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MTi-3
Xsens MTi-3 Manuals
Manuals and User Guides for Xsens MTi-3. We have
2
Xsens MTi-3 manuals available for free PDF download: Reference Manual, Integration Manual
Xsens MTi-3 Reference Manual (31 pages)
Brand:
Xsens
| Category:
Measuring Instruments
| Size: 1.16 MB
Table of Contents
Table of Contents
3
1 Xsens Customer Support and Base
6
2 Introduction
7
Table 1: Mti Product Documentation Overview
7
From Imu to Gnss/Ins
8
Imu
8
Vru
8
Ahrs
8
Gnss/Ins
8
Figure 1: from IMU to GNSS/INS
8
Xsens Mti Hardware Platforms
9
Mti 1-Series
9
Mti 600-Series
9
Mti 10-Series
9
Mti 100-Series
9
Figure 2: Mti 1-Series
9
Figure 3: Mti 600-Series
9
Figure 4: Mti 10-Series
9
Figure 5: Mti 100-Series
9
Table 2: Xsens Mti Portfolio Overview
10
3 Getting Started with the Mti
11
Overview Mti Development Kit
11
Figure 6: Mti Development Kit
11
Table 3 Description of Hardware Components of Development Kit
11
Table 4 Description of Software Components of Development Kit
12
Low-Level Communication
13
MT Software Development Kit (MT SDK)
13
Table 5: Conditions for the Use of the MT Software Suite
13
Terms of Use of MT Software Suite
13
4 Mti System Overview
15
Test and Calibration
15
Coordinate Systems
15
Calibrated Inertial Data and Magnetic Field Data
15
Orientation Increment and Velocity Increment (Dq and DV)
16
Figure 7: Default Coordinate System of Mti 1-Series
16
Figure 8: Default Coordinate System of Mti 600-Series
16
Table 6: Data Outputs with Reference Coordinate Systems
16
Orientation Data
17
Figure 9: Right Hand Rule
17
Velocity Data
18
Table 7: Yaw in Different Coordinate Systems (Applies Only to VRU/AHRS and GNSS/INS Product Types)
18
Position Data
19
Physical Sensor Model
19
Calibrated ∆Q and ∆V Outputs
20
Calibrated Inertial and Magnetic Data Outputs
20
High-Rate (HR) Inertial Data Outputs
20
Table 8: Output Specifications ∆Q and ∆V Outputs
20
Table 9: Output Specifications Inertial and Magnetometer Data Outputs
20
Table 10: Output Specifications High Rate Calibrated Inertial Data Outputs
20
Free Acceleration
21
Xsens Sensor Fusion Algorithms
22
Internal Sensor Bias Estimation
22
Roll and Pitch Estimation
22
Heading/Yaw Estimation
23
Velocity and Position Estimation
23
Initialization
24
Filter Profile Options
24
Additional Setting Options and Features
24
Table 11: Supplementary Features and Settings
24
Mti Series Interface Options
26
Timing and Synchronization
26
Table 12: Overview of Interface Options in Mti Portfolio
26
5 Input and Output Specification
27
Overview of Data Output Protocols
27
Overview of Data Inputs
27
Built-In Self-Test
27
Timestamp and Packet Counter Output
27
Status Word
28
6 Installation Tips and Tricks
29
7 Warranty and Liability
31
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Xsens MTi-3 Integration Manual (23 pages)
MTi-1 series
Brand:
Xsens
| Category:
Control Unit
| Size: 2.82 MB
Table of Contents
Table of Contents
3
1 General Information
5
Table 1: Mti 1-Series Latest Generation
5
Table 2: Mti 1-Series Previous Generation
5
2 Power Supply
6
Main Supply Voltage (Vddio)
6
Analog Supply Voltage (Vdda)
6
Single Power Supply Configuration
6
Figure 1: External Components Single Supply (I C Interface)
6
Power Supply Specifications
7
Table 3: Maximum Operating Voltage Ratings
7
3 Interfaces
8
Pin Configuration
8
Communication to Host
8
Figure 2: Pin Configuration of the Mti 1-Series Module (Top View)
8
Table 4: Host Communication Interfaces Specifications
8
PSEL Serial Host Communication Interface Selection
9
Table 5: Serial Host Interface Selection
9
Figure 3: External Components
10
I 2 C
10
Table 6: List of I 2 C Addresses
10
Figure 4: Connections (SPI Interface)
11
Figure 5: Connections (UART Interface Full-Duplex)
11
Spi
11
Uart
11
Gnss Receiver and Barometer Interface
12
Table 7: GNSS Receiver Interface Specifications
12
Figure 6: Connections (GNSS Interface)
12
I/Opins
13
Reset
13
Sync_In
13
Dnc/Reserved Pins
13
Table 8: I/O Interface Specifications
13
4 Design
14
Pcb Layout
14
Frames of Reference Used in Mti 1-Series
14
Figure 7: Layout Example
14
Figure 8: Default Sensor Fixed Coordinate System for the Mti 1-Series Module
14
Origin of Measurements
15
Mechanical Stress
15
Pushbutton Contacts
15
Figure 9: Location Origin of Measurements
15
Anchor Points
16
Figure 10: High Mechanical Stress in Diagonal Crossover between Anchor Points
16
Figure 11: Reducing Anchor Points to Reduce Overall Stress in the PCB
16
Figure 12: Keeping the Mti 1-Series Module Away from High Mechanical Stress Areas
16
Vibrations
17
Heat
17
Sockets
17
Magnetometer
17
Ferromagnetic Materials
17
High Currents
17
Footprint
18
Figure 13: Recommended Mti 1-Series Module Footprint
18
5 Packaging
19
Tray Packaging Information
19
Reel Packaging Information
20
Package Drawing
21
Table 9: Mti 1-Series Module Generations
21
Figure 14: Mti 1-Series V1.1 Dimensions and Sensor Locations
21
Figure 15: Mti 1-Series V2.0 Dimensions and Sensor Locations
21
Figure 16: Location PCB Number on Mti 1-Series Module (Bottom View)
21
6 Handling
22
Reflow Specification
22
Ultrasonic Processes
22
Figure 17: Reflow Classification Profile (Not to Scale)
22
Electrostatic Discharge (Esd)
23
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