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Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
When using the MTi-G-710 in the Automotive filter profile, as a best practice pay proper attention to
mounting of the MTi on the automotive platform/vehicle. It is recommended to always mount the MTi
with the x-axis of the MTi-G-710 pointing to the front of the vehicle irrespective of the local coordinate
frame used for the output data.
True North vs. Magnetic North
As defined above the output coordinate system of the MTi is with respect to local Magnetic North. The
deviation between Magnetic North and True North (known as the magnetic declination) varies depending
on the location on earth and can be roughly obtained from the World Magnetic Model (Xsens uses WMM
2010-2015) of the earth’s magnetic field as a function of latitude and longitude. The MTi accepts a setting
of the declination value. This is done by setting the position in the MT Manager, SDK or by direct
communication with the sensor. The output will then be offset by the declination calculated internally
and thus referenced to “local” True North. The MTi-G-710 GNSS/INS calculates True North
automatically when GNSS-position is available.
5.2.4 Velocity data
Velocity data, calculated by sensor fusion algorithm (DataID 0xD010) is provided in the same coordinate
system as the orientation data, and thus adopts orientation resets as well. It is available only in the MTi-
G-710.
Velocity data from the navigation solution from the GPS receiver in the MTi-G-700 (DataID 0x8840) is
represented in Earth Centered – Earth Fixed (ECEF).
Velocity data part from the PVT estimates retrieved from the GNSS receiver in the MTi-G-710 or from
the GPS receiver of the MTi-G-710 in the GNSS format (DataID 0x7010) is represented in the NED
reference frame.
5.2.5 Position data
Position data, calculated by the sensor fusion algorithm (DataID 0x5040) is represented in Latitude,
Longitude in the WGS84 datum. It is available only in the MTi-G-710.
It is possible to retrieve position data, calculated by sensor fusion algorithm, in Earth Centered – Earth
Fixed (ECEF) format. Use DataID 0x5030 to retrieve this output. Note that position in ECEF cannot be
represented in Fixed Point values because of the limited range of fixed point representations. Use
double or float representation instead.
Altitude is output in WGS84 datum (DataID 0x5020).
Position data (latitude and longitude) part of the PVT estimates output from the GNSS receiver in the
MTi-G-710 (DataID 0x7010) is in the WGS84 datum.
5.3 Orientation performance specification
In the MTi product portfolio, several products provide roll, pitch and (un)stabilized yaw. The table below
provides an overview of the specific products and orientation performances. The 10-IMU and the 100-
IMU are not listed, as they do not provide orientation.
