Xsens DOT User Manual
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Summary of Contents for Xsens DOT
- Page 1 Document XD0502P, Revision B, 25 April 2020 Xsens DOT User Manual www.xsens.com...
- Page 2 © 2005-2020, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda, Xsens DOT and KiC 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
Cleaning method.................. 11 2.4.3 Storage ....................11 3 Xsens DOT Overview ............... 12 Strapdown integration ................12 Sensor fusion algorithm ................12 Xsens DOT sensor state transition ............... 13 3.3.1 Power on .................... 13 3.3.2 Advertisement ..................13 3.3.3 Connection ..................13 3.3.4... - Page 4 Timestamp and packet counter output ............ 20 4.2.6 Status ....................20 5 Physical Specifications ............21 Xsens DOT specifications ................21 Sensor components specifications ..............21 Battery specifications ................. 22 6 Important Notices ..............23 Warranty and Liability ................23 Customer Support ..................
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Page 5: List Of References
List of references 1. Xsens DOT Quick Setup Guide [XD0501P] 2. MT Low-Level Communication Protocol Documentation [MT0101P] 3. Xsens DOT SDK Programming guide for Android [XD0201P] 4. Xsens DOT iOS SDK documentation [XD0202P] 5. Magnetic Calibration Manual [MT0202P] www.xsens.com... -
Page 6: Introduction
3D orientation as well as calibrated 3D linear acceleration, angular velocity and (earth) magnetic field data to a receiving device. Xsens DOT is the start of a new Xsens product line bringing Xsens sensor solution to mobile device platform. With simple-to-use SDK and comprehensive documentation, system integrators can easily develop their wearable applications. -
Page 7: Getting Started
Xsens DOT software package Figure 2: Xsens DOT starter kit The easiest way to get started with Xsens DOT is to use Xsens DOT app (Android/iOS) to connect the sensors. You can get to know the capabilities of Xsens DOT and to configure the device according to your need. -
Page 8: Led Status
Sensor is being powered off 2.2.3 Charger The charger consists of docking for 5 Xsens DOT sensors and a cover shell, along with a USB power cable. You can open the charger by holding the cover shell and pull out the docking from the right. -
Page 9: Body Straps And Accessories
2.2.4 Body straps and accessories You can put the Xsens DOT sensor inside the pocket of the strap or wrapped inside the straps to ensure good adhesion and fewer skin artefacts. Refer to this base article for more information on how and where to attach the sensor. -
Page 10: Tips For Best Practice
DOT, it is advised to avoid highly magnetized areas when carrying out measurements, particularly in the beginning. To check the magnetic distortion, you can use the Xsens DOT app to check the Magnetic Norm in magnetic field data after connecting at least one DOT. Look at the Magnetic Norm curve while moving in the measurement area. -
Page 11: Cleaning Method
To clean the Xsens DOT sensors and charger, use a moist cloth to wipe the surface. 2.4.3 Storage If Xsens DOT sensors are not being used for a long time, please put them away half- charged and charge the sensors occasionally to avoid battery drain. Store them in a cool and dry place. -
Page 12: Xsens Dot Overview
The angular velocity and acceleration data are sampled and calibrated at a high frequency (800 Hz) by the embedded MCU of Xsens DOT sensor to maintain accuracy under dynamic movements such as running and jumping. Due to the high sampling frequency, the data cannot be transmitted via Bluetooth directly and would typically present an excessive computational load on the receiving host device (e.g. -
Page 13: Xsens Dot Sensor State Transition
3.3.3 Connection You can connect up to 5 sensors in the Xsens DOT App. Though no sensor connection limit is set in SDK, we would recommend you connect within 5 sensors to guarantee good performance for BLE data transmission. -
Page 14: Measurement
The MFM can be executed in a few minutes and yields a new set of calibration values that can be written to the Xsens DOT’s non-volatile memory, which means it will not be erased by powering off or firmware updates. -
Page 15: Firmware Update
With Over-the-Air (OTA) firmware updates available in Xsens DOT, you can easily update the sensors to latest version. Please use the Xsens DOT App (iOS/Android) to update the firmware. Make sure the app is updated to the latest version first before carrying out the OTA. -
Page 16: Output Specifications
4.1.1 Sensor coordinate system The sensor coordinate system (S) is a right-handed coordinate Cartesian system that is body-fixed to the sensor. Depicted below is the sensor coordinate system on the DOT, using small x, y and z. These data outputs are presented in the sensor coordinate system (S): •... -
Page 17: Heading Reset
The orientation calculated by Xsens DOT is the orientation of the sensor coordinate system (S) with respect to the local earth coordinate system (L). Xsens DOT can output a North referenced Yaw, also referred to as Heading. By default, the orientation output is in the... -
Page 18: Sensors Data Outputs
Android - under Android/data/com.xsens.dot.android/files/logs directory in the SD card • iOS - go to Files app (iOS 11 or above) → in On My iPhone → Xsens DOT → Logs. Use iTunes to export the logging files to PC. 4.2.1 Calibrated delta_q and delta_v This output is coning- and sculling compensated strap down integrated data in the sensor coordinate system (S). -
Page 19: Orientation
Refer to SDK programming guide for more information. 4.2.4 Free acceleration Free acceleration is the acceleration in the local earth coordinate system (L) from which the local gravity is deducted. Table 7: Free acceleration outputs Data Unit Free acceleration www.xsens.com... -
Page 20: Timestamp And Packet Counter Output
4.2.5 Timestamp and packet counter output Each data message from Xsens DOT is accompanied by a packet counter and a timestamp. PacketCounter The packet counter is incremented with every generated data message. This output wraps at 0xFFFFFFFF. SampleTimeFine Contains the sample time of an output expressed in 1MHz clock ticks of the device’s local clock. -
Page 21: Physical Specifications
36.30 x 30.35 x 10.80 mm (l x w x h) Operating temperature range 0°C - 50°C IP Rating IP68 Internal sampling rate 800 Hz Wireless update rate with 5 Xsens DOT 60 Hz Communication Best performance with Bluetooth 5.0 devices • Android OS 8.0 or above Communication platforms •... -
Page 22: Battery Specifications
LIR2032 rechargeable coin battery Table 14: Battery Specifications Parameter Value Nominal 45 mAh Capacity Minimum 40 mAh Nominal Voltage 3.7V Diameter 20.0 (Max) mm Dimension Height +0.2 Weight 2.6 g Working Temperature -20 ~+60 °C Storage Temperature 20±1 °C www.xsens.com... -
Page 23: Important Notices
Strictly prohibits put cell into a microwave oven, dryer, or high-pressure container. When the Xsens DOT is not used for an extended period, store it in a place with low humidity and low temperature. 6.2 Customer Support Xsens is glad to help you with any questions you may have about the Xsens DOT, or about the use of the technology for your application. -
Page 24: Product Compliance
Japan radio equipment compliance The ANNA-B112 module complies with the Japanese Technical Regulation Conformity Certification of Specified Radio Equipment (ordinance of MPT N°. 37, 1981), Article 2, Paragraph 1: Item 19 "2.4 GHz band wideband low power data communication system". www.xsens.com...
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