . 6
5 Sensor calibration .10
6 Procedures zero-position verification .10
6.1 General .10
6.2 Verification acceptance limits .10
6.3 Zero-position data collection .11
6.4 Calculations .15
6.5 Zero-position verification with DAS parameters implemented . .16
7 Coordinate system transformation .17
7.1 Conditions .17
7.2 Sensor data processing spherical to orthogonal coordinate system .17
Annex A (informative) Measurement orthogonal coordinate systems .19
Annex B (informative) Zero-position fixture and data collection examples .26
Annex C (informative) Mathematical background data processing .37
Annex D (informative) Applicable sensors .42
Annex E (informative) Suggestions for generic workflow - parameter implementation in
data acquisition systems and verification of post processing software.43
Annex F (informative) ISO MME code examples .47
Annex G (informative) Expected outputs multidimensional sensors mounted in dummy .49
Bibliography .52
Foreword
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This document was prepared by Technical Committee ISO/TC 22, Road Vehicles, Subcommittee SC 36,
Safety aspects and impact testing.
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iv © ISO 2021 – All rights reserved

Introduction
This document provides a unified method to handle and process various types of multidimensional
displacement sensors for use in crash dummies and automotive crash testing. The content covers
existing sensors and dummies, but the document also offers a generic method to handle future new
dummies and/or sensors.
Multidimensional measurement systems are used in crash dummies (ATD, or anthropomorphic test
device) to monitor the position of dummy features (e.g. ribs, abdomen, etc.) for injury assessment. The
dummy feature position is typically expressed in an orthogonal coordinate system which is fixed to
the thoracic spine of the dummy, see Annex A. The systems covered in this document are an assembly
of one distance sensor and one or two angle sensors, the axes of which are organised in a (rotating)
spherical coordinate system, see Figure C.1. Other 2- and 3-dimensional position measurement systems
are outside the scope of this document. Although in this document a suit of ATD’s and their features are
discussed to explain the methodology, its scope is not limited to these examples and can be applied to
any other ATD and its features.
TECHNICAL SPECIFICATION ISO/TS 21002:2021(E)
Road vehicles — Multidimensional measurement and
coordinate systems definition
1 Scope
This document defines the measurement coordinate systems and presents the protocol to determine
the sensor offsets to the chosen coordinate system. Finally, the method is presented how to process
the sensor spherical coordinate system data to calculate the position of a dummy feature in three-
dimensional space in the defined local orthogonal coordinate system.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
multidimensional measurement system
system that measures spatial position of a crash dummy feature (e.g. rib, abdomen, etc.) with respect to
a defined reference feature (e.g. dummy spine) and its local coordinate system origin.
Note 1 to entry: Examples of multidimensional sensors and applications are given in the NOTES of Figure 1,
Figure 2 and Figure 3.
3.2
radius
distance between the centre of rotation at spine interface and centre of rotation at feature interface
(e.g. dummy rib)
[2]
Note 1 to entry: The parameter radius (R) is associated with the ISO MME Code DC for Distance, ISO/TS 13499 .
3.3
sensor Y-angle
angle of the multidimensional sensor along Y-axis with respect to local orthogonal coordinate system
Note 1 to entry: The positive rotation direction is defined following SAE sign convention right hand rule.
3.4
sensor Z-angle
angle of the multidimensional sensor along Z-axis with respect to local orthogonal coordinate system
Note 1 to entry: The positive rotation direction is defined following SAE sign convention right hand rule.
Note 2 to entry: Examples of the angle definitions are given in the NOTES of Figure 1, Figure 2 and Figure 3.
Key
1 radius, R
i
NOTE Two examples for WorldSID application are shown: left image 2D IR-TRACC, right image S-Track.
Figure 1 — Two-dimensional sensor mounted in right-hand side WorldSID 50M dummy
NOTE Two examples for THOR application are show: left image IR-TRACC, right image S-Track.
Figure 2 — Three-dimensional sensors mounted in THOR 50M right-hand view and global
coordinate system.
2 © ISO 2021 – All rights reserved

Key
1 radius, R
i
NOTE Two informative examples for THOR application are shown: left image 3D IR-TRACC, right image 3D
S-Track).
Figure 3 — Three-dimensional sensors for THOR lower right-hand thorax and their local
orthogonal coordinate system
3.5
zero-position
condition of multidimensional sensor when mounted by the spine interface and the distance sensor is
aligned with (parallel to) the local orthogonal coordinate system axes and the feature interface is fixed
at an accurately defined distance from the coordinate system origin
Note 1 to entry: By definition the angles of the multidimensional position sensor are zero.
3.6
zero-position fixture
tool to set up a multidimensional position sensor in its zero-position (3.5)
Note 1 to entry: A zero-position fixture has accurately machined reproducible mountings to simulate the dummy
spine and the feature mountings. These sensor mountings of the fixture are accurately positioned in (2D- and
3D) space such that the sensor is in its zero-position condition, called position 0 (position zero). The fixture has
additional mounting positions for the feature interface, which are translated from zero position over a defined
distance in a direction perpendicular to the distance sensor axis and parallel to at least one of the local orthogonal
coordinate system axes.
Note 2 to entry: The fixture is considered adequately accurate if the overall dimensional tolerance stack ups of
the sensor mountings are within ±0,3mm in all directions.
Note 3 to entry: Examples of 2D and 3D zero-position fixtures are given in Annex B.
Note 4 to entry: The zero-position fixtures are used in subsequent steps of the zero-position verification
procedure:
a) to find the offset of the sensors with respect to the local orthogonal coordinate system;
b) to remove offsets (by adjustment or compensation in a data acquisition system);
c) to check if sensor offsets are removed with a live data acquisition system;
d) to check sensor polarities with respect to global orthogonal coordinate system;
e) to check if calculations for coordinate system transformation are reproducing the design positions of the
fixture in 2D or 3D space. See paragraph 7 and Annex B.
3.7
offset angle
output in degrees of the angle sensor(s) when the multidimensional position sensor is in its zero-position
(3.5) condition
Note 1 to entry: If the angle sensor has a positive offset according to the local orthogonal coordinate system, the
offset angle is defined positive.
3.8
orientation angle
correction angle for multidimensional sensors that can be mounted in sensor orientation for left hand
and right-hand side impact operation, as well as for frontal impact operation
Note 1 to entry: Typically the two-dimensional sensors can be mounted in
...