MTi 1-series User Manual
Xsens MTi User Manual Repository
Datasheet
Copyright © 2021 Xsens
Page 36
The user can set the sensor fusion algorithm with different filter profiles in order to get the best
performance based on the application scenario (see table below). These filter profiles contain
predefined filter parameter settings suitable for different user application scenarios.
In addition, all filter profiles can be used with the #Active Heading Stabilization setting, which
significantly reduces heading drift during magnetic disturbances. The #In-run Compass
Calibration setting can be used to compensate for magnetic distortions that are caused by
every object the MTi is attached to.
Filter profiles for VRU and AHRS
Name
NumberProduct
Description
General
50
MTi-3
Suitable for most applications.
High_mag_dep
51
MTi-3
Heading corrections strongly rely on the magnetic field. This filter profile should be used when the
magnetic field is homogeneous.
Dynamic
52
MTi-3
Assumes that the motion is highly dynamic.
North_referenced
53
MTi-3
Assumes a good magnetic calibration and a homogeneous magnetic field. Given stable initialization
procedures and observability of the gyro bias, after dynamics, this filter profile will trust more on the
gyro solution and the heading will slowly converge to the disturbed mag field over the course of time.
VRU_general
54
MTi-2
MTi-3
Magnetometers are not used to determine heading. Consider using VRU_general in environments
that have a heavily disturbed magnetic field or when the application only requires unreferenced
heading.
Xsens sensor fusion algorithm for GNSS/INS product types
The Xsens sensor fusion algorithm in the MTi-7 and MTi-8 has several advanced features. The
algorithm adds robustness to the orientation and position estimates by combining
measurements and estimates from the inertial sensors and GNSS receiver in order to
compensate for transient accelerations and magnetic disturbances.
When the MTi-7/8 has limited/mediocre GNSS reception or even no GNSS reception at all
(outage), the sensor fusion algorithm seamlessly adjusts the filter settings in such a way that
the highest possible accuracy is maintained. The GNSS status is continuously monitored and
the filter accepts GNSS data when available and sufficiently trustworthy. The sensor will
continue to output position, velocity and orientation estimates, although the accuracy is likely to
degrade over time as the filters will have to rely on dead-reckoning. If the GNSS outage lasts
longer than 45 seconds, the MTi-7/8 stops output of the position and velocity estimates and
begins sending these outputs once the GNSS data becomes acceptable again.
