Xsens MTi-30 AHRS User Manual

Mti 10-series and mti 100-series 5th generation

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Page 1 MTi User Manual MTi 10-series and MTi 100-series 5th generation Document MT0605P, Revision F, 29 October 2018 Xsens Technologies B.V. Xsens North America, Inc. Pantheon 6a phone +31 (0)88 973 67 00 10557 Jefferson Blvd, phone 310-481-1800 P.O. Box 559...
Page 2 1 July 2018 Updated MTi-G-710 orientation specification © 2005-2018, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, MVN, MotionGrid, MTi, MTx and Awinda are registered trademarks or trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The Netherlands, the USA and/or other countries.
Page 3: Table Of Contents
Table of Contents REFERENCES ..........................3 XSENS HELP CENTER AND USER COMMUNITY ..............4 INTRODUCTION ..........................5 ..........................5 SERIES 3.1.1 MTi-30 AHRS ........................5 3.1.2 MTi-20 VRU ........................5 3.1.3 MTi-10 IMU ........................5 100- ........................... 6 SERIES 3.2.1 MTi-G-710 GNSS/INS .......................
Page 4 Mounting the MTi-OEM ....................42 7.4.4 MTi 10-series technical drawing ..................43 7.4.5 MTi 100-200-300 technical drawing ................44 7.4.6 MTi-G-700/710 technical drawing ..................45 7.4.7 MTi OEM technical drawing ..................... 46 Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 5 ..................... 47 BSOLUTE MAXIMUM RATINGS ..........................47 AINTENANCE EU D ..................... 48 ECLARATION OF ONFORMITY FCC D ................... 49 ECLARATION OF ONFORMITY ......................50 ARRANTY AND LIABILITY ......................... 50 USTOMER UPPORT Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 6 Table 24: Part numbers for sockets that fit the headers on the MTi OEM ..........40 Table 25: Interface specifications of the synchronization lines ............. 40 Table 26: Wire colours in the USB converters ..................41 Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 7: References
[MTM] “MT Manager User Manual.pdf”, document ID MT0216P [XDA_DOC] XDA doxygen HTML documentation. Found in Xsens folder structure [MTI_1] “MTi 1-series Datasheet.pdf”, document ID MT0512P Note: The latest available documentation can be found in your MT Software Suite installation folder or via the following link: https://xsens.com/xsens-mti-documentation...
Page 8: Xsens Help Center And User Community
(registration required). The user community is the place to ask questions. Answers may be given by other users or by Xsens employees. The response time in the user community is significantly shorter than the response time at Xsens support.
Page 9: Introduction
The MTi product range is divided in three series, the MTi 1-series, the MTi 10-series and the MTi 100- series. The MTi 10-series is Xsens’ entry level model with robust accuracy and a limited range of IO options. The 100-series is a new class of MEMS IMU’s, orientation and position sensor modules offering unprecedented accuracies and a wide array of IO interfaces.
Page 10: Mti 100-Series
3.2.3 MTi-200 VRU The MTi-200 VRU is a 3D vertical reference unit (VRU) and this unit runs the Xsens sensor fusion algorithm from the MTi-300 as well. The difference between the data of the MTi-300 and MTi-200 is that yaw is unreferenced, though the yaw is still much better than just integrating rate of turn when using the gyro bias estimation techniques available.
Page 11: Identifying Device Functionality Using The Unique Device Identifier
Identifying device functionality using the unique Device Identifier Each Xsens product is marked with a unique serial device identifier referred to as the DeviceID. The DeviceID is categorized per MTi product configuration in order to make it possible to recognize the MTi (and thus its functionality and interface) by reviewing the DeviceID.
Page 12: Product Code
-O = OEM Interface: Gyroscope: 2=RS232 G4=450º/s 4= RS485 G0=1000º/s 6= RS422 Figure 3: Product codes of MTi devices Figure 4: Example of a label showing the SN (DeviceID) and the product code Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 13: Evolution Of Mti Products
 Test and Calibration certificate  MT Software Suite available via www.xsens.com/setup Xsens MTi USB driver MT Manager GUI for Linux and Windows MT Software Development Kit (MT SDK) for multiple OS  XsensDeviceApi.DLL, 32-bit and 64-bit (Windows) ...
Page 14: Installation
 Firmware Updater User Manual [FU0100P] Firmware Updater (Windows) NOTE: the most recent version of the software, source code and documentation can always be downloaded on www.xsens.com/mt-software-suite. Links to documentation can be found on BASE: https://base.xsens.com/hc/en-us/articles/207003759 3.5 Installation 3.5.1 Transient accelerations The 3D linear accelerometers in the MTi are primarily used to estimate the direction of gravity to obtain a reference for attitude (pitch/roll).
Page 15: Magnetic Materials And Magnets
MTi. Xsens has tested a set of vibration dampeners on the MTi. Vibration dampeners are low-profile rubber cylinders that allow the MTi to be mounted on an object without a direct metal to metal connection that transduces vibrations from the object to the MTi.
Page 16: Figure 6: Structure Of The Mt Software Suite
The Xbus low-level protocol is described in high detail in the Low Level Communication Protocol: [LLCP]. The hardware driver of the USB interface for Linux can be found on https://github.com/xsens/xsens_mt. The driver is also included in Linux kernel 3.9 and higher.
Page 17: Using The Software Development Kit (Sdk)
3.6.3 Using the Software Development Kit (SDK) This chapter gives an introduction to the Xsens Device API (XDA). It serves as a starting point for system integrators interested in assessing the basis of the SDK and knowing about the background considerations.
Page 18: Direct Low-Level Communication With Mti
Internally the Xsens host software is implemented using an object oriented approach in which the functionality is only implemented in subclasses, see schematic below. Figure 7: Functionality implementation for specific products It is important for the developer to use only functions supported by the connected device. During run time, calling an unsupported function will generate an error status in line with the normal error handling framework.
Page 19: Table 3: Guidelines For The Use Of The Mt Software Suite
Allowed to re-distribute “as is” or embed in programs Not allowed to reverse engineer Allowed to execute, reproduce, modify and compile (modified) source code to use with Xsens products only Not allowed to modify DLL Include License Agreement with distribution For use with Xsens products only Allowed to re-distribute “as is”...
Page 20: Mti System Overview
A correct calibration of the sensor components inside the MTi is essential for an accurate output. The quality and importance of the calibration are of highest priority and so each Xsens’ MTi is calibrated and tested by subjecting each product to a wide range of motions and temperatures.
Page 21: Using The Earth Magnetic Field To Stabilize Yaw
The XKF3i algorithm not only computes orientation, but also keeps track of variables such as sensor biases or properties of the local magnetic field (magnetic field: MTi-30 AHRS only). For this reason, the orientation output may need some time to stabilize once the MTi is put into measurement mode. Time to obtain optimal stable output depends on a number of factors.
Page 22: Xsens Sensor Fusion Algorithm For Mt I -G-710
4.3 Xsens sensor fusion algorithm for MTi-G-710 The Xsens sensor fusion algorithm in the MTi-G-710 has several advanced features. It can handle a multitude of data channels, to incorporate GNSS and barometer data as well.
Page 23: Transient Accelerations
MTi-G is mounted in such airflow. The GeneralMag filter profile bases its yaw mainly on magnetic heading, together with comparison of GNSS acceleration and the accelerometers. Although this combination makes the yaw more robust than Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 24: Gnss Platform
This enables the user to adjust the u-blox receiver platform to match the dynamics of an application. The setting influences the estimates of Position and Velocity and therefore it affects the behaviour of the Xsens filter output. Currently, only the Portable (default) and Airborne (<4g) platforms are supported.
Page 25: In-Run Compass Calibration (Icc)
Representative Motion feature. Representative Motion is available in MT Manager, XDA and Low-Level Communication Protocol (Xbus protocol). ICC is currently a feature in beta. For more information, refer to the BASE-articles on ICC: https://base.xsens.com/hc/en-us/articles/213588029. Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 26: Output Specification
OEM version. Small x, y and z are used for (S) and the object coordinate system (O). Capital X, Y and Z are generally, but not always, used for velocity. They stand for the local-earth fixed coordinate system (L), see section 5.2.3. Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 27: Delta_Angle And Delta_Velocity
The default reference coordinate system (L) only applies to the MTi in Normal output mode. Refer to the LLCP manual for detailed orientation output specifications when using the ASCII (NMEA) output mode. Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 28: Table 6: Yaw In Different Coordinate Systems (Applies Only To Vru/Ahrs And Gnss/Ins Product Types)
With the default ENU (L) coordinate system, Xsens yaw output is defined as the angle between East (X) and the horizontal projection of the sensor roll axis (x), positive about the local vertical axis (Z) following the right hand rule.
Page 29: Velocity Data
Magnetic North and True North (known as the magnetic declination) varies depending on the location on earth and can be roughly obtained from the World Magnetic Model (Xsens uses WMM 2010-2015) of the earth’s magnetic field as a function of latitude and longitude. The MTi accepts a setting of the declination value.
Page 30: Position And Velocity Performance Specification (Mti-G-710)
Depending on the specific situation this can lead to large errors or even instability of the filter. Take care to select the correct filter profile. If you are uncertain, do not hesitate to contact Xsens or your local distributor. ...
Page 31: Sensor Data Performance Specification
The MTi-G-710 has the ability to give position and velocity output. The table below states the position and velocity accuracy according to Xsens’ reference trajectories. Table 8: Position and velocity performance specifications (MTi-G-710) Parameter Specification Horizontal (SBAS) 1.0 m (1σ STD)
Page 32: Barometer
The MTi-G-710 is the only MTi that features a GNSS receiver. It requires an active antenna, which is delivered with the Development Kit and can be ordered separately from Xsens as well. It is possible to use a different antenna that better suits your application.
Page 33: Built-In Self-Test
(electronic Motion Tracker settings). It is digitally signed by a Test Person and states the calibration values determined during the calibration of the MTi at Xsens’ calibration facilities. For reference, the values can be read by connecting the MTi to MT Manager and navigating to MT Settings –...
Page 34: Sensors Data Outputs
The three sensitive directions are used to form the misalignment matrix: �� 1,�� 1,�� 3,�� = [ 2,�� 2,�� 2,�� 3,�� 3,�� 3,�� Also known as “g-sensitivity”. Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 35: Calibrated Delta_Q And Delta_V Outputs
Angular velocity (rate of turn) (DataID 0x8020) rad/s Magnetic field (DataID 0xC020) a.u. (arbitrary units; normalized to earth field strength) Calibrated data has been going through Strapdown Integration and Inverse Strapdown Integration. Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 36: Free Acceleration
The MTi can give a sensor component readout output (SCR, DataID 0xA010 for the sensors data and 0xA020 for the gyroscope temperatures), i.e. digitized voltages of all sensors, before they are filtered or calibrated using Xsens’ proprietary firmware and calibration parameters. These sensors are the gyroscopes (rate of turn), accelerometers (acceleration), magnetometer (magnetic field), barometer (static pressure) and temperatures (gyroscope temperatures and a general temperature sensor).
Page 37: Communication
6.1 Communication Timing For many applications it is crucial to know exactly the various delays and latencies in a system. This has been extensively discussed in https://base.xsens.com/hc/en-us/articles/209306289. 6.2 Triggering and synchronization In case multiple systems are used during a measurement it is important to have the measurement data synchronized between the systems.
Page 38: Serial Connection Settings
@ 25ºC and load of 3kΩ is -5.7 V typical value @ 25ºC and load of 3kΩ is 6.2 V typical hysteresis is 25mV with a total differential load resistance of 50Ω (MTi already has 120Ω termination resistance) Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 39: Physical Specifications
Table 19: Power consumption depending on communication interface Product series RS232 RS422/RS485 MTi 10-series 478 mW 512 mW 581 mW MTi 100-series 522 mW 559 mW 640 mW MTi-G-710 664 mW 717 mW 871 mW Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 40: Alternative 3V3 Power Supply
Pin configuration casing receptacle CA-USB-MTi Connect the cable to the MTi and the USB cable to any USB port. Under Windows 7, the Xsens USB driver will be automatically installed if not already installed. In order to lock the CA-USB-MTi to the casing (this will prevent vibration of the push-pull sleeve to be transferred to the casing and MEMS sensors), screw the round nut clockwise.
Page 41: Figure 11: Drawing Of Ca-Mp2-Mti
USB connection as the shielding of the CA-MP2-MTi cable is not attached to the Molex header. The part number of the Fischer connector is SS 102A059- 130 Gunfire. Figure 11: Drawing of CA-MP2-MTi Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 42: Oem Connections Overview
AWG28 Shielding 7.3.1.3 GNSS Antenna The MTi-G-710 requires an active patch antenna that can be connected to SMA connector in the front panel of the MTi-G-710. See also https://base.xsens.com/hc/en-us/articles/209434509. 7.3.2 OEM connections overview 7.3.2.1 Power and data All MTi’s are available as OEM-board as well. The connection from the OEM board to the push-pull connector of the encased version is a flexible PCB, which has put to vibration test according to MIL-STD 202.
Page 43: Figure 12: The Pins Of The Headers On The Mti-Oem Are Clearly Marked
1 stop bit (8N1). The baud rate of the MTi is 115200 by default, but can be adjusted in MT Manager [MTM] or using low-level communication commands [LLCP]. To configure the Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 44: Additional Interface Specifications
7.3.2.2 GNSS receiver The MTi-G-710 needs an active antenna. The connection on the OEM board of the MTi-G-710 is done with an u.FL miniature coax. See also https://base.xsens.com/hc/en-us/articles/209434509. 7.3.2.3 Connecting with the OEM board Connecting to the OEM board is possible by using sockets with a pitch of 1.27 mm. Notable manufacturers are Samtec, Molex and Hirose.
Page 45: Cable Specifications
Using the MTi Mk5 with an external USB converter Xsens offers a cable to use the MTi with USB and SyncIn. This cable also offers an interface via a virtual COM-port instead of WinUSB. The cables in Table 26 can be ordered from the Xsens’ webshop (https://shop.xsens.com).
Page 46: Dimensions Mti
Figure 14: Using a heat shrink tube to position the mounting screws Make sure when mounting the MTi to maintain a clearance of at least 3.4 mm +/- 0.1 mm from the surface of the PCB. Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 47: Mti 10-Series Technical Drawing
7.4.4 MTi 10-series technical drawing Figure 15: MTi 10-series technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 48: Mti 100-200-300 Technical Drawing
7.4.5 MTi 100-200-300 technical drawing Figure 16: MTi 100-series technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 49: Mti-G-700/710 Technical Drawing
7.4.6 MTi-G-700/710 technical drawing Figure 17: MTi-G-710 technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 50: Mti Oem Technical Drawing
7.4.7 MTi OEM technical drawing Figure 18: MTi OEM technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 51: Important Notices
8.3 Maintenance The MTi will not require any maintenance if properly used (see also section 8.1 and 8.2). However, if the Motion Tracker is not functioning according to the specifications please contact Xsens or your local distributor (www.xsens.com/support). Document MT0605P.2018.E ©...
Page 52: Eu Declaration Of Conformity
8.4 EU Declaration of Conformity Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 53: Fcc Declaration Of Conformity
8.5 FCC Declaration of Conformity Document MT0605P.2018.E © Xsens Technologies B.V. MTi User Manual...
Page 54: Warranty And Liability
OR OTHERWISE. Xsens shall have no liability for delays or failures beyond its reasonable control. 8.7 Customer Support Xsens is glad to help you with any questions you may have about the MTi, or about the use of the technology for your application. The fastest way is Xsens’ Help Center, where engineers and other Xsens users meet.

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Xsens MTi-30 AHRS User Manual

1 References

2 Xsens Help Center and User Community

3 Introduction

4 Mti System Overview

5 Output Specification

6 Communication

7 Physical Specifications

8 Important Notices