Xsens MTi-30 AHRS, User Manual, Page: 4 / 54

iv Document MT0605P.2018.E
© Xsens Technologies B.V. MTi User Manual
5.2.1 Calibrated inertial data and magnetic field data .............................................................. 22
5.2.2 Delta_angle and delta_velocity ........................................................................................ 23
5.2.3 Orientation data ............................................................................................................... 23
5.2.4 Velocity data .................................................................................................................... 25
5.2.5 Position data .................................................................................................................... 25
5.3 O
RIENTATION PERFORMANCE SPECIFICATION
............................................................................... 25
5.4 P
OSITION AND VELOCITY PERFORMANCE SPECIFICATION
(MT
I
-G-710) .......................................... 26
5.5 S
ENSOR DATA PERFORMANCE SPECIFICATION
.............................................................................. 27
5.5.1 Gyroscopes ...................................................................................................................... 27
5.5.2 Accelerometers and magnetometer ................................................................................ 27
5.5.3 Barometer ........................................................................................................................ 28
5.5.4 GPS/GNSS receiver ........................................................................................................ 28
5.6 B
UILT
-
IN SELF
-
TEST
.................................................................................................................... 29
5.7 T
EST AND
C
ALIBRATION PARAMETERS
.......................................................................................... 29
5.8 S
ENSORS DATA OUTPUTS
............................................................................................................ 30
5.8.1 Physical sensor model ..................................................................................................... 30
5.8.2 Calibrated delta_q and delta_v outputs ........................................................................... 31
5.8.3 Calibrated inertial and magnetic data outputs ................................................................. 31
5.8.4 Free acceleration ............................................................................................................. 32
5.8.5 Uncalibrated raw output mode ......................................................................................... 32
5.9 R
ESET OF REFERENCE CO
-
ORDINATE SYSTEMS
............................................................................ 32
5.10 T
IMESTAMP AND PACKET COUNTER OUTPUT
................................................................................. 32
5.11 S
TATUS BYTE
............................................................................................................................. 32
6 COMMUNICATION....................................................................................................................... 33
6.1 C
OMMUNICATION
T
IMING
............................................................................................................. 33
6.2 T
RIGGERING AND SYNCHRONIZATION
........................................................................................... 33
6.3 I
NTERNAL CLOCK ACCURACY
....................................................................................................... 33
6.3.1 Clock of MTi’s without GNSS receiver ............................................................................. 33
6.3.2 Clock of MTi-G-710 .......................................................................................................... 33
6.4 S
ERIAL
C
ONNECTION
S
ETTINGS
.................................................................................................. 34
6.4.1 Serial or USB communication .......................................................................................... 34
6.4.2 Transceiver voltage levels ............................................................................................... 34
7 PHYSICAL SPECIFICATIONS .................................................................................................... 35
7.1 P
HYSICAL PROPERTIES OVERVIEW
............................................................................................... 35
7.2 P
OWER SUPPLY
.......................................................................................................................... 35
7.2.1 Power consumption specification .................................................................................... 35
7.2.2 Alternative 3V3 power supply .......................................................................................... 36
7.3 M
ECHANICAL AND ELECTRICAL INTERFACE SPECIFICATIONS
.......................................................... 36
7.3.1 Encased MTi connectors overview .................................................................................. 36
7.3.2 OEM connections overview ............................................................................................. 38
7.3.3 Additional interface specifications.................................................................................... 40
7.3.4 Cable specifications ......................................................................................................... 41
7.3.5 Using the MTi Mk5 with an external USB converter ........................................................ 41
7.4 H
OUSING MECHANICAL SPECIFICATIONS
....................................................................................... 41
7.4.1 Environmental protection of the housing ......................................................................... 41
7.4.2 Dimensions MTi ............................................................................................................... 42
7.4.3 Mounting the MTi-OEM .................................................................................................... 42
7.4.4 MTi 10-series technical drawing ...................................................................................... 43
7.4.5 MTi 100-200-300 technical drawing ................................................................................ 44
7.4.6 MTi-G-700/710 technical drawing .................................................................................... 45
7.4.7 MTi OEM technical drawing ............................................................................................. 46