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Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
4.3.1 Transient accelerations
The MTi-G-710 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. This results in improved estimates of roll, pitch, yaw and position.
4.3.2 Magnetic disturbances
Next to the solutions described on
https://base.xsens.com/hc/en-us/articles/115004479409
effects from magnetic disturbances, the MTi-G-710 sensor fusion algorithm makes use of data coming
from the GNSS receiver. This means that the MTi-G-710 has a increased resistance towards magnetic
disturbances. It is for example possible to estimate the heading based on comparison between
accelerometer data and the GNSS acceleration:
https://base.xsens.com/hc/en-us/articles/212547829
4.3.3 Loss of GNSS
When the MTi-G-710 has limited/mediocre GNSS reception or even no GNSS reception at all, the MTi-
G-710 sensor fusion algorithm seamlessly adjusts the filter settings in such a way that the highest
possible accuracy is maintained. 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. The GNSS status will be monitored continuously so that the filter can take GNSS data into
account when available and sufficiently trustworthy. In case the loss 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 profiles
The filter profiles for MTi-G-710 are described below. Please note the specific cautions with each of
these filter profiles.
Table 5: Filter profiles for the MTi-G-710 GNSS/INS
Nr
Name
IMU
Mag
field
Static
pressure
GNSS
Holonomic
constraints
Product
1
General
•
•
•
710-GNSS/INS
2
GeneralNoBaro
•
•
710-GNSS/INS
3
GeneralMag
•
•
•
•
710-GNSS/INS
4
Automotive
•
•
•
•
710-GNSS/INS
5
HighPerformanceEDR
•
•
•
710-GNSS/INS
The
General
filter profile is the default setting. It makes few assumptions about movements. Yaw is
referenced by comparing GNSS acceleration with the on-board accelerometers, so the more movement
(when GNSS is available) will result in a better yaw. Altitude (height) is determined by combining static
pressure, GNSS altitude and accelerometers. The barometric baseline is referenced by GNSS, so
during GNSS outages, accurate height measurements are maintained because this barometric baseline
is monitored.
The
GeneralNoBaro
filter profile is very similar to the general filter profile. However, it does not use the
barometer for height estimation (it thus uses GNSS and accelerometers only). Since airflows near the
venting holes in the MTi-G will lower the barometric pressure (and thus make height estimations
inaccurate), you can use this filter profile when the MTi-G is mounted in such airflow.
The
GeneralMag
filter profile bases its yaw mainly on magnetic heading, together with comparison of
GNSS acceleration and the accelerometers. Although this combination makes the yaw more robust than
