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 35
present in the sentences.
Settings required to enable the Trimble input mode for the MTi-7/8
Setting Description
Baudrate Minimum 115200 bps
GNSS Message frequency 5 Hz recommended/default, 10 Hz maximum
Required messages Position Time [#01], Lat,Long,Ht [#02], Velocity [#08], DOP Info [#09],
Position Sigma [#12], Current Time UTC [#16], Detail All SV [#34]
An example of how to setup an external GNSS receiver using the GSOF protocol can be found
on BASE.
Signal processing pipeline
The MTi 1-series is a self-contained module, so all calculations and processes such as
sampling, coning & sculling compensation and the Xsens sensor fusion algorithm run on board.
Strapdown integration
The Xsens optimized strapdown algorithm performs high-rate dead-reckoning calculations at
800 Hz, allowing accurate capture of high frequency motions. This approach ensures a high
bandwidth. Orientation and velocity increments are calculated with full coning & sculling
compensation. These orientation and velocity increments are suitable for any 3D motion
tracking algorithm. Increments are internally time-synchronized with other sensors. The output
data rate can be configured with different frequencies up to 100 Hz. The inherent design of the
signal pipeline with the computation of orientation and velocity increments ensures there is
absolutely no loss of information at any output data rate. This makes the MTi 1-series attractive
for systems with limited communication bandwidth.
Xsens sensor fusion algorithm for VRU and AHRS product types
The Xsens sensor fusion algorithm optimally estimates the orientation with respect to an Earth
fixed frame utilizing the 3D inertial sensor data (orientation and velocity increments) and 3D
magnetometer.