Xsens DOT User Manual
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Xsens DOT User Manual

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Document XD0502P, Revision E, 16 July 2021
Xsens DOT
User Manual
www.xsens.com
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Summary of Contents for Xsens DOT

  • Page 1 Document XD0502P, Revision E, 16 July 2021 Xsens DOT User Manual www.xsens.com...
  • Page 2 Add multiple sensor connection tips. Update state transition diagram. Add synchronization feature. Add recording function. Add firmware compatibility. Update Xsens DOT specifications. 15 Dec 2020 Add tutorial video link of unboxing and App. Add long-term storage guidelines. Add button callback function.
  • Page 3 © 2005-2021, 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 4: Table Of Contents

    Long-term storage guidelines ..............13 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 ................... 15 3.3.2 Power OFF ..................16 3.3.3...
  • Page 5 Charger specifications ................27 Sensor components specifications ..............28 Battery specifications ................. 29 Sensor technical drawing ................30 Charger technical drawing ................31 6 Important Notices ..............32 Warranty and Liability ................32 Customer Support ..................33 Product Compliance ................... 33 www.xsens.com...
  • Page 6 Table 18: Alignment specifications ................28 Table 19: Battery Specifications ................29 List of Figures Figure 1: Xsens DOT sensors with a charger ............. 7 Figure 2: Xsens DOT set ..................8 Figure 3: Xsens DOT sensor ..................8 Figure 4: Charger with power cable ................ 10 Figure 5: Mag Norm is constant while moving ............

  • Page 7: 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 solutions to mobile device platforms. With simple-to-use Software-Development-Kit (SDK) and comprehensive documentation, system integrators can easily develop their wearable applications.

  • Page 8: Getting Started

    • Figure 2: Xsens DOT set The easiest way to get started with Xsens DOT is to use the Xsens DOT App (Android/iOS) to connect the sensors. You can get to know the capabilities of Xsens DOT and to configure the sensor according to your needs.

  • Page 9: Power On/Off

    3 seconds. During that, the LED will give a clear indication by its LED patterns. 2.2.2 LED status Xsens DOT v2 sensor has LED patterns to indicate different sensor states. Table 1 shows the LED behavior and its meaning. Table 1: LED patterns...

  • Page 10: Body Straps And Accessories

    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...

  • Page 11: 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...

  • Page 12: Tips For Best Practice

    2.6 Tips for best practice 2.6.1 Multiple sensors connection Although there is no connection limit in the Xsens DOT app, SDK or BLE services; hardware and OS constraints of the central devices have a ceiling to the maximum number of sensors that can be connected simultaneously.

  • Page 13: Cleaning Method

    If the magnetic field norm has large fluctuations, or the 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 recalibrate the magnetometer.

  • Page 14: Xsens Dot Overview

    3 Xsens DOT Overview The signal processing architecture of Xsens DOT sensor is presented in Figure 7. The strap down integration (SDI) and sensor fusion algorithms (XKFCore) are integrated into the firmware. You can obtain the orientation increments and velocity increments from SDI, as well as the 3D orientation and free acceleration from XKFCore.

  • 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 You can power on the sensor by pressing the power button for 2 seconds. Sensor will go to advertisement mode after powered on.

  • Page 16: Power Off

    2.6.1 for best practices on connecting multiple sensors. Default time threshold which can be changed in Xsens DOT App, SDK or by BLE services. Default time threshold which can be changed in Xsens DOT App, SDK or by BLE services.

  • Page 17: Synchronization

    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 18: Measurement

    (800 Hz) information is still preserved with lower output data rate (60 Hz). High fidelity data will be parsed to delta_q, delta_v in Xsens DOT app. Functions to parse high fidelity data to delta_q, delta_v or calibrated angular velocity and acceleration are available in SDK.

  • Page 19: Power Saving

    Data can be exported via Bluetooth or via USB connection. Wireless data transfer using Bluetooth is suitable for exporting small files (a few minutes). However, when exporting large amounts of data, it is recommended to use Xsens DOT Data Exporter to export via USB on PC. Refer to this BASE article on how to use Data Exporter.

  • Page 20: Button Callback Function

    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 21: 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 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: Sensor 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: Status

    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 Sensor specifications The specifications apply to Xsens DOT 2 generation sensor. Table 12: Xsens DOT sensor specifications Physical Properties Application dependant, straps available by Xsens (sold Attachment separately) Latency 30 ms Battery life Up to 9 hours (continuous use) Weight 11.2 g...

  • Page 28: Sensor Components Specifications

    Table 18: Alignment specifications Parameter Unit Value Non-orthogonality (accelerometer) [°] 0.05 Non-orthogonality (gyroscope) [°] 0.05 Non-orthogonality (magnetometer) [°] 0.05 Alignment (gyr to acc) [°] 0.05 Alignment (mag to acc) [°] Alignment of acc to the module board [°] Non-orthogonality (accelerometer) [°] 0.05 www.xsens.com...

  • Page 29: Battery Specifications

    Table 19: Battery Specifications Parameter Value Nominal 70 mAh Capacity Minimum 65 mAh Nominal Voltage 3.7V Diameter 20.0 (Max) mm Dimension Height +0.2 Weight 3.15 g Working Temperature -20 ~+60 °C Storage Temperature 20±1 °C www.xsens.com...

  • Page 30: Sensor Technical Drawing

    5.5 Sensor technical drawing Figure 14: Sensor technical drawing www.xsens.com...

  • Page 31: Charger Technical Drawing

    5.6 Charger technical drawing Figure 15: Charger technical drawing www.xsens.com...

  • Page 32: 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. Refer to section 2.6.4 for long-term storage guidelines.

  • Page 33: Customer Support

    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. The fastest way is Xsens’ Help Centre, where engineers and other Xsens users meet. Please visit this Help Centre: ⇒...

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