Xsens MTi-30 AHRS, User Manual

Page: 3 / 54

iii Document MT0605P.2018.E
© Xsens Technologies B.V. MTi User Manual
Table of Contents
1 REFERENCES ............................................................................................................................... 3
2 XSENS HELP CENTER AND USER COMMUNITY ...................................................................... 4
3 INTRODUCTION ............................................................................................................................ 5
3.1 MT
I
10-
SERIES
............................................................................................................................. 5
3.1.1 MTi-30 AHRS ..................................................................................................................... 5
3.1.2 MTi-20 VRU ....................................................................................................................... 5
3.1.3 MTi-10 IMU ........................................................................................................................ 5
3.2 MT
I
100-
SERIES
........................................................................................................................... 6
3.2.1 MTi-G-710 GNSS/INS ....................................................................................................... 6
3.2.2 MTi-300 AHRS ................................................................................................................... 6
3.2.3 MTi-200 VRU ..................................................................................................................... 6
3.2.4 MTi-100 IMU ...................................................................................................................... 6
3.2.5 Identifying device functionality using the unique Device Identifier .................................... 7
3.2.6 Product code ...................................................................................................................... 8
3.3 E
VOLUTION OF
MT
I PRODUCTS
...................................................................................................... 9
3.4 O
VERVIEW
MT
I
D
EVELOPMENT
K
IT
................................................................................................ 9
3.4.1 Contents ............................................................................................................................. 9
3.5 I
NSTALLATION
............................................................................................................................. 10
3.5.1 Transient accelerations .................................................................................................... 10
3.5.2 Vibrations ......................................................................................................................... 10
3.5.3 Magnetic materials and magnets ..................................................................................... 11
3.6 T
YPICAL
U
SER
S
CENARIOS
.......................................................................................................... 11
3.6.1 MT Software Suite ........................................................................................................... 11
3.6.3 Using the Software Development Kit (SDK) .................................................................... 13
3.6.4 Direct low-level communication with MTi ......................................................................... 14
3.6.5 Terms of use of MT Software Suite ................................................................................. 14
4 MTI SYSTEM OVERVIEW ........................................................................................................... 16
4.1 C
ALIBRATION
.............................................................................................................................. 16
4.2 X
SENS
K
ALMAN
F
ILTER FOR
VRU
AND
AHRS
PRODUCT TYPES
.................................................... 16
4.2.1 Using the acceleration of gravity to stabilize inclination (roll/pitch) ................................. 16
4.2.2 Using the Earth magnetic field to stabilize yaw ............................................................... 17
4.2.3 Estimating gyro bias in magnetic disturbed environments .............................................. 17
4.2.4 Initialization ...................................................................................................................... 17
4.2.5 XKF3i filter profiles ........................................................................................................... 17
4.3 X
SENS SENSOR FUSION ALGORITHM FOR
MT
I
-G-710 .................................................................... 18
4.3.1 Transient accelerations .................................................................................................... 19
4.3.2 Magnetic disturbances ..................................................................................................... 19
4.3.3 Loss of GNSS .................................................................................................................. 19
4.3.4 MTi-G-710 filter profiles ................................................................................................... 19
4.3.5 GNSS Platform ................................................................................................................ 20
4.4 A
CTIVE
H
EADING
S
TABILIZATION
(AHS) ....................................................................................... 20
4.5 I
N
-
RUN
C
OMPASS
C
ALIBRATION
(ICC) ......................................................................................... 21
5 OUTPUT SPECIFICATION .......................................................................................................... 22
5.1 O
VERVIEW OF DATA OUTPUTS
...................................................................................................... 22
5.1.1 MTData2 output in XBus protocol .................................................................................... 22
5.1.2 ASCII output (NMEA) ....................................................................................................... 22
5.2 C
OORDINATE SYSTEMS
............................................................................................................... 22