Xsens MTi-30 AHRS, User Manual

Page 1: ...73 67 00 fax 31 0 88 973 67 01 e mail info xsens com internet www xsens com 10557 Jefferson Blvd Suite C CA 90232 Culver City USA phone 310 481 1800 fax 310 416 9044 e mail info xsens com internet www...

Page 2: ...Automotive filter profile 2018 C 17 April 2018 AVY Updated performance specifications 2018 D 25 June 2018 SGI Added details on alternative UART communication Added online documentation link to refere...

Page 3: ...he Software Development Kit SDK 13 3 6 4 Direct low level communication with MTi 14 3 6 5 Terms of use of MT Software Suite 14 4 MTI SYSTEM OVERVIEW 16 4 1 CALIBRATION 16 4 2 XSENS KALMAN FILTER FOR V...

Page 4: ...NTER OUTPUT 32 5 11 STATUS BYTE 32 6 COMMUNICATION 33 6 1 COMMUNICATION TIMING 33 6 2 TRIGGERING AND SYNCHRONIZATION 33 6 3 INTERNAL CLOCK ACCURACY 33 6 3 1 Clock of MTi s without GNSS receiver 33 6 3...

Page 5: ...V MTi User Manual 8 IMPORTANT NOTICES 47 8 1 SAFETY INSTRUCTIONS 47 8 2 ABSOLUTE MAXIMUM RATINGS 47 8 3 MAINTENANCE 47 8 4 EU DECLARATION OF CONFORMITY 48 8 5 FCC DECLARATION OF CONFORMITY 49 8 6 WAR...

Page 6: ...e of the MT Software Suite 15 Table 4 Filter profiles for the MTi 200 MTi 300 18 Table 5 Filter profiles for the MTi G 710 GNSS INS 19 Table 6 Yaw in different coordinate systems applies only to VRU A...

Page 7: ...n pdf document ID MT0101P MTM MT Manager User Manual pdf document ID MT0216P XDA_DOC XDA doxygen HTML documentation Found in Xsens folder structure MTI_1 MTi 1 series Datasheet pdf document ID MT0512P...

Page 8: ...d questions News is also shared at the knowledge base and it is possible to ask additional questions registration required The user community is the place to ask questions Answers may be given by othe...

Page 9: ...ilable outputs per device This documentation describes the use basic communication interfaces and specifications of all the 7 MTi s in the MTi 10 series and MTi 100 series Where they differ is clearly...

Page 10: ...HRS augmented 3D position and velocity outputs Furthermore it provides 3D sensors data such as acceleration rate of turn magnetic field the PVT position velocity time data of the GNSS receiver and sta...

Page 11: ...are unique for each device these four digits have a hexadecimal format The 4th generation MTi s can be identified by the last four digits of the DeviceID or SerialNumber If the last four digits are lo...

Page 12: ...n Figure 3 shows the product code build up e g MTi 10 4A8G4 is an IMU with RS485 interface 20g full range on the accelerometers and 450 deg s full range for the gyroscopes Note that not every combinat...

Page 13: ...h generation MTi and has significantly higher specifications in e g acceleration and MTBF Introduced 2017 Status Active 3 4 Overview MTi Development Kit The MTi development kit is a very easy to use s...

Page 14: ...ons can be minimized when you take into account a few things when positioning the device when installing it in the object you want to track navigate stabilize or control If you want to use the MTi to...

Page 15: ...number 26102 00800855 www norelem com 3 5 3 Magnetic materials and magnets When an MTi is placed close to or on an object that is either magnetic or contains ferromagnetic materials the measured magn...

Page 16: ...sy to use software with a Windows user interface allows you to record data and playback review data view orientation position and velocity in real time if available view inertial and magnetic sensor d...

Page 17: ...tream from a device or a recorded file data stream Using the Xsens Xbus low level communication protocol is discussed in section 3 6 4 Device management and global control functions are grouped in the...

Page 18: ...vironments all the functionality is also available via a COM interface 3 6 4 Direct low level communication with MTi The MTi features a powerful embedded multi processor core As the MTi has an on boar...

Page 19: ...ecute reproduce modify and compile modified source code to use with Xsens products only Not allowed to modify DLL Include License Agreement with distribution MFM For use with Xsens products only Allow...

Page 20: ...ferred to as an Attitude and Heading Reference System AHRS 4 2 1 Using the acceleration of gravity to stabilize inclination roll pitch XKF3i stabilizes the inclination i e roll and pitch combined usin...

Page 21: ...rformance under all circumstances Refer to https base xsens com hc en us articles 210133105 Use of Active Heading Stabilization AHS in MTi 2 When the MTi has sufficient movement in roll and pitch 30 d...

Page 22: ...p filter profile assumes that the dynamics is relatively low and that there are long lasting external magnetic distortions Also use this filter profile when it is difficult to do a very good Magnetic...

Page 23: ...oss of GNSS lasts longer than 45 60 seconds exact time depends on the filter profile the MTi G 710 will go into a state where it no longer uses velocity estimates in the filter 4 3 4 MTi G 710 filter...

Page 24: ...detects when the MTi is motionless Vibrations and very slow movements may influence the accuracy of the gyro bias estimation Every application is different and although example applications are listed...

Page 25: ...ling 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...

Page 26: ...rings in ASCII amongst others messages in the NMEA protocol The list of available ASCII strings can be found in the LLCP in the table in the description of the SetStringOutputType message 5 2 Coordina...

Page 27: ...Ti this interval is 2 5 ms 400 Hz by default The values dq and dv are always represented in the same coordinate system as calibrated inertial data and magnetic field data see section 5 2 1 which can b...

Page 28: ...Xsens yaw output is defined as the angle between East X and the horizontal projection of the sensor roll axis x positive about the local vertical axis Z following the right hand rule Table 6 shows th...

Page 29: ...ate system as the orientation data and thus adopts orientation resets as well It is available only in the MTi G 710 Velocity data from the navigation solution from the GPS receiver in the MTi G 700 Da...

Page 30: ...sly estimated The sensor fusion algorithms need some time to estimate such parameters Depending on the time since last calibration of the MTi s the chosen filter profile and the quality of the GNSS fi...

Page 31: ...nd the MTi 100 series is the type of gyroscopes used The two different specifications are listed below A full range of 1000 s is available upon request Gyroscopes in MTi 10 series MTi 10 MTi 20 MTi 30...

Page 32: ...eries feature this barometer The MTi 100 series has three holes with a protective vent in its casing in order to ensure fast adaptation inside the MTi to atmospheric pressure Typical latency because o...

Page 33: ...ructures in the MEMS inertial sensors as well as the signal processing circuitry For the magnetometer the self test checks the integrity of the sensor component A passed self test will result in a val...

Page 34: ...ibrated according to more complicated models to ensure accuracy e g non linear temperature effect cross coupling between acceleration and angular rate6 5 8 Sensors data outputs 5 8 1 Physical sensor m...

Page 35: ...the values are integrated over a specific time Delta_q can also be noted as dq delta_angle del_q or OriInc Delta_v can also be noted as dv delta_velocity del_v or VelInc Table 14 Output specification...

Page 36: ...a 50 Hz Temperature sensors Analog sensor 12 bit ADC C 1 Hz Note that these SCR values of the gyroscopes and accelerometers are not calibrated for offset gain misalignment and temperature Also coning...

Page 37: ...1 hour log is 0 036 seconds 3600 s 10 ppm or 15 sample counts in 1 440 000 at 400 Hz sample rate 25 ns data packet 400 Hz 6 3 2 Clock of MTi G 710 In the event that the MTi G 710 has a GNSS fix the b...

Page 38: ...tput levels and is compatible with TIA EIA 232 F specifications The MTi s RS485 RS422 transceiver has RS485 compliant output levels and is compatible with TIA EIA 485 A specifications The differential...

Page 39: ...V 600 mW 5 1V 750 mW 5 1V Temperature operating range 40 C 85 C Specified performance operating range 0 C 55 C Altitude operating range N A N A 900 m 9000 m baro 50000 m GNSS Maximum velocity N A N A...

Page 40: ...connector for the antenna MTi G 710 only The colour of the hexagonal nut together with the colour of the base plate indicates whether the MTi is an MTi 10 series or MTi 100 series A grey silver base p...

Page 41: ...USB DM D White AWG28 9 2 7 CA MP2 MTi Cable CA MP2 MTi allows for full control of the MTi Hardware synchronization options are available as well as easy access to the serial interface Although the US...

Page 42: ...r and data All MTi s are available as OEM board as well The connection from the OEM board to the push pull connector of the encased version is a flexible PCB which has put to vibration test according...

Page 43: ...ation WakeUp message sent If WakeUp is not interrupted the MTi will be put in Measurement Mode Plugging in USB at any time will let the MTi switch to USB immediately When for some reason the MTi becom...

Page 44: ...Farnell 1753841 6 pins 1 27 mm pitch Samtec FFSD 04 01 N Digikey FFSD 04 01 N Note that there is no Samtec connector cable part for a 6 pins receptacle This means that you can use an 8 pins or 10 pins...

Page 45: ...1 Vin 4 5 34V Vin 4 5 34V Vin 4 5 34V Black 2 GND GND GND Green 3 USB DP D USB DP D RS422_TD B Yellow 4 RS232 TX RS485_A TxD RxD RS422_TD A Grey 5 RS232 RX RS485_B TxD RxD RS422_RD B White 6 USB DM D...

Page 46: ...ur barometer holes MTi 100 series only and SMA connector MTi G 710 only 7 4 3 Mounting the MTi OEM The MTi OEM has four mounting holes holes for M1 6 screws In order to lower and tighten the screws it...

Page 47: ...Xsens Technologies B V MTi User Manual 7 4 4 MTi 10 series technical drawing Figure 15 MTi 10 series technical drawing CAD drawings STEP are available at BASE https base xsens com hc en us articles 2...

Page 48: ...Xsens Technologies B V MTi User Manual 7 4 5 MTi 100 200 300 technical drawing Figure 16 MTi 100 series technical drawing CAD drawings STEP are available at BASE https base xsens com hc en us articles...

Page 49: ...E Xsens Technologies B V MTi User Manual 7 4 6 MTi G 700 710 technical drawing Figure 17 MTi G 710 technical drawing CAD drawings STEP are available at BASE https base xsens com hc en us articles 202...

Page 50: ...2018 E Xsens Technologies B V MTi User Manual 7 4 7 MTi OEM technical drawing Figure 18 MTi OEM technical drawing CAD drawings STEP are available at BASE https base xsens com hc en us articles 2022953...

Page 51: ...ing Storage Temperature 40 C 85 C Humidity Casing is IP67 for OEM 95 max non condensing Stresses beyond those listed here may cause permanent damage to the device Exposure to absolute maximum rating c...

Page 52: ...48 Document MT0605P 2018 E Xsens Technologies B V MTi User Manual 8 4 EU Declaration of Conformity...

Page 53: ...49 Document MT0605P 2018 E Xsens Technologies B V MTi User Manual 8 5 FCC Declaration of Conformity...

Page 54: ...hen current specifications for the Product for a period of one year from the date of delivery ANY LIABILITY OF XSENS WITH RESPECT TO THE SYSTEM OR THE PERFORMANCE THEREOF UNDER ANY WARRANTY NEGLIGENCE...