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MTi-G-710 GNSS
Xsens MTi-G-710 GNSS Sensor Module Manuals
Manuals and User Guides for Xsens MTi-G-710 GNSS Sensor Module. We have
2
Xsens MTi-G-710 GNSS Sensor Module manuals available for free PDF download: User Manual, Reference Manual
Xsens MTi-G-710 GNSS User Manual (54 pages)
MTi 10-series and MTi 100-series 5th generation
Brand:
Xsens
| Category:
GPS
| Size: 3 MB
Table of Contents
Table of Contents
3
1 References
7
2 Xsens Help Center and User Community
8
3 Introduction
9
Mti 10-Series
9
Mti-30 AHRS
9
Mti-20 VRU
9
Mti-10 IMU
9
Figure 1: Mti 10-Series
9
Mti 100-Series
10
Mti-G-710 GNSS/INS
10
Mti-300 AHRS
10
Mti-200 VRU
10
Mti-100 IMU
10
Figure 2: Mti 100-Series
10
Identifying Device Functionality Using the Unique Device Identifier
11
Table 1: Device ID's for 5Th Generation Mti
11
Product Code
12
Figure 3: Product Codes of Mti Devices
12
Figure 4: Example of a Label Showing the SN (Deviceid) and the Product Code
12
Evolution of Mti Products
13
Overview Mti Development Kit
13
Contents
13
Figure 5: Mti Development Kit
13
Table 2: Evolution of Mti Products
13
Installation
14
Transient Accelerations
14
Vibrations
14
Magnetic Materials and Magnets
15
Typical User Scenarios
15
MT Software Suite
15
Figure 6: Structure of the MT Software Suite
16
Using the Software Development Kit (SDK)
17
Direct Low-Level Communication with Mti
18
Terms of Use of MT Software Suite
18
Figure 7: Functionality Implementation for Specific Products
18
Table 3: Guidelines for the Use of the MT Software Suite
19
4 Mti System Overview
20
Calibration
20
Xsens Kalman Filter for Vru and Ahrs Product Types
20
Using the Acceleration of Gravity to Stabilize Inclination (Roll/Pitch)
20
Using the Earth Magnetic Field to Stabilize Yaw
21
Estimating Gyro Bias in Magnetic Disturbed Environments
21
Initialization
21
Xkf3I Filter Profiles
21
Xsens Sensor Fusion Algorithm for Mt I -G-710
22
Table 4: Filter Profiles for the Mti-200/Mti-300
22
Loss of GNSS
23
Magnetic Disturbances
23
Mti-G-710 Filter Profiles
23
Table 5: Filter Profiles for the Mti-G-710 GNSS/INS
23
Transient Accelerations
23
GNSS Platform
24
Active Heading Stabilization (Ahs)
24
In-Run Compass Calibration (ICC)
25
5 Output Specification
26
Overview of Data Outputs
26
Mtdata2 Output in Xbus Protocol
26
ASCII Output (NMEA)
26
Coordinate Systems
26
Calibrated Inertial Data and Magnetic Field Data
26
Delta_Angle and Delta_Velocity
27
Orientation Data
27
Figure 8: Coordinate System of the Encased Mti (Note: Origin Is Located at the Accelerometers)
27
Figure 9: Coordinate System of the Mti-OEM (Note: Origin Is Located at the Accelerometers)
27
Table 6: Yaw in Different Coordinate Systems (Applies Only to VRU/AHRS and GNSS/INS Product Types)
28
Velocity Data
29
Position Data
29
Orientation Performance Specification
29
Position and Velocity Performance Specification (Mti-G-710)
30
Table 7: Orientation Performance Specification
30
Sensor Data Performance Specification
31
Gyroscopes
31
Accelerometers and Magnetometer
31
Table 8: Position and Velocity Performance Specifications (Mti-G-710)
31
Table 9: Gyroscope Specifications
31
Barometer
32
GPS/GNSS Receiver
32
Table 10: Accelerometers and Magnetometers Specification
32
Table 11: Magnetometer Specifications
32
Table 12: Barometer Specification
32
Built-In Self-Test
33
Test and Calibration Parameters
33
Table 13: GNSS Receiver Specification
33
Sensors Data Outputs
34
Physical Sensor Model
34
Calibrated Delta_Q and Delta_V Outputs
35
Calibrated Inertial and Magnetic Data Outputs
35
Table 14: Output Specifications ∆Q and ∆V Outputs
35
Table 15: Output Specifications Inertial and Magnetometer Data Outputs
35
Free Acceleration
36
Uncalibrated Raw Output Mode
36
Reset of Reference Co-Ordinate Systems
36
Timestamp and Packet Counter Output
36
Status Byte
36
Table 16: Output Specifications Sensor Component Readout (SCR)
36
6 Communication
37
Communication Timing
37
Triggering and Synchronization
37
Internal Clock Accuracy
37
Clock of Mti's Without GNSS Receiver
37
Clock of Mti-G-710
37
Serial Connection Settings
38
Serial or USB Communication
38
Transceiver Voltage Levels
38
Table 17: Transceiver Voltage Levels
38
7 Physical Specifications
39
Physical Properties Overview
39
Power Supply
39
Power Consumption Specification
39
Table 18: Physical Properties Overview
39
Table 19: Power Consumption Depending on Communication Interface
39
Alternative 3V3 Power Supply
40
Mechanical and Electrical Interface Specifications
40
Encased Mti Connectors Overview
40
Figure 10: Drawing of CA-USB-Mti
40
Figure 11: Drawing of CA-MP2-Mti
41
Table 20: Pin Configuration CA-USB-Mti
41
OEM Connections Overview
42
Table 21: Pin Configuration Table CA-MP2-Mti
42
Table 22: Part Numbers Headers on Mti OEM
42
Figure 12: the Pins of the Headers on the Mti-OEM Are Clearly Marked
43
Table 23: Pin Connections OEM Headers
43
Additional Interface Specifications
44
Figure 13: Standard Ribbon Cables Can be Used for Connecting the Mti OEM to Another Board
44
Table 24: Part Numbers for Sockets that Fit the Headers on the Mti OEM
44
Table 25: Interface Specifications of the Synchronization Lines
44
Cable Specifications
45
Using the Mti Mk5 with an External USB Converter
45
Housing Mechanical Specifications
45
Environmental Protection of the Housing
45
Table 26: Wire Colours in the USB Converters
45
Dimensions Mti
46
Mounting the Mti-OEM
46
Figure 14: Using a Heat Shrink Tube to Position the Mounting Screws
46
Mti 10-Series Technical Drawing
47
Figure 15: Mti 10-Series Technical Drawing
47
Mti 100-200-300 Technical Drawing
48
Figure 16: Mti 100-Series Technical Drawing
48
Mti-G-700/710 Technical Drawing
49
Figure 17: Mti-G-710 Technical Drawing
49
Mti OEM Technical Drawing
50
Figure 18: Mti OEM Technical Drawing
50
8 Important Notices
51
Safety Instructions
51
Absolute Maximum Ratings
51
Maintenance
51
Eu Declaration of Conformity
52
Fcc Declaration of Conformity
53
Warranty and Liability
54
Customer Support
54
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Xsens MTi-G-710 GNSS Reference Manual (31 pages)
Brand:
Xsens
| Category:
Measuring Instruments
| Size: 1 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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