Xsens DOT, User Manual

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Table of Contents
1 Introduction .............................................................................. 6
2 Getting Started .......................................................................... 7
2.1 Xsens DOT set ........................................................................................... 7
2.2 Hardware .................................................................................................. 7
2.2.1 Xsens DOT ........................................................................................... 7
2.2.2 Power button ........................................................................................ 8
2.2.3 LED status ........................................................................................... 8
2.2.4 Charger ............................................................................................... 9
2.2.5 Body straps and accessories ................................................................... 9
2.3 Software ................................................................................................... 9
2.3.1 Supported platforms.............................................................................10
2.3.2 Choose your software ...........................................................................10
2.4 Tips for best practice .................................................................................11
2.4.1 Multiple sensors connection ...................................................................11
2.4.2 Magnetic distortion...............................................................................11
2.4.3 Cleaning method ..................................................................................12
2.4.4 Long-term storage guidelines ................................................................12
3 Xsens DOT Overview ............................................................... 14
3.1 Strapdown integration ................................................................................14
3.2 Sensor fusion algorithm and filter profiles .....................................................14
3.3 Xsens DOT sensor state transition ...............................................................15
3.3.1 Power ON/OFF .....................................................................................15
3.3.2 Advertisement .....................................................................................16
3.3.3 Connection ..........................................................................................16
3.3.4 Synchronization ...................................................................................16
3.3.5 Measurement ......................................................................................17
3.3.6 Power saving .......................................................................................19
3.4 Magnetic Field Mapper................................................................................19
3.5 Firmware Update .......................................................................................20
3.5.1 Firmware update..................................................................................20
3.5.2 Firmware downgrade ............................................................................20
3.5.3 Firmware compatibility .........................................................................21
4 Output Specifications .............................................................. 22
4.1 Coordinate systems ...................................................................................22
4.1.1 Sensor coordinate system .....................................................................22
4.1.2 Orientation coordinate system ...............................................................22
4.1.3 Heading reset ......................................................................................23
4.2 Sensors data outputs .................................................................................24