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MTi Family Reference Manual
Xsens Technologies B.V.
Pantheon 6a
phone
P.O. Box 559
fax
7500 AN Enschede
e-mail
The Netherlands
internet
General information for MTi series
Document MT1600P, Revision 2019.A, 29 Aug 2019
Xsens North America, Inc.
+31 (0)88 973 67 00
101 N, Pacific Coast Hwy
+31 (0)88 973 67 01
Suite 101
info@xsens.com
El Segundo, CA 90245
www.xsens.com
USA
phone
310-481-1800
fax
310-416-9044
e-mail
info@xsens.com
internet
www.xsens.com
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Summary of Contents for Xsens MTi Series
- Page 1 MTi Family Reference Manual General information for MTi series Document MT1600P, Revision 2019.A, 29 Aug 2019 Xsens Technologies B.V. Xsens North America, Inc. Pantheon 6a phone +31 (0)88 973 67 00 101 N, Pacific Coast Hwy phone 310-481-1800 P.O. Box 559...
- Page 2 Date Changes © 2005-2019, 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.
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Page 3: Table Of Contents
Table of Contents XSENS CUSTOMER SUPPORT AND BASE ................6 INTRODUCTION ..........................7 GNSS/INS ......................8 2.1.1 IMU ............................ 8 2.1.2 VRU ........................... 8 2.1.3 AHRS ..........................8 2.1.4 GNSS/INS .......................... 8 ....................9 SENS I HARDWARE PLATFORMS 2.2.1 MTi 1-series ........................9 2.2.2... - Page 4 INSTALLATION TIPS AND TRICKS ................... 29 ......................29 RANSIENT ACCELERATIONS ..........................29 IBRATIONS ................... 29 AGNETIC MATERIALS AND MAGNETS WARRANTY AND LIABILITY ...................... 31 ......................... 31 USTOMER UPPORT Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual...
- Page 5 Figure 9: Right hand rule ........................17 List of Tables Table 1: MTi product documentation overview..................7 Table 2: Xsens MTi portfolio overview....................10 Table 3 Description of hardware components of Development Kit ............11 Table 4 Description of software components of Development Kit............12 Table 5: Conditions for the use of the MT Software Suite ..............
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Page 6: Xsens Customer Support And Base
1 Xsens Customer Support and BASE BASE by Xsens is an online support platform with a knowledge base and community forum on 3D motion tracking technology and products. This enables faster and easier system integration by offering a large source of high-quality technical information. -
Page 7: Introduction
The MTi 10-series is Xsens’ entry level model with robust accuracy. The MTi 100-series is a Xsens’ proven high end class of MEMS IMU’s, orientation and position sensor modules. Table 1 summarizes all available official documents for the Xsens MTi product line. It is highly recommended to review all documents applicable to your Xsens Motion Tracker. -
Page 8: From Imu To Gnss/Ins
2.1 From IMU to GNSS/INS Within each MTi series, Xsens offers several product variants. Each variant is based on a firmware version which enables different functionalities. Figure 1 summarizes the functionality of each variant. Figure 1: From IMU to GNSS/INS 2.1.1... -
Page 9: Xsens Mti Hardware Platforms
This section summarizes all available Xsens MTi platforms (see Table 2). 2.2.1 MTi 1-series The MTi 1-series is the Xsens’ smallest (12.1mm x 12.1mm), lightest (<1gr) and most cost effective product suitable for SMD (Surface Mountable Device) integration. It is compatible with the JEDEC PLCC-28 standard footprint. -
Page 10: Table 2: Xsens Mti Portfolio Overview
Table 2: Xsens MTi portfolio overview. MTi 1-series MTi 600-series MTi 10-series MTi 100-series MTi-1 IMU MTi-610 IMU MTi-10 IMU MTi-100 IMU MTi-2 VRU MTi-620 VRU MTi-20 VRU MTi-200 VRU AHRS MTi-3 AHRS MTi-630 AHRS MTi-30 AHRS MTi-300 AHRS GNSS/INS... -
Page 11: Getting Started With The Mti
The MTi development kit is a very easy to use starter’s kit that allows for fast and easy integration of the MTi in any user scenario. Figure 6 shows a typical Development Kit, containing an MTi. All software and installation instructions are available online via http://www.xsens.com/setup. Figure 6: MTi Development Kit... -
Page 12: Table 4 Description Of Software Components Of Development Kit
Library for the Magnetic Field Mapper 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: http://xsens.com/xsens-mti-documentation The latest firmware and firmware updater can be found here: https://www.xsens.com/mt-firmware/... -
Page 13: Mt Software Development Kit (Mt Sdk)
MT Software Development Kit (MT SDK) The Xsens Device API (XDA) serves as a starting point for system integrators interested in assessing the basics of the SDK. The main objective of the SDK is to facilitate the development of user-specific host applications based on Xsens motion trackers. - Page 14 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”...
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Page 15: Mti System Overview
It is digitally signed by a Test Person and states the calibration values determined during the calibration of the MTi at Xsens’ calibration facilities. The values can be seen by connecting the MTi to MT Manager and navigating to Device Settings → Modelling Parameters. -
Page 16: Orientation Increment And Velocity Increment (Dq And Dv)
The output rate is selectable up to 100 Hz or 400 Hz depending on the product. The dq and dv values are always represented in the same coordinate system as calibrated inertial data and magnetic field data, which can be S or O Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... -
Page 17: Orientation Data
±90 deg. This singularity is in no way present in the quaternion or rotation matrix output mode. Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... -
Page 18: Velocity Data
Note that the velocity data coming directly from the PVT (Position Velocity Time) data retrieved from any GNSS receiver provided with any Xsens development kit is represented in the NED reference frame. Different GNSS receivers may represent the velocity in different coordinate frames. -
Page 19: Position Data
The basic indicative parameters in the above model of your individual MTi can be found in MT Manager (Device Settings dialog). The barometer and GNSS receiver do not require additional calibration. Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... -
Page 20: Calibrated ∆Q And ∆V Outputs
Table 10: Output specifications high rate calibrated inertial data outputs Vector Unit AccelerationHR (DataID 0x4040) RateOfTurnHR (DataID 0x8040) rad/s Xsens MTi Documentation Links to the latest available documentation can be found via the following link: Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... -
Page 21: Free Acceleration
4.3.4 Free acceleration Free acceleration (Data ID 0x4030) is the acceleration in the local frame (L ) from which the local gravity is deducted. The output is in m/s Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... -
Page 22: Xsens Sensor Fusion Algorithms
4.4.1 Internal Sensor Bias Estimation The Xsens algorithm continuously estimates the gyroscope bias. For the rate of turn around the x-axis and the y-axis (roll and pitch axes), the gyroscope bias is estimated using gravity (accelerometers). In a homogenous magnetic field and with filter profiles using the magnetometer, also the gyroscope bias around the z-axis will successfully be estimated. -
Page 23: Heading/Yaw Estimation
In the special case the MTi is rigidly strapped to an object containing ferromagnetic materials, structural magnetic disturbances will be present. In that case, Xsens offers an easy-to-use solutions to recalibrate the magnetometers based on those structural magnetic disturbances (refer to chapter 6.3 of this document. -
Page 24: Initialization
Because the characteristics of the acceleration or magnetic field differ for different applications, the Xsens algorithm makes use of filter profiles to be able to use the correct assumptions given the application. This way, it can be optimized for different types of movement. For optimal performance in a given application, the correct filter profile must be set by the user. - Page 25 The setting influences the estimates of Position and Velocity and therefore it affects the behavior of the Xsens filter output. Currently, only the Portable (default) and Airborne (<4g) platforms are supported.
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Page 26: Mti Series Interface Options
4.5 MTi series interface options The MTi series product lines are able to communicate and output data via many different interfaces. Table 12 provides a convenient overview for the MTi 1-series and 600-series. Details on the interfaces for each product are available in the respective datasheets or hardware integration manuals. -
Page 27: Input And Output Specification
Communication Protocol Documentation Performance specifications on orientation, position and sensor data can be found in the specific datasheets of each MTi series. 5.1 Overview of data output protocols The MTi supports different data protocols: the binary (hexadecimal) XBus protocol, NMEA (ASCII) messages and CAN 2.0. -
Page 28: Status Word
Clip flags of all axis gyroscopes, accelerometers and magnetometers SyncIn / SyncOut Filter modes Refer to MT Low Level Communication Protocol Documentation for detailed information on the Status Word output. Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... -
Page 29: Installation Tips And Tricks
In addition, the gyroscope biases are continuously estimated by the MTi's on-board filter. For the rate of turn around the x-axis and the y-axis (roll and pitch axes), the gyroscope bias is estimated Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual... - Page 30 MTi to be used as if it would not be secured to the object containing ferromagnetic materials. For more information please review the Magnetic Calibration Manual Links to the latest available documentation can be found via the following link: Xsens MTi Documentation Document MT1600P.2019.A © Xsens Technologies B.V. MTi Family Reference Manual...
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Page 31: Warranty And Liability
OR OTHERWISE. Xsens shall have no liability for delays or failures beyond its reasonable control. 7.1 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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