Document MT0605P.E
© Xsens Technologies B.V.
MTi User Manual
41
4.9.2
Calibrated delta_q and delta_v outputs
This output is coning- and sculling compensated strap down integrated data in the sensor-fixed
coordinate system (
S
) or (
O
). Note that the value of the output depends on the output frequency, as
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.
Output
Unit
Delta_q (DataID 0x8030)
a.u. (quaternion values)
Delta_v (DataID 0x4010)
m/s
It is possible to multiply consecutive delta_q values to find the total orientation change over a specific
period. Note that this data is not drift free, as it has not been processed by the sensor fusion filters.
Use the orientation output for drift free orientation.
4.9.3
Calibrated inertial and magnetic data outputs
Output of calibrated 3D linear acceleration, 3D rate of turn (gyro) and 3D magnetic field data is in
sensor-fixed coordinate system (
S
) or (
O
).
The units of the calibrated data output are as follows:
Vector
Unit
Acceleration
m/s
2
Angular velocity (rate of turn)
rad/s
Magnetic field
a.u.( arbitrary units) normalized to earth field strength)
Calibrated data has been going through Strapdown Integration and Inverse Strapdown Integration.
4.9.4
Free acceleration
Free acceleration (Data ID 0x4030) is the acceleration of which gravity is deducted. Output is in m/s
2
.
