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Xsens DOT User Manual

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Document XD0502P, Revision D, 15 Dec 2020
Xsens DOT
User Manual
www.xsens.com
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Summary of Contents for Xsens DOT

  • Page 1 Document XD0502P, Revision D, 15 Dec 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.

  • Page 3: Table Of Contents

    Multiple sensors connection ..............11 2.4.2 Magnetic distortion................11 2.4.3 Cleaning method ..................12 2.4.4 Long-term storage guidelines ..............12 3 Xsens DOT Overview ............... 14 Strapdown integration ................14 Sensor fusion algorithm and filter profiles .............14 Xsens DOT sensor state transition ...............15 3.3.1 Power ON/OFF ..................15 3.3.2 Advertisement ..................16...
  • Page 4 Free acceleration .................25 4.2.5 Timestamp and packet counter ..............25 4.2.6 Status ....................25 5 Physical Specifications ............27 Xsens DOT specifications ................27 Sensor components specifications..............27 Battery specifications .................28 Sensor technical drawing ................29 Charger technical drawing ................30 6 Important Notices ..............31 Warranty and Liability ................31...
  • Page 5 Table 18: Alignment specifications ................28 Table 19: Battery Specifications ................28 List of Figures Figure 1: Xsens DOT sensors with a charger ............. 6 Figure 2: Xsens DOT set ..................7 Figure 3: Xsens DOT sensor ..................7 Figure 4: Charger with power cable ................. 9 Figure 5: Mag Norm fluctuates when moving............11...

  • 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 set 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: Power Button

    This function is called “Button callback”. This is available in the Xsens DOT SDK or in the BLE Service Specifications manual. Refer to those for additional information on the button callback.

  • Page 9: Charger

    Another micro-USB port placed on the right side of the Xsens DOT charger is used to power on and charge all the sensors docked in the charger. To power this micro-USB port, an adapter of 5V/300mA is enough but we would recommend using a 5V/500mA adapter (5 sensor loads) based on standard USB 2.0 power supply.

  • Page 10: Supported Platforms

    • If you focus on the motion data and want to quickly understand the data outputs and capabilities of Xsens DOT, download and install Xsens DOT App. It will allow you to: Scan and connect the sensors Data real-time streaming Record data in sensor and export to other devices.

  • Page 11: 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 12: Cleaning Method

    If magnetic field norm has large fluctuations, or Xsens DOT sensor is attached to an instrument or prosthesis that influences the magnetic field (e.g. ferromagnetic object), it is best to carry out Magnetic Field Mapping for this DOT (see section 3.4) to recalibrates the magnetometer.
  • Page 13 3. Power off sensors through Xsens DOT App or pressing the power button over 3 seconds. Recharge your Xsens DOT sensors every 3 months according to the recommended guidelines to slow the rate of battery ageing thereby improving the battery shelf life.

  • Page 14: 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., mobile phone).

  • Page 15: Xsens Dot Sensor State Transition

    3.3 Xsens DOT sensor state transition Figure 8: Xsens DOT state transition diagram 3.3.1 Power ON/OFF You can power on the sensor either with charger or a powered USB cable to plug in the micro-USB port in the bottom.

  • Page 16: Advertisement

    To achieve a better synchronization result, it is advised to put the root node in a central position of all the scanners. In Xsens DOT app, the first connected sensor will be the root node. SDK users and other developers can set their own rules to choose the root node.

  • Page 17: Measurement

    • Stop the synchronization after all the measurements to prolong the battery life. 3.3.5 Measurement Two types of measurement are available with Xsens DOT. Table 6 shows the available output rates for different types of measurement. Table 6: Output rates...
  • Page 18 Data can be exported via Bluetooth or via USB connection. Wireless data transfer using Bluetooth is suitable for exporting small files (a few minutes). When exporting large amount of data, use Xsens DOT Data Exporter to export via USB on PC. Refer to this BASE article on how to use Data Exporter.

  • Page 19: Power Saving

    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 20: Firmware Update

    3.5.1 Firmware update Once the sensor is connected, you can receive firmware update notifications if a new version of firmware is available in Xsens DOT App. If no notification is received, the current firmware version is up to date. Follow these steps to perform a firmware update: 1.

  • Page 21: Firmware Compatibility

    3.5.3 Firmware compatibility Table 7: Firmware compatibility Xsens DOT App & SDK Xsens Data Firmware Xsens DOT Server Exporter 2020.4 2020.2 2020.1 2020.0 FW1.0.0 (stable) √ √ √ × × FW1.3.0 (beta) √ × × × FW1.4.0 (stable) √ √...

  • Page 22: 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 23: Heading Reset

    The heading reset can be performed in Xsens DOT App and is available in SDK. Follow these steps to do the heading reset in app: 1. Put sensors in charger to give an aligned heading for all sensors; you can also choose to place the charger flat on a surface so the Z-axis of sensors all pointing upwards.

  • Page 24: 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 25: Orientation

    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 value wraps at 0xFFFFFFFF.
  • Page 26 Gyroscope is out of range in y-axis 0x00002000 FL_ClipGyrZ Gyroscope is out of range in z-axis 0x00004000 FL_ClipMagX Magnetometer is out of range in x-axis 0x00008000 FL_ClipMagY Magnetometer is out of range in y-axis 0x00010000 FL_ClipMagZ Magnetometer is out of range in z-axis www.xsens.com...

  • Page 27: Physical Specifications

    5 Physical Specifications 5.1 Xsens DOT specifications Table 13: Xsens DOT specifications Physical Properties Application dependant, straps available by Xsens Attachment (sold separately) Latency 30 ms Battery life Up to 6 hours (continuous use) Weight 10.8 g Dimensions 36.30 x 30.35 x 10.80 mm (l x w x h) Operating temperature range 0°C - 50°C...

  • Page 28: Battery Specifications

    LIR2032 rechargeable coin battery Table 19: 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 29: Sensor Technical Drawing

    5.4 Sensor technical drawing Figure 12: Sensor technical drawing www.xsens.com...

  • Page 30: Charger Technical Drawing

    5.5 Charger technical drawing Figure 13: Charger technical drawing www.xsens.com...

  • Page 31: 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 32: Product Compliance

    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". Find more detailed information on Xsens DOT certification and test results in: https://base.xsens.com/hc/en-us/articles/360013402700-Xsens-DOT-Certifications www.xsens.com...

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