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 33
u-blox (UBX) input
When connecting to a u-blox receiver (e.g. u-blox MAX-M8), the MTi will configure it correctly on
start-up. No prior configuration of the u-blox receiver is required. It is, however, recommended to
inform the MTi of what type of u-blox receiver is connected. This can be done using the Device
Settings window in MT Manager (version 2021.4 and later), or using an Xbus message called
SetGnssReceiverSettings, described in the
MT Low Level Communication Protocol
Documentation. The user can select one of the officially supported u-blox receiver series: MAX-
M8 (default), NEO-M8 or ZED-F9.
NMEA input
Almost all GNSS receivers support the output of NMEA messages, which means that this
functionality enables the use of virtually any external GNSS receiver. It is important to note that
both the GNSS receiver and the MTi must be configured prior to connecting both systems to
each other. The NMEA input mode can be enabled using the Device Settings window in MT
Manager (version 2021.4 and later), or using an Xbus message called SetGnssReceiverSettings,
described in the
MT Low Level Communication Protocol Documentation.
The table below summarizes the settings needed to configure the MTi-7/8 to use the NMEA
input mode. This will enable the MTi to use the GNSS data and provide the user with a full
GNSS/INS solution. The MTi will also synchronize its internal clock with the UTC time that is
present in the sentences.
Settings required to enable the NMEA input mode for the MTi-7/8
Setting Description
Baudrate Minimum 115200 bps
GNSS Message
frequency 4 Hz recommended/default, 10 Hz maximum
Talker ID GN, GP or GL
Required messages GGA, GSA, GST and RMC
High precision coordinate formats such as
GGALONG are also supported.
An example of how to setup an external GNSS receiver using the NMEA protocol can be found