MTi User Manual
MTi 10-series and MTi 100-series
5th generation
Document MT0605P, Revision 2018.A, 28 Feb 2018
Xsens Technologies B.V.
Pantheon 6a
P.O. Box 559
7500 AN Enschede
The Netherlands
phone
fax
e-mail
internet
+31 (0)88 973 67 00
+31 (0)88 973 67 01
info@xsens.com
www.xsens.com
Xsens North America, Inc.
10557 Jefferson Blvd,
Suite C
CA-90232 Culver City
USA
phone
fax
e-mail
internet
310-481-1800
310-416-9044
info@xsens.com
www.xsens.com
Revisions
Revision
A
…
I
Date
26 Sep 2012
….
20 Dec 2016
MHA
By
MHA
Changes
Initial release
…
Holonomic constraints now mention correctly y-axis
Redirected antenna information to BASE
Redirected Sync chapter to BASE
Added AHS boolean
Added ICC
Added NMEA strings (GPZDA and XSVEL)
Added HighPerformanceEDR to the filter profiles
New version for 5
th
generation (sensor specifications,
hardware connections)
Removed MTw from product history
Grouped legacy products in product history
Corrected number of stop bits
Added 1 PPS specifications
Removed legacy USB converter specifications
Typo in Table 2 header
Reference in 3.2.6 missing
Added power consumption table
Removed 1-series references
Added links to other documents, clean-up
Updated Section 5.2.3 with heading definition, revised
mounting considerations for MTi-G-710 for use with
Automotive filter profile.
J
14 August 2017
MHA
J1
4 October 2017
MHA
J2
2018.A
14 December 2017
28 February 2018
MHA
AVY
© 2005-2018, Xsens Technologies B.V. All rights reserved. Information in this document is subject to
change without notice. Xsens, 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. All other trademarks are the property of their
respective owners.
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© Xsens Technologies B.V.
Document MT0605P.2018.A
MTi User Manual
Table of Contents
1
2
3
REFERENCES ............................................................................................................................... 3
XSENS HELP CENTER AND USER COMMUNITY ...................................................................... 4
INTRODUCTION ............................................................................................................................ 5
3.1 MT
I
10-
SERIES
............................................................................................................................. 5
3.1.1 MTi-30 AHRS ..................................................................................................................... 5
3.1.2 MTi-20 VRU ....................................................................................................................... 5
3.1.3 MTi-10 IMU ........................................................................................................................ 5
3.2 MT
I
100-
SERIES
........................................................................................................................... 6
3.2.1 MTi-G-710 GNSS/INS ....................................................................................................... 6
3.2.2 MTi-300 AHRS ................................................................................................................... 6
3.2.3 MTi-200 VRU ..................................................................................................................... 6
3.2.4 MTi-100 IMU ...................................................................................................................... 6
3.2.5 Identifying device functionality using the unique Device Identifier .................................... 7
3.2.6 Product code ...................................................................................................................... 8
3.3 E
VOLUTION OF
MT
I PRODUCTS
...................................................................................................... 9
3.4 O
VERVIEW
MT
I
D
EVELOPMENT
K
IT
.............................................................................................. 10
3.4.1 Contents........................................................................................................................... 10
3.5 I
NSTALLATION
............................................................................................................................. 11
3.5.1 Transient accelerations .................................................................................................... 11
3.5.2 Vibrations ......................................................................................................................... 11
3.5.3 Magnetic materials and magnets ..................................................................................... 12
3.6 T
YPICAL
U
SER
S
CENARIOS
.......................................................................................................... 13
3.6.1 MT Software Suite ........................................................................................................... 13
3.6.2 Getting Started with the MT Manager .............................................................................. 14
3.6.3 Using the Software Development Kit (SDK) .................................................................... 15
3.6.4 Direct low-level communication with MTi ......................................................................... 17
3.6.5 Terms of use of MT Software Suite ................................................................................. 17
4
MTI SYSTEM OVERVIEW ........................................................................................................... 18
4.1 C
ALIBRATION
.............................................................................................................................. 18
4.2 X
SENS
K
ALMAN
F
ILTER FOR
VRU
AND
AHRS
PRODUCT TYPES
.................................................... 18
4.2.1 Using the acceleration of gravity to stabilize inclination (roll/pitch) ................................. 18
4.2.2 Using the Earth magnetic field to stabilize yaw ............................................................... 19
4.2.3 Estimating gyro bias in magnetic disturbed environments .............................................. 19
4.2.4 Initialization ...................................................................................................................... 19
4.2.5 XKF3i filter profiles ........................................................................................................... 19
4.3 X
SENS SENSOR FUSION ALGORITHM FOR
MT
I
-G-710.................................................................... 21
4.3.1 Transient accelerations .................................................................................................... 21
4.3.2 Magnetic disturbances ..................................................................................................... 21
4.3.3 Loss of GNSS .................................................................................................................. 21
4.3.4 MTi-G-710 filter profiles ................................................................................................... 21
4.4 A
CTIVE
H
EADING
S
TABILIZATION
(AHS) ....................................................................................... 23
4.5 I
N
-
RUN
C
OMPASS
C
ALIBRATION
(ICC) ......................................................................................... 23
5
OUTPUT SPECIFICATION .......................................................................................................... 24
5.1 O
VERVIEW OF DATA OUTPUTS
...................................................................................................... 25
5.1.1 MTData2 output in XBus protocol .................................................................................... 25
5.1.2 ASCII output (NMEA) ....................................................................................................... 25
5.2 C
OORDINATE SYSTEMS
............................................................................................................... 26
iii
© Xsens Technologies B.V.
Document MT0605P.2018.A
MTi User Manual
5.2.1 Calibrated inertial data and magnetic field data .............................................................. 26
5.2.2 Delta_angle and delta_velocity ........................................................................................ 26
5.2.3 Orientation data ............................................................................................................... 27
5.2.4 Velocity data .................................................................................................................... 28
5.2.5 Position data .................................................................................................................... 28
5.3 O
RIENTATION PERFORMANCE SPECIFICATION
............................................................................... 29
5.4 P
OSITION AND VELOCITY PERFORMANCE SPECIFICATION
(MT
I
-G-710) .......................................... 30
5.5 O
RIENTATION OUTPUT MODES
..................................................................................................... 31
5.6 S
ENSOR DATA PERFORMANCE SPECIFICATION
.............................................................................. 32
5.6.1 Gyroscopes ...................................................................................................................... 32
5.6.2 Accelerometers and magnetometer ................................................................................ 33
5.6.3 Barometer ........................................................................................................................ 33
5.6.4 GPS/GNSS receiver ........................................................................................................ 34
5.7 B
UILT
-
IN SELF
-
TEST
.................................................................................................................... 35
5.8 T
EST AND
C
ALIBRATION PARAMETERS
.......................................................................................... 36
5.9 S
ENSORS DATA OUTPUTS
............................................................................................................ 37
5.9.1 Physical sensor model ..................................................................................................... 37
5.9.2 Calibrated delta_q and delta_v outputs ........................................................................... 38
5.9.3 Calibrated inertial and magnetic data outputs ................................................................. 38
5.9.4 Free acceleration ............................................................................................................. 38
5.9.5 Uncalibrated raw output mode ......................................................................................... 39
5.10 R
ESET OF REFERENCE CO
-
ORDINATE SYSTEMS
............................................................................ 39
5.11 T
IMESTAMP AND PACKET COUNTER OUTPUT
................................................................................. 39
5.12 S
TATUS BYTE
............................................................................................................................. 39
6
COMMUNICATION....................................................................................................................... 40
6.1 C
OMMUNICATION
T
IMING
............................................................................................................. 40
6.2 T
RIGGERING AND SYNCHRONIZATION
........................................................................................... 40
6.3 I
NTERNAL CLOCK ACCURACY
....................................................................................................... 40
6.3.1 Clock of MTi’s without GNSS receiver ............................................................................. 40
6.3.2 Clock of MTi-G-710 .......................................................................................................... 40
6.4 S
ERIAL
C
ONNECTION
S
ETTINGS
.................................................................................................. 41
6.4.1 Serial or USB communication .......................................................................................... 41
6.4.2 Transceiver voltage levels ............................................................................................... 41
7
PHYSICAL SPECIFICATIONS .................................................................................................... 42
7.1 P
HYSICAL PROPERTIES OVERVIEW
............................................................................................... 42
7.2 P
OWER SUPPLY
.......................................................................................................................... 42
7.2.1 Power consumption specification .................................................................................... 42
7.2.2 Alternative 3V3 power supply .......................................................................................... 43
7.3 M
ECHANICAL AND ELECTRICAL INTERFACE SPECIFICATIONS
.......................................................... 44
7.3.1 Encased MTi connectors overview .................................................................................. 44
7.3.2 OEM connections overview ............................................................................................. 46
7.3.3 Additional interface specifications.................................................................................... 48
7.3.4 Cable specifications ......................................................................................................... 48
7.3.5 Using the MTi Mk5 with an external USB converter ........................................................ 48
7.4 H
OUSING MECHANICAL SPECIFICATIONS
....................................................................................... 49
7.4.1 Environmental protection of the housing ......................................................................... 49
7.4.2 Dimensions MTi ............................................................................................................... 49
7.4.3 Mounting the MTi-OEM .................................................................................................... 49
7.4.4 MTi 10-series technical drawing ...................................................................................... 50
7.4.5 MTi 100-200-300 technical drawing ................................................................................ 51
7.4.6 MTi-G-700/710 technical drawing .................................................................................... 52
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© Xsens Technologies B.V.
Document MT0605P.2018.A
MTi User Manual
7.4.7
8
8.1
8.2
8.3
8.4
8.5
8.6
8.7
MTi OEM technical drawing ............................................................................................. 53
IMPORTANT NOTICES ............................................................................................................... 54
S
AFETY INSTRUCTIONS
............................................................................................................... 54
A
BSOLUTE MAXIMUM RATINGS
..................................................................................................... 54
M
AINTENANCE
............................................................................................................................ 54
R
O
HS
COMPLIANCE
.................................................................................................................... 55
REACH
STATEMENT
................................................................................................................... 56
W
ARRANTY AND LIABILITY
............................................................................................................ 57
C
USTOMER
S
UPPORT
................................................................................................................. 57
v
© Xsens Technologies B.V.
Document MT0605P.2018.A
MTi User Manual
微控制器 MCU
