Xsens MTi 1 Series, Руководство пользователя

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MTi 1-series User Manual
Xsens MTi User Manual Repository Datasheet
Copyright © 2021 Xsens Page 7
MTi 1-series module diagram
The above diagram shows a simplified organization of the MTi 1-series module (MTi 1-s). The
MTi 1-s contains a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis magnetometer, a high-
accuracy crystal and a low-power microcontroller unit (MCU). The MTi-7/8 module can also
accept the signals from an external GNSS receiver and/or barometer. The MCU coordinates the
timing and synchronization of the various sensors. The module offers the possibility to use
external signals in order to accurately synchronize the Mti 1-s with any user application. The
MCU applies calibration models (unique to each sensor and including orientation, gain and bias
offsets, plus more advanced relationships such as non-linear temperature effects and other
higher order terms) and runs the Xsens optimized strapdown algorithm, which performs high-
rate dead-reckoning calculations at 800 Hz, allowing accurate capture of high frequency
motions and coning & sculling compensation. The Xsens sensor fusion engine combines all
sensor inputs and optimally estimates the orientation, position and velocity at an output data
rate of up to 100 Hz. The MTi 1-s is easily configurable for the outputs and, depending on the
application’s needs, can be set to use one of the filter profiles available within the Xsens sensor
fusion engine. In this way, the MTi 1-s limits the load and the power consumption on the user
application processor. The user can communicate with the module by means of three different
communication interfaces. They are I
2
C, SPI and UART.