21
Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
GNSS/INS products. When AHS is applied to a filter profile that uses the magnetic field as a reference,
the magnetic field will no longer be used as a reference. Yaw output will be heading tracking instead of
referenced heading.
Since AHS was added as a global setting, it is defaulted to off to maintain the north-referenced settings
of most filters. Thus, AHS must be enabled even when using "vru_general". AHS is off by default from
firmware version 1.4.12 on the 10- and 100-series and firmware version 1.0.16 on the 1-series. To
enable AHS, enable AHS via SetOptionFlags. To enable AHS tick the boolean in the Device Settings of
MT Manager or see Low Level Communication Protocol documentation for enabling it with a low level
communication.
4.5 In-run Compass Calibration (ICC)
When it is not possible to do a Magnetic Field Mapping and when there are hard- and soft-iron effects
that are moving with the MTi, it is possible to perform an In-run Compass Calibration (ICC).
In-run Compass Calibration is a way to calibrate for magnetic distortions that move with the sensor using
an onboard algorithm, leaving out the need for a host processor like a PC. However, if possible, using
the Magnetic Field Mapper tool is preferred. It estimates the hard- and soft-iron effects and provides
new magnetometer calibration parameters. To expedite the estimation of magnetometer calibration
parameters, there is a Representative Motion feature. Representative Motion is available in MT
Manager, XDA and Low-Level Communication Protocol (Xbus protocol).
ICC is currently a feature in beta. For more information, refer to the BASE-articles on ICC:
https://base.xsens.com/hc/en-us/articles/213588029.
