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MTi-610
Xsens MTi-610 Inertial Measurement Unit Manuals
Manuals and User Guides for Xsens MTi-610 Inertial Measurement Unit. We have
1
Xsens MTi-610 Inertial Measurement Unit manual available for free PDF download: Reference Manual
Xsens MTi-610 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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