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Xsens MTi Series Manuals
Manuals and User Guides for Xsens MTi Series. We have
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Xsens MTi Series manuals available for free PDF download: User Manual And Technical Documentation, Reference Manual
Xsens MTi Series User Manual And Technical Documentation (53 pages)
Brand:
Xsens
| Category:
Accessories
| Size: 1 MB
Table of Contents
Table of Contents
3
1 Introduction
5
Product Description
5
Mti - Miniature Gyro-Enhanced Attitude and Heading Reference Sensor
5
Mtx - Miniature Inertial 3DOF Orientation Tracker
5
Overview Mti and Mtx Development Kit
6
Contents
6
Typical User Scenarios
7
Getting Started with the MT Software
7
Interface through COM-Object API
7
Direct Low-Level Communication with Mti or Mtx
7
Sensor Fusion
8
2 Output Specification
9
Co-Ordinate Systems
9
Calibrated Sensor Readings
9
Orientation Co-Ordinate System
10
Orientation Performance Specification
11
Sensor Fusion Algorithm Settings
11
Orientation Output Modes
12
Quaternion Orientation Output Mode
13
Euler Angles Orientation Output Mode
14
Rotation Matrix Orientation Output Mode
14
Calibrated Data Performance Specification
16
Calibrated Data Output Mode
17
Physical Sensor Model
17
Calibrated Inertial and Magnetic Data Output Mode
18
Un-Calibrated Raw Output Mode
18
Reset of Output or Reference Co-Ordinate Systems
20
Output with Respect to Non-Default Coordinate Frames
20
Heading Reset
20
Global Reset
20
Object Reset
21
Alignment Reset
22
Timestamp Output
22
Analog Outputs
22
Conversion to Euler Angles
22
Accuracy
22
Accurate Measurement of Analog Outputs
23
3 Basic Communication
25
Introduction
25
States
25
Messages
26
Message Structure
26
Message Usage
27
Common Messages
28
Communication Timing
32
Orientation Output Mode Timing
32
Calibrated Data Output Mode Timing
33
Internal Clock Accuracy
33
Default Serial Connection Settings
33
General Definitions for Binary Data
34
4 Physical Specifications
35
Physical Sensor Overview
35
Physical Properties Overview
35
Power Supply
35
Physical Interface Specifications
36
USB-Serial Data and Power Cables Overview
36
Pin and Wire Color Definitions Mti-28A##G## (Mti RS-232, Standard Version)
37
Pin and Wire Color Definitions Mti-68A##G## (Mti RS-422)
38
Pin and Wire Color Definitions Mti-28A##G##D (Mti RS-232, Analog Outputs)
39
Pin and Wire Color Definitions Mtx-28A##G## (Mtx RS-232, Standard Version)
40
Pin and Wire Color Definitions Mtx-48A##G## (Mtx RS-485 Standalone)
41
Pin and Wire Color Definitions Mtx-49A##G## (Mtx Xbus)
42
Additional Interface Specification
42
Housing Mechanical Specifications
44
Dimensions Mti
45
Dimensions Mtx
46
5 Operating Guidelines
47
Normal Operating Procedure
47
Placement Considerations
47
Transient Accelerations
47
Vibrations
48
Magnetic Materials and Magnets
48
6 Important Notices
50
Environmental Operating Conditions
50
Absolute Maximum Ratings
50
Maintenance
51
Warranty and Liability
51
Customer Support
52
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Xsens MTi Series 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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