MTi 1-series User Manual
Xsens MTi User Manual Repository
Datasheet
Copyright © 2021 Xsens
Page 32
MTi-3 AHRS
The MTi-3 supports all features of the MTi-1 and MTi-2, and, in addition, is a full magnetometer-
enhanced AHRS. In addition to the roll and pitch, it outputs a true magnetic North referenced
yaw and calibrated sensor data: 3D acceleration, 3D rate of turn, 3D orientation and velocity
increments (∆q and ∆v) and 3D earth-magnetic field data. Free acceleration is also computed
by the MTi-3 AHRS.
MTi-7 GNSS/INS
The MTi-7 provides a GNSS/INS solution offering a position and velocity output in addition to
orientation output. The MTi-7 uses advanced sensor fusion algorithms developed by Xsens to
synchronize the inputs from the module’s on-board accelerometer, gyroscope and
magnetometer with the data from an external GNSS receiver and/or barometer. The raw sensor
signals are combined and processed at a high data rate of 800 Hz to produce a real-time data
stream with the device’s 3D position, velocity and orientation (roll, pitch and yaw).
MTi-8 RTK GNSS/INS
The MTi-8 is an improved version of the MTi-7, designed to be used with high precision GNSS
receivers. Using RTK (Real-Time Kinematics) functionality, GNSS receivers can determine global
position at centimeter-level accuracy. The MTi-8 features more advanced sensor fusion
algorithms and signal processing pipelines that allow it to process these data without loss of
accuracy/precision. The MTi-8 also takes into account timing errors and the distance between
the GNSS antenna and the MTi itself.
GNSS input
The MTi-7 and MTi-8 require data from an external GNSS receiver to provide a full GNSS/INS
solution. This can be achieved by connecting a GNSS receiver that communicates with one of
the following supported protocols:
u-blox' UBX protocol
NMEA sentences (officially supported with firmware version 1.10.0 and up)
Septentrio's SBF protocol (beta support with firmware version 1.18.0 and up)
Trimble's GSOF protocol (beta support with firmware version 1.18.0 and up)
The use of each of these supported protocols is discussed in more detail in the paragraphs
below.
