Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Xsens Manuals
  4. GPS
  5. MTi-G-710 GNSS/INS
  6. User manual

Xsens MTi-G-710 GNSS/INS User Manual

Hide thumbs

Advertisement

Quick Links

Download this manual
Document MT0605P, Revision 2020.A, Feb 2020
MTi User Manual
MTi 10-series and MTi 100-series 5th
Generation
www.xsens.com
1

Advertisement

loading
Need help?

Need help?

Do you have a question about the MTi-G-710 GNSS/INS and is the answer not in the manual?

Questions and answers

Related Manuals for Xsens MTi-G-710 GNSS/INS

Summary of Contents for Xsens MTi-G-710 GNSS/INS

  • Page 1 Document MT0605P, Revision 2020.A, Feb 2020 MTi User Manual MTi 10-series and MTi 100-series 5th Generation www.xsens.com...
  • Page 2 Added chapter 4.2.4 initialization © 2005-2020, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, Xsens DOT, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda 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 Terms of use of MT Software Suite ............22 4 MTi System Overview .............. 23 Calibration ....................23 Xsens Kalman Filter for VRU and AHRS product types ........23 4.2.1 Using the acceleration of gravity to stabilize inclination (roll/pitch) ..... 23 4.2.2...
  • Page 4 4.3.6 Orientation Smoother ................28 Active Heading Stabilization (AHS) .............. 28 In-run Compass Calibration (ICC) ..............29 Best practices for Xsens sensor fusion performance at start-up ....... 29 4.6.1 Manual Gyro Bias Estimation ..............30 4.6.2 Apply 3D motion .................. 30 5 Output Specification ..............
  • Page 5 MTi OEM technical drawing ..............57 8 Important notices ..............58 Safety instructions ..................58 Absolute maximum ratings ................. 58 Maintenance ..................... 58 EU Declaration of Conformity ..............59 FCC Declaration of Conformity ..............60 Warranty and liability ................. 61 Customer Support ..................61 www.xsens.com...
  • Page 6 Figure 8: coordinate system of the encased MTi (Note: origin is located at the accelerometers) ....................32 Figure 9: Coordinate system of the MTi-OEM (Note: origin is located at the accelerometers) ....................32 Figure 10: Drawing of CA-USB-MTi ................. 47 www.xsens.com...
  • Page 7 Figure 15: Using a heat shrink tube to position the mounting screws ......53 Figure 16: MTi 10-series technical drawing .............. 54 Figure 17: MTi 100-series technical drawing ............55 Figure 18: MTi-G-710 technical drawing ..............56 Figure 19: MTi OEM technical drawing ..............57 www.xsens.com...
  • Page 8 MT0101P [MTM] “MT Manager User Manual.pdf”, document ID MT0216P [XDA_DOC] XDA doxygen HTML documentation. Found in Xsens folder structure [MTI_1] “MTi 1-series Datasheet.pdf”, document ID MT0512P Note: The latest available documentation can be found in your MT Software Suite installation folder or via the following link: https://xsens.com/xsens-mti-documentation...
  • Page 9 2 Xsens Help Center and User Community Xsens has an extensive help center, a place where users of Xsens and Xsens employees (support, field application engineers, sales and R&D engineers) meet. The knowledge base contains tips and tricks, guidance and answers to frequently asked questions. News is also shared at the knowledge base and it is possible to ask additional questions (registration required).
  • Page 10 User Manual revision I (20 December 2016). Refer to section 3.2.5 to identify the generation of your MTi. The MTi product portfolio from Xsens currently has 11 family members ranging in functionality from inertial measurement units (IMU’s) to a fully integrated GNSS/INS solution.
  • Page 11 400 Hz. 3.2.2 MTi-300 AHRS The MTi-300 AHRS is a full gyro-enhanced Attitude and Heading Reference System (AHRS). It gives drift-free roll, pitch and true/magnetic North referenced yaw outputs. It www.xsens.com...
  • Page 12 3.2.1. 3.2.3 MTi-200 VRU The MTi-200 VRU is a 3D vertical reference unit (VRU) and this unit runs the Xsens sensor fusion algorithm from the MTi-300 as well. The difference between the data of the...
  • Page 13 3.2.5 Identifying device functionality using the unique Device Identifier Each Xsens product is marked with a unique serial device identifier referred to as the DeviceID. The DeviceID is categorized per MTi product configuration in order to make it possible to recognize the MTi (and thus its functionality and interface) by reviewing the DeviceID.
  • Page 14 Accelerometer: (blank) = encased type A8=20g -O = OEM Interface: Gyroscope: 2=RS232 G4=450º/s 4= RS485 G0=1000º/s 6= RS422 Figure 3: Product codes of MTi devices Figure 4: Example of a label showing the SN (DeviceID) and the product code www.xsens.com...
  • Page 15 • Test and Calibration certificate • MT Software Suite available via http://www.xsens.com/setup Xsens MTi USB driver MT Manager GUI for Linux and Windows MT Software Development Kit (MT SDK) for multiple OS XsensDeviceApi.DLL, 32-bit and 64-bit (Windows) ▪ •...
  • Page 16 ▪ Firmware Updater (Windows) NOTE: the most recent version of the software, source code and documentation can always be downloaded on . Links to documentation can be www.xsens.com/mt-software-suite found on BASE: https://base.xsens.com/hc/en-us/articles/207003759 3.5 Installation 3.5.1 Transient accelerations The 3D linear accelerometers in the MTi are primarily used to estimate the direction of gravity to obtain a reference for attitude (pitch/roll).
  • Page 17 MTi. Xsens has tested a set of vibration dampeners on the MTi. Vibration dampeners are low- profile rubber cylinders that allow the MTi to be mounted on an object without a direct metal to metal connection that transduces vibrations from the object to the MTi.
  • Page 18 For more information on how to mitigate the detrimental effects of magnetic distortion, refer to this BASE article: https://base.xsens.com/hc/en-us/articles/211809405 3.6 Typical User Scenarios This section is intended to help you find the right software component and corresponding documentation for the way you want to use your MTi.
  • Page 19 Please refer to the MT Manager User Manual [MTM] for more information on this topic. 3.6.3 Using the Software Development Kit (SDK) This chapter gives an introduction to the Xsens Device API (XDA). It serves as a starting point for system integrators interested in assessing the basis of the SDK and knowing about the background considerations.
  • Page 20 MTi into Euler angles. The C API exposes all possible functions that could be supported by an Xsens device. As such, a certain functionality implemented in devices is accessible by a function call that takes at least an XsDevice Object as a parameter.
  • Page 21 Xsens Device API offers, such as threading, object-oriented programming and error handling. Low-level communication is essential on platforms that do not support the Xsens Device API, such as custom embedded computers. www.xsens.com...
  • Page 22 Allowed to re-distribute “as is” or embed in programs Not allowed to reverse engineer Allowed to execute, reproduce, modify and compile (modified) source code to use with Xsens products only Not allowed to modify DLL Include License Agreement with distribution For use with Xsens products only Allowed to re-distribute “as is”...
  • Page 23 A correct calibration of the sensor components inside the MTi is essential for an accurate output. The quality and importance of the calibration are of highest priority and so each Xsens’ MTi is calibrated and tested by subjecting each product to a wide range of motions and temperatures.
  • Page 24 In the special case the MTi is rigidly strapped to an object containing ferromagnetic materials, structural magnetic disturbances will be present. In that case, there are solutions to use the magnetometers after all. Refer to https://base.xsens.com/hc/en- us/articles/115004479409-Magnetic-distortions-and-solutions 4.2.3 Estimating gyro bias in magnetic disturbed environments The gyroscope bias is continuously estimated.
  • Page 25 Also use this filter profile when it is difficult to do a very good Magnetic Field Mapping (MFM). The use of the low_mag_dep filter profile can be useful to limit drift in heading whilst not being in a homogenous www.xsens.com...
  • Page 26 MT Manager to determine the best results in your specific application. 4.3 Xsens sensor fusion algorithm for MTi-G-710 The Xsens sensor fusion algorithm in the MTi-G-710 has several advanced features. It can handle a multitude of data channels, to incorporate GNSS and barometer data as well.
  • Page 27 When GNSS is lost, yaw will be determined by the velocity estimation algorithm for 45 seconds, before yaw is determined by gyroscopes integration only. Should GNSS outages recur regularly or if you have bad GNSS-availability (e.g. in urban canyons), consider using HighPerformanceEDR. www.xsens.com...
  • Page 28 The setting influences the estimates of Position and Velocity and therefore it affects the behaviour of the Xsens filter output. Currently, only the Portable (default) and Airborne (<4g) platforms are supported.
  • Page 29 MTi 100-series and 3° after 60 minutes for the MTi 10-series. Even if the magnetic field is disturbed, AHS will still function. AHS is not tuned for nor intended to be used with GNSS/INS devices.. Therefore, Xsens discourages the use of this feature for GNSS/INS devices, such as the MTi-7 and MTi-G- 710.
  • Page 30 The system may go ahead and start normal operation More information on the use of Manual Gyro Bias Estimation can be found on BASE: https://base.xsens.com/hc/en-us/articles/360002763354 4.6.2 Apply 3D motion The MTi can use the direction of gravity to determine its gyroscope biases. The MTi uses three gyroscopes in perpendicular axes.
  • Page 31 MTi and the OEM version. Small x, y and z are used for (S) and the object coordinate system (O). Capital X, Y and Z are generally, but not always, used for velocity. They stand for the local-earth fixed coordinate system (L), see section 5.2.3. www.xsens.com...
  • Page 32 • Z positive when pointing up (U). The default reference coordinate system (L) only applies to the MTi in Normal output mode. Refer to the LLCP manual for detailed orientation output specifications when using the ASCII (NMEA) output mode. www.xsens.com...
  • Page 33 With the default ENU (L) coordinate system, Xsens yaw output is defined as the angle between East (X) and the horizontal projection of the sensor roll axis (x), positive about the local vertical axis (Z) following the right hand rule.
  • Page 34 World Magnetic Model (Xsens uses WMM 2010-2015) of the earth’s magnetic field as a function of latitude and longitude. The MTi accepts a setting of the declination value.
  • Page 35 Depending on the specific situation this can lead to large errors or even instability of the filter. Take care to select the correct filter profile. If you are uncertain, do not hesitate to contact Xsens or your local distributor.
  • Page 36 5.4 Position and velocity performance specification (MTi-G-710) The MTi-G-710 has the ability to give position and velocity output. The table below states the position and velocity accuracy according to Xsens’ reference trajectories. Table 8: Position and velocity performance specifications (MTi-G-710)
  • Page 37 The MTi 10-series and MTi 100-series use the same accelerometers and magnetometer. The output of the magnetometer is in arbitrary units (a.u.), one a.u. is the magnetic field strength during calibration at Xsens’ calibration lab. This is approximately 40 uT. Accelerometers/magnetometer: all products: MTi-10, MTi-20, MTi-30, MTi-100, MTi-200, MTi-300, MTi-G-710.
  • Page 38 The MTi-G-710 is the only MTi that features a GNSS receiver. It requires an active antenna, which is delivered with the Development Kit and can be ordered separately from Xsens as well. It is possible to use a different antenna that better suits your application. Table 13: GNSS receiver specification...
  • Page 39 Test Person and states the calibration values determined during the calibration of the MTi at Xsens’ calibration facilities. For reference, the values can be read by connecting the MTi to MT Manager and navigating to Device Settings – Modeling Parameters.
  • Page 40 MTi device during the calibration process. The basic indicative parameters in the above model of your individual MTi can be found on the “MT Test and Calibration Certificate” and in the MT Manager (Device Settings dialog). www.xsens.com...
  • Page 41 The maximum output rate, degree of signal processing, and calibration applied depends on device type. Refer to [LLCP] for more details. Table 16: Output specifications high-rate calibrated inertial data outputs Vector Unit AccelerationHR (DataID 0x4040) RateOfTurnHR (DataID 0x8040) rad/s www.xsens.com...
  • Page 42 The MTi can give a sensor component readout output (SCR, DataID 0xA010 for the sensors data and 0xA020 for the gyroscope temperatures), i.e. digitized voltages of all sensors, before they are filtered or calibrated using Xsens’ proprietary firmware and calibration parameters. These sensors are the gyroscopes (rate of turn), accelerometers (acceleration), magnetometer (magnetic field), barometer (static pressure) and temperatures (gyroscope temperatures and a general temperature sensor).
  • Page 43 Synchronization using multiple systems involves 2 important issues: starting the measurement at the same time and having a fixed time relationship of the sampling instances. Refer to https://BASE.xsens.com for more information on triggering: https://base.xsens.com/hc/en-us/articles/211592185...
  • Page 44 @ 25ºC and load of 3kΩ is -5.7 V typical value @ 25ºC and load of 3kΩ is 6.2 V typical hysteresis is 25mV with a total differential load resistance of 50Ω (MTi already has 120Ω termination resistance) www.xsens.com...
  • Page 45 Table 20: Power consumption depending on communication interface Product series RS232 RS422/RS485 MTi 10-series 478 mW 512 mW 581 mW MTi 100-series 522 mW 559 mW 640 mW MTi-G-710 664 mW 717 mW 871 mW www.xsens.com...
  • Page 46 Connect the cable to the MTi and the USB cable to any USB port. Under Windows 7, the Xsens USB driver will be automatically installed if not already installed. In order to lock the CA-USB-MTi to the casing (this will prevent vibration of the push-pull sleeve to be transferred to the casing and MEMS sensors), screw the round nut clockwise.
  • Page 47 CA-MP2-MTi are connected it is not recommended to use the USB connection as the shielding of the CA-MP2-MTi cable is not attached to the Molex header. The part number of the Fischer connector is SS 102A059-130 Gunfire. Figure 11: Drawing of CA-MP2-MTi www.xsens.com...
  • Page 48 Shielding 7.3.1.3 GNSS Antenna The MTi-G-710 requires an active patch antenna that can be connected to SMA connector in the front panel of the MTi-G-710. See also https://base.xsens.com/hc/en- us/articles/209434509 7.3.2 OEM connections overview 7.3.2.1 Power and data All MTi’s are available as OEM-board as well. The connection from the OEM board to the push-pull connector of the encased version is a flexible PCB, which has put to vibration test according to MIL-STD 202.
  • Page 49 3V3 CMOS levels. It can be used e.g. on embedded systems. The UART frame configuration is 8 data bits, no parity and 1 stop bit (8N1). The baud rate of the MTi is 115200 by default, but can be adjusted in MT Manager [MTM] or using low-level www.xsens.com...
  • Page 50 7.3.2.2 GNSS receiver The MTi-G-710 needs an active antenna. The connection on the OEM board of the MTi-G- 710 is done with an u.FL miniature coax. See also https://base.xsens.com/hc/en- us/articles/209434509 7.3.2.3 Connecting with the OEM board Connecting to the OEM board is possible by using sockets with a pitch of 1.27 mm.
  • Page 51 7.3.5 Using the MTi Mk5 with an external USB converter Xsens offers a cable to use the MTi with USB and SyncIn. This cable also offers an interface via a virtual COM-port instead of WinUSB. These cables can be ordered from the Xsens’...
  • Page 52 7.4.1 Environmental protection of the housing All encased MTi’s are designed to withstand usage in application where dust and occasional water splashing can be expected. However, Xsens in house testing has confirmed that the casing and connector can withstand temporary environmental circumstances equivalent to Protection Classification IP67 (sealed against dust, 30 minutes immersion at depth of 1 m).
  • Page 53 Figure 15: Using a heat shrink tube to position the mounting screws Make sure when mounting the MTi to maintain a clearance of at least 3.4 mm +/- 0.1 mm from the surface of the PCB. www.xsens.com...
  • Page 54 7.4.4 MTi 10-series technical drawing Figure 16: MTi 10-series technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi www.xsens.com...
  • Page 55 7.4.5 MTi 100-200-300 technical drawing Figure 17: MTi 100-series technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi www.xsens.com...
  • Page 56 7.4.6 MTi-G-700/710 technical drawing Figure 18: MTi-G-710 technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi www.xsens.com...
  • Page 57 7.4.7 MTi OEM technical drawing Figure 19: MTi OEM technical drawing CAD drawings (STEP) are available at BASE: https://base.xsens.com/hc/en-us/articles/202295371-3D-models-of-MTi www.xsens.com...
  • Page 58 8.3 Maintenance The MTi will not require any maintenance if properly used (see also section 8.1 and 8.2). However, if the Motion Tracker is not functioning according to the specifications please contact Xsens or your local distributor ( www.xsens.com/support www.xsens.com...
  • Page 59 8.4 EU Declaration of Conformity www.xsens.com...
  • Page 60 8.5 FCC Declaration of Conformity www.xsens.com...
  • Page 61 8.7 Customer Support Xsens is glad to help you with any questions you may have about the MTi, or about the use of the technology for your application. The fastest way is Xsens’ Help Center, where engineers and other Xsens users meet. Please visit this Help Center, contact Xsens’...