Xsens DOT User Manual
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- User manual (33 pages) ,
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- User manual (32 pages)
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Summary of Contents for Xsens DOT
- Page 1 Document XD0502P, Revision C, 17 August 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 2.4.4 Storage ....................12 3 Xsens DOT Overview ............... 13 Strapdown integration ................13 Sensor fusion algorithm ................13 Xsens DOT sensor state transition ............... 14 3.3.1 Power ON/OFF ..................14 3.3.2 Synchronization ................... 14 3.3.3 Measurement ..................15 3.3.4... - Page 4 4.2.5 Timestamp and packet counter .............. 22 4.2.6 Status ....................22 5 Physical Specifications ............23 Xsens DOT specifications ................23 Sensor components specifications ..............23 Battery specifications ................. 24 6 Important Notices ..............25 Warranty and Liability ................25 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
The micro-USB port at the bottom can be used to power on and charge the sensor. 2.2.2 LED status Xsens DOT sensor has LED patterns to indicate different sensor states. Table 1 shows the LED behaviors. Table 1: LED patterns... -
Page 9: Body Straps And Accessories
Figure 4: Charger with power cable 2.2.4 Body straps and accessories You can put Xsens DOT sensor inside the pocket of 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: Choose Your Software
2.4 Tips for best practice 2.4.1 Multiple sensors connection Although there is no connection limit in Xsens DOT app, SDK or server, hardware and OS constraints of the central devices have a ceiling to the maximum number of sensors that can be connected simultaneously. -
Page 11: Cleaning Method
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 12: Storage
2.4.4 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. www.xsens.com... -
Page 13: 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 14: Xsens Dot Sensor State Transition
3.3 Xsens DOT sensor state transition Figure 8: Xsens DOT state transition diagram State Description Transition Next state Init/Power OFF Power ON Advertisement Advertisement sensor waiting for Bluetooth BT connect Connection connection PS start Power saving Connection Bluetooth connection is established... -
Page 15: Measurement
(m/s2) and angular velocity (degrees/s) whereas data in the log file will be stored in the chosen format (high fidelity, delta quantities or rate quantities). • Xsens DOT App allows for a maximum of 5 sensors to be connected in real-time streaming. •... -
Page 16: Power Saving
(a few minutes). When exporting large amount of data, please use Xsens DOT Data Exporter to export via USB on PC. As a rule of thumb, the time to export data via Bluetooth is twice the recording time, while exporting via USB is 1/8. -
Page 17: Magnetic Field Mapper
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 18: Firmware Downgrade
3.5.3 Firmware compatibility The latest Xsens DOT App and SDK always support the latest version and the last stable version of firmware. Table 3: firmware compatibility of Xsens DOT App and SDK Xsens DOT App &... -
Page 19: Output Specifications
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 20: Heading Reset
The calculated orientation reset is maintained between measurement and connection/disconnection but will be lost after a device reboot. The heading reset can be performed in Xsens DOT app and is available in SDK. Follow these steps to do the heading reset: 1. -
Page 21: Sensors Data Outputs
This output is coning- and sculling compensated strap down integrated data in the sensor coordinate system (S). Delta_q and Delta_v values represent the orientation change and velocity change during a certain interval. For Xsens DOT, this interval is 16.67 ms (60 Hz) by default. -
Page 22: Free Acceleration
Unit Free acceleration 4.2.5 Timestamp and packet counter Each data message from Xsens DOT is accompanied by a packet counter and a timestamp. Packet Counter Packet counter starts with every new measurement and increase with every generated data message. This output wraps at 0xFFFFFFFF. -
Page 23: Physical Specifications
Maximum 88 min Synchronization accuracy 1 ppm for 30 min, <4 ppm for 1 hour 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 24: 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 25: 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 26: 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...