Xsens MTi Series User Manual And Technical Documentation
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Xsens MTi Series User Manual And Technical Documentation

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MTi and MTx User Manual
and Technical Documentation
Document MT0100P
Revision E, December 2
nd
2005
Xsens Technologies B.V.
Capitool 50
P.O. Box 545
7500 AM Enschede
The Netherlands
phone
+31-(0)53-4836444
fax
+31-(0)53-4836445
e-mail
support@xsens.com
internet
www.xsens.com

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Summary of Contents for Xsens MTi Series

  • Page 1 MTi and MTx User Manual and Technical Documentation Document MT0100P Revision E, December 2 2005 Xsens Technologies B.V. Capitool 50 phone +31-(0)53-4836444 P.O. Box 545 +31-(0)53-4836445 7500 AM Enschede e-mail support@xsens.com The Netherlands internet www.xsens.com...
  • Page 2 Added pin definitions for MTx Xbus version Corrected product code ODU connector © 2005, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens is a registered trademark of Xsens Technologies B.V. MTi and MTx are trademarks of Xsens Technologies B.V.

  • Page 3: Table Of Contents

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Table of Contents INTRODUCTION RODUCT ESCRIPTION 1.1.1 MTi – miniature gyro-enhanced Attitude and Heading Reference Sensor 1.1.2 MTx – miniature inertial 3DOF Orientation Tracker VERVIEW I AND EVELOPMENT 1.2.1...
  • Page 4 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. PHYSICAL SPECIFICATIONS HYSICAL SENSOR OVERVIEW HYSICAL PROPERTIES OVERVIEW OWER SUPPLY HYSICAL INTERFACE SPECIFICATIONS 4.4.1 USB-serial data and power cables overview 4.4.2 Pin and wire color definitions MTi-28A##G## (MTi RS-232, standard version) 4.4.3...

  • Page 5: Introduction

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 1 Introduction The MTi and MTx are both complete miniature inertial measurement units with integrated 3D magnetometers (3D compass), with an embedded processor capable of calculating roll, pitch and yaw in real time, as well as outputting calibrated 3D linear acceleration, rate of turn (gyro) and (earth) magnetic field data.

  • Page 6: Overview Mti And Mtx Development Kit

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Overview MTi and MTx Development Kit Photos of the MTi (left) and MTx (right) Development Kit 1.2.1 Contents • MTi or MTx miniature inertial measurement unit • Device individual calibration certificate •...

  • Page 7: Typical User Scenarios

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Typical User Scenarios This section is intended to help you find the right documentation for the way you want to use your MTi or MTx. 1.3.1 Getting Started with the MT Software The easiest way to get started with your MTi or MTx is to use the MT Software.

  • Page 8: Sensor Fusion

    Sensor fusion The MTi / MTx’s low power-DSP runs a proprietary sensor fusion algorithm developed in- house by Xsens, tailor-made to the MTi and MTx, that can accurately calculate absolute orientation in three-dimensional space from miniature rate of turn sensors (gyroscopes), accelerometers and magnetometers in real-time.

  • Page 9: Output Specification

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Output Specification In this chapter the various output modes of the MTi and MTx are described. The two major modes, Orientation output and Calibrated data output, are discussed separately. However, please note that the two output modes can easily be combined, so that you get a combined data packet of orientation data and inertial calibrated data together, with the same time stamp.

  • Page 10: Orientation Co-Ordinate System

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 2.1.2 Orientation co-ordinate system The MTi and MTx calculates the orientation between the sensor-fixed co-ordinate system, S, and a earth-fixed reference co-ordinate system, G. By default the local earth-fixed reference co-ordinate system used is defined as a right handed Cartesian co-ordinate system with: •...

  • Page 11: Orientation Performance Specification

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Orientation performance specification Typical performance characteristics of MTi and MTx orientation output. all angles in 3D Dynamic Range: 0.05° RMS Angular Resolution: <0.5° Static Accuracy (roll/pitch): <1.0°...

  • Page 12: Orientation Output Modes

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. . The sensitivity of the system to such disturbance can be significantly reduced by an advanced sensor fusion algorithm setting called AMD (Adapt to Magnetic Disturbances). The default or “normal”...

  • Page 13: Quaternion Orientation Output Mode

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 2.3.1 Quaternion orientation output mode A unit quaternion vector can be interpreted to represents a rotation about a unit vector n through an angle α. ® ®...

  • Page 14: Euler Angles Orientation Output Mode

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 2.3.2 Euler angles orientation output mode The definition used for 'Euler-angles' here is equivalent to 'roll, pitch, yaw/heading' (also known as Cardan). The Euler-angles are of XYZ Earth fixed type (subsequent rotation around global X, Y and Z axis, also known as aerospace sequence).
  • Page 15 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. rotation matrix norm is always equal to one (1) and a rotation R followed by the inverse rotation R naturally yields the identity matrix I k R k= 1 The rotation matrix, R , can be interpreted in terms of quaternions;...

  • Page 16: Calibrated Data Performance Specification

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. The output definition in rotation matrix (DCM) output mode is: MTData MID 50 (0x32) All data elements in DATA field are FLOATS (4 bytes) TS= time stamp (optional)

  • Page 17: Calibrated Data Output Mode

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Calibrated data output mode NOTE: This section is intended to give detailed information on the definition of the calibrated inertial data output modes of the MTi and MTx. The output sequence of the elements of the vectors defined here holds for all interface levels (RS-232/422, API, GUI).

  • Page 18: Calibrated Inertial And Magnetic Data Output Mode

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. The basic parameters in the above model of your individual MTi or MTx can be found on the MT Test and Calibration Certificate. 2.5.2 Calibrated inertial and magnetic data output mode Output of calibrated 3D linear acceleration, 3D rate of turn (gyro) and 3D magnetic field data is in sensor-fixed coordinate system (S).
  • Page 19 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. NOTE: The data fields are 2 bytes (16 bits) as opposed to the 3 byte floats for the other output modes. The output definition in un-calibrated raw output mode is:...

  • Page 20: Reset Of Output Or Reference Co-Ordinate Systems

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Reset of output or reference co-ordinate systems 2.6.1 Output with respect to non-default coordinate frames In some situations it may occur that the sensor axes are not exactly aligned with the axes of the object of which the orientation has to be recorded.

  • Page 21: Object Reset

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. NOTE: 1. After a global reset, the vertical will generally not be along the Z-axis. 2. A change of global (earth fixed) reference system does not have any effect of the...

  • Page 22: Alignment Reset

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 2.6.5 Alignment reset The alignment reset simply combines the Object reset and the Heading reset at a single instant in time. This has the advantage that all co-ordinate systems can be aligned with a single action.

  • Page 23: Accurate Measurement Of Analog Outputs

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 0.7mV or 360º / 4096 = 0.09º. In practice the accuracy is mainly defined by the signal noise and the relative accuracy of the DAC (besides the accuracy of the orientation calculation itself).
  • Page 24 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. used any potential difference between de measurement device ground and the signal ground appears as a common-mode signal at both the positive and negative inputs of the amplifier, and this difference is rejected by the amplifier.

  • Page 25: Basic Communication

    RS-232/422 serial communication. For detailed and a complete list of all messages please refer to the MT Low-level Communication Documentation. NOTE: You can skip this chapter you plan to only interface with the device using Xsens’ GUI software or SDK API.

  • Page 26: Messages

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. State by default, using its latest stored configuration. Prior to entering the Measurement State, the Configuration message is sent to the host. This is the configuration that is read from the internal non-volatile memory and will be used in the Measurement State.

  • Page 27: Message Usage

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Preamble Every message starts with the preamble. This field always contains the value 250 (=0xFA). Bus identifier (BID) or Address All messages used for the MTi and MTx use the address value 255 (0xFF) indicating a “master device”.

  • Page 28: Common Messages

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Some messages have the same MID and depending on whether or not the message contains the data field the meaning differs. This is the case with all the messages that refer to changeable settings.
  • Page 29 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. MODE R R R R R R R R R R R 15 14 13 12 11 10 9 Bit # MODE bits Output mode Bit 1...
  • Page 30 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. SETTINGS bits Settings Bit 1-0 Timestamp output 00 = No timestamp 01 = Sample Counter Bit 3-2 Orientation Mode 00 = Quaternion 01 = Euler angles 10 = Matrix...
  • Page 31 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. acc1 acc2 acc3 gyr1 gyr2 gyr3 mag1 mag2 mag3 temp Calibrated data output mode (36 bytes) Contains the calibrated data output of the accelerations, rate of turn and magnetic field in X, Y &...

  • Page 32: Communication Timing

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Communication Timing For many applications it can be crucial to know exactly the various delays and latencies in a system. In this section it is described how the timing between physical events and the device output are related in the basic usage modes of the MTi and MTx.

  • Page 33: Calibrated Data Output Mode Timing

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Total time between physical event and receive of complete data message: 6.43 ms + 0.41 ms = 6.84 ms (worst case) 3.4.2 Calibrated data output mode timing The internal acquisition and calculation time in this mode is 1.08 ms.

  • Page 34: General Definitions For Binary Data

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 3.6.1 General definitions for binary data All binary data communication is done in big-endian format. Example: Un-calibrated 16 bits accelerometer output 1275 (decimal) = 0x04FB (hexadecimal) Transmission order of bytes = 0x04 0xFB Calibrated accelerometer output (float, 4 bytes) 9.81 (decimal) = 0x411CF5C3 (hexadecimal)

  • Page 35: Physical Specifications

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4 Physical Specifications Physical sensor overview MTi and MTx Sensor Fact Table MEMS solid state, capacitative readout Accelerometers MEMS solid state, monolithic, beam Rate of turn sensor...

  • Page 36: Physical Interface Specifications

    The operating temperature of the USB-serial data and power cable (CA-USB2) is 0 °C - 40°C. The MTi and MTx are designed to be used with the power supply supplied by Xsens (integrated in the RS-232/22/485 to USB cable). It is possible to use other power supplies;...

  • Page 37: Pin And Wire Color Definitions Mti-28A##G## (Mti Rs-232, Standard Version)

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.4.2 Pin and wire color definitions MTi-28A##G## (MTi RS-232, standard version) MTi housing socket ODU L-series 7 pin female socket (receptacle) back view (solder bucket view) ODU product code : GL0L0C-T07LCC0-000...

  • Page 38: Pin And Wire Color Definitions Mti-68A##G## (Mti Rs-422)

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.4.3 Pin and wire color definitions MTi-68A##G## (MTi RS-422) MTi housing socket ODU L-series 7 pin female socket (receptacle) back view (solder bucket view) ODU product code : GL0L0C-T07LCC0-000...

  • Page 39: Pin And Wire Color Definitions Mti-28A##G##D (Mti Rs-232, Analog Outputs)

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.4.4 Pin and wire color definitions MTi-28A##G##D (MTi RS-232, analog outputs) MTi housing socket ODU L-series 7 pin female socket (receptacle) back view (solder bucket view) ODU product code : GL0L0C-T07LCC0-000...

  • Page 40: Pin And Wire Color Definitions Mtx-28A##G## (Mtx Rs-232, Standard Version)

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.4.5 Pin and wire color definitions MTx-28A##G## (MTx RS-232, standard version) MTx housing socket Binder female 719 socket (receptacle), back view (solder bucket view) ridge on upper side...

  • Page 41: Pin And Wire Color Definitions Mtx-48A##G## (Mtx Rs-485 Standalone)

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.4.6 Pin and wire color definitions MTx-48A##G## (MTx RS-485 standalone) MTx housing socket Binder female 719 socket (receptacle), back view (solder bucket view) ridge on upper side...

  • Page 42: Pin And Wire Color Definitions Mtx-49A##G## (Mtx Xbus)

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.4.7 Pin and wire color definitions MTx-49A##G## (MTx Xbus) MTx housing plug MTx housing socket Binder 719 male (receptacle) connector, Binder 719 female , back view (solder bucket view)
  • Page 43 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. SyncIn This digital input can be used to trigger the MTi / MTx for synchronization purposes. The MTi / MTx can wait until a valid trigger is detected and it either starts sampling or sends the latest calculated data.

  • Page 44: Housing Mechanical Specifications

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Housing mechanical specifications The plastic parts of the housing are made of polyamide (PA6.6). The MTi bottom plate is made of anodized aluminum (6082). The housing is dust-proof but not water-proof. The MTi connector socket and housing assembly features rubber o-ring sealing and is generally more robust to harsh environments than the MTx.

  • Page 45: Dimensions Mti

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.5.1 Dimensions MTi MT0100P.E...

  • Page 46: Dimensions Mtx

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 4.5.2 Dimensions MTx MT0100P.E...

  • Page 47: Operating Guidelines

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 5 Operating Guidelines Normal operating procedure NOTE: Please also refer to the Quick Setup Sheet that came in your Development Kit package. 1. Power-on the device 2. Optional: check the device is using the settings you need 3.

  • Page 48: Vibrations

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 5.2.2 Vibrations For best performance the MTi or MTx should be mechanically isolated from vibrations as much as possible. Vibrations are measured directly by the accelerometers. This is not necessary a problem, but two conditions can make the readings from the accelerometers invalid;...
  • Page 49 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Disturbance caused by objects in the environment near the MTi or MTx, like file cabinets or vehicles, that move independently, with respect to the device cause a type of distortion that can not be calibrated for .

  • Page 50: Important Notices

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. 6 Important notices Environmental Operating Conditions The recommended operating temperature of the MTi / MTx hardware is between 0°C and 55°C ambient temperature. If operated outside this temperature range performance may decrease or the device might be damaged.

  • Page 51: Maintenance

    Xsens Technologies B.V. warrants the products manufactured by it to be free from defects in material and workmanship for a period of 1 year from the date of delivery. Products not subjected to misuse will be repaired, replaced or credit issued at the sole option of Xsens Technologies B.V. Contact support@xsens.com...

  • Page 52: Customer Support

    MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. Customer Support Xsens Technologies B.V. is glad to help you with any questions you may have about the MTi or MTx, or about the use of the technology for your application. Please contact Xsens...
  • Page 53 MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V. (this page is intentionally left blank) MT0100P.E...

This manual is also suitable for:

Mtx seriesMti-28a g seriesMti-68a g seriesMtx-28a g seriesMtx-48a g series

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