Xsens MTi Series User Manual And Technical Documentation Download

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MTi and MTx User Manual

and Technical Documentation

Document MT0100P
Revision E, December 2

2005

Xsens Technologies B.V.

Capitool 50

phone

+31-(0)53-4836444

P.O. Box 545

fax

+31-(0)53-4836445

7500 AM Enschede

e-mail

[email protected]

The Netherlands

internet www.xsens.com

Summary of Contents for MTi Series

Page 1: ...cal Documentation Document MT0100P Revision E December 2nd 2005 Xsens Technologies B V Capitool 50 phone 31 0 53 4836444 P O Box 545 fax 31 0 53 4836445 7500 AM Enschede e mail support xsens com The N...

Page 2: ...on of SyncIn SyncOut and Analog In Added explanations on sensor fusion algorithm settings D September 8 2005 SS Added specification pinout of MTi analog outputs version E December 2 2005 RG Added pin...

Page 3: ...ientation output mode 10 2 3 3 Rotation Matrix orientation output mode 10 2 4 CALIBRATED DATA PERFORMANCE SPECIFICATION 12 2 5 CALIBRATED DATA OUTPUT MODE 13 2 5 1 Physical sensor model 13 2 5 2 Calib...

Page 4: ...35 4 4 5 Pin and wire color definitions MTx 28A G MTx RS 232 standard version 36 4 4 6 Pin and wire color definitions MTx 48A G MTx RS 485 standalone 37 4 4 7 Pin and wire color definitions MTx 49A G...

Page 5: ...iption 1 1 1 MTi miniature gyro enhanced Attitude and Heading Reference Sensor The MTi is a miniature gyro enhanced Attitude and Heading Reference System AHRS Its internal low power signal processor p...

Page 6: ...MTx Low level Communication Documentation MT0101P MT Software Development Kit o MT Software PC Windows 2000 XP o Low level communication class C source code o MotionTracker object COM object API Windo...

Page 7: ...change settings The COM object takes care of the hardware communication interfacing and it is an easy way to get soft real time performance Both polling and events based methods are supported Please r...

Page 8: ...on in three dimensional space from miniature rate of turn sensors gyroscopes accelerometers and magnetometers in real time The design of the algorithm can be explained as a sensor fusion algorithm whe...

Page 9: ...is discussed below in section 2 2 Figure 1 MTi and MTx with sensor fixed co ordinate system overlaid S The co ordinate system is aligned to the external housing of the MTi and MTx The aluminum base p...

Page 10: ...ence co ordinate system Example Please refer to section 2 6 for further details on output co ordinate systems and different options to redefine the output co ordinate systems True North vs Magnetic No...

Page 11: ...is considered equal to the accelerometer data and this should be the default value A number of 0 0 will completely disregard any data from the magnetometers otherwise valid range is 0 1 10 Filter Gai...

Page 12: ...w rule This means a positive rotation is defined as clockwise in the direction of the axis of rotation NOTE This section is intended to give detailed information on the definition of the various orien...

Page 13: ...vector with a complex part the real component is the first one q0 The inverse qSG is defined by the complex conjugate of qGS The complex conjugate is easily calculated As defined here qGS rotates a v...

Page 14: ...he components of the rotation matrix RGS or in terms of the unit quaternion qGS Here the arctangent tan 1 is the four quadrant inverse tangent function NOTE that the output is in degrees and not radia...

Page 15: ...or the rotation matrix DCM output mode it is defined that Here also the row order col order is defined RGS RZ RY RX 2 4 cos sin 0 sin cos 0 0 0 1 3 5 2 4 cos 0 sin 0 1 0 sin 0 cos 3 5 2 4 1 0 0 0 cos...

Page 16: ...configuration The standard configuration of the MTx is with a rate gyro with a range of 1200 deg s The following custom configurations are available standard configuration highlighted in bold Acceler...

Page 17: ...cording to the following relation 1 T T s K u b The model really used is more complicated and is continuously being developed further From factory calibration each MTi MTx has been assigned a unique g...

Page 18: ...linear 3D accelerometers measure all accelerations including the acceleration due to gravity This is inherent to all accelerometers Therefore if you wish to use the 3D linear accelerations output by t...

Page 19: ...e as follows 00 00hex 0 0 C 00 80hex 0 5 C FF 80hex 0 5 C 19 10hex 25 0625 C E6 F0hex 25 0625 C The temperature field is a 16 bit two complement number of which the last byte represents the value behi...

Page 20: ...sing of the MTx can not be considered an accurate reference Placement and subsequent aligning must be done very carefully otherwise alignment errors may be induced 2 6 2 Heading reset Often it is impo...

Page 21: ...Once this object reset is conducted both calibrated data and orientation will be output in the new coordinate frame S The object reset can be used to set the MTi MTx coordinate frame to that of the o...

Page 22: ...ntation information digitally the MTi with analog outputs has three pins of which the voltages correspond to the calculated Euler angles Please note that for the highest accuracy the digital interface...

Page 23: ...easurements at a specific sample frequency it is important to ensure that the signal does not have frequency components that are higher than the sample frequency If these frequency components exist th...

Page 24: ...nd appears as a common mode signal at both the positive and negative inputs of the amplifier and this difference is rejected by the amplifier If a hardware filter is not preferred it is also possible...

Page 25: ...to fit your requirements All configuration changes must be made while the device is in the so called Config State In this state the device accepts messages that set the output mode or changes to other...

Page 26: ...r with a sample counter If you want to retrieve the output data on request then set Output skip factor to value 65535 0xFFFF and send ReqMTData message to the device For more information see MTi and M...

Page 27: ...s field is used for communication error detection If all message bytes excluding the preamble are summed and the lower byte value of the result equals zero the message is valid and it may be processed...

Page 28: ...a which represents the current mode MH ML CS stands for the checksum value To change the output mode you must add the new mode in the data field of the sending message Set the output mode Sending mess...

Page 29: ...tended output mode en or disables the analog outputs For Euler angles outputs also set the output mode to orientation data see SetOutputMode message MODE 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit R R...

Page 30: ...always the same The following order is used disabled outputs must be omitted 1 Un calibrated raw data output 2 Calibrated data output 3 Orientation data output 4 Sample counter Un calibrated raw data...

Page 31: ...orientation of the MTi MTx q0 q1 q2 q3 Orientation data output mode Euler angles 12 bytes Contains the three Euler angles in floats that represent the orientation of the MTi MTx roll pitch yaw Orienta...

Page 32: ...lly not recommended The time delay between a physical event e g an orientation change or acceleration is dictated by two factors 1 Internal acquisition and calculation time 2 Serial transmission time...

Page 33: ...d on the set sample period is accurate to 30 ppm over the temperature operating range In practice this means that the worst case deviation after a 1 hour log is 0 108 seconds 3600 s 30 ppm or 10 sampl...

Page 34: ...ication is done in big endian format Example Un calibrated 16 bits accelerometer output 1275 decimal 0x04FB hexadecimal Transmission order of bytes 0x04 0xFB Calibrated accelerometer output float 4 by...

Page 35: ...hysical properties overview 4 3 Power supply The nominal power supply of the MTi and MTx is 5V DC The minimum operating supply voltage is 4 5V and the absolute maximum is 15V The sensor works at a pow...

Page 36: ...d be The RS 422 MTi cable CA USB6 is compatible with the RS 422 version of the MTi Blue cable markers are located at the connector and the casing for visual distinction between the RS 232 MTi cable Th...

Page 37: ...product code GL0L0C T07LCC0 000 MTi USB serial cable plug CA USB2 ODU L series 7 pin male connector plug back view solder bucket view solder contact for AWG 28 wire ODU product code S10L0C T07MCC0 52...

Page 38: ...L0L0C T07LCC0 000 MTi USB serial cable plug CA USB6 ODU L series 7 pin male connector plug back view solder bucket view solder contact for AWG 28 wire ODU product code S10L0C T07MCC0 5200 Pin definiti...

Page 39: ...de GL0L0C T07LCC0 000 MTi USB serial cable plug CA USB2 ODU L series 7 pin male connector plug back view solder bucket view solder contact for AWG 28 wire ODU product code S10L0C T07MCC0 5200 Pin defi...

Page 40: ...Binder female 719 socket receptacle back view solder bucket view ridge on upper side MTx USB serial cable plug CA USB2x Binder 719 male connector back view solder bucket view Ridge on upper side Pin d...

Page 41: ...Binder female 719 socket receptacle back view solder bucket view ridge on upper side MTx USB serial cable plug CA USB4x Binder 719 male connector back view solder bucket view Ridge on upper side Pin...

Page 42: ...e supported depends on the type of device See pin definitions of the device Analog IN This line supports in 16 bit sampling of an external analog signal of voltage range 0 to 5V at the sampling freque...

Page 43: ...low voltage 0 0 to 0 4V Input resistance 10 kOhm Latency offset 0 17 6us Latency offset 0 not including 21 7us Jitter 40ns Supported by all versions SyncOut This is an output signal that can trigger o...

Page 44: ...ations The plastic parts of the housing are made of polyamide PA6 6 The MTi bottom plate is made of anodized aluminum 6082 The housing is dust proof but not water proof The MTi connector socket and ho...

Page 45: ...MTi and MTx User Manual and Tech Doc 2005 Xsens Technologies B V MT0100P E 41 4 5 1 Dimensions MTi...

Page 46: ...MTi and MTx User Manual and Tech Doc 2005 Xsens Technologies B V MT0100P E 42 4 5 2 Dimensions MTx...

Page 47: ...serial cable from you PC 5 2 Placement considerations 5 2 1 Transient accelerations The 3D linear accelerometers in the MTi and MTx are primarily used to estimate the direction of gravity to obtain a...

Page 48: ...d is very weak in comparison to the magnitude of many sources of distortion Whether or not an object is ferromagnetic should preferably be checked by using the MTi s or MTx s magnetometers It can also...

Page 49: ...ile cabinets or vehicles that move independently with respect to the device cause a type of distortion that can not be calibrated for20 However the amount of error caused by the disturbance can be red...

Page 50: ...ion it may be possible to compensate for the magnetization of the device by a re calibration magnetic field mapping Taking care not to expose the MTi or the MTx to strong magnetic fields such as close...

Page 51: ...damage during shipping The warranty shall not apply to products repaired or altered or removed from the original casing by others than Xsens Technologies B V so as in Xsens Technologies B V opinion t...

Page 52: ...any questions you may have about the MTi or MTx or about the use of the technology for your application Please contact Xsens Customer Support by e mail support xsens com telephone 31 0 534836444 To b...

Page 53: ...MTi and MTx User Manual and Tech Doc 2005 Xsens Technologies B V MT0100P E 49 this page is intentionally left blank...

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